US20120210926A1 - Dc powered rov and umbilical - Google Patents
Dc powered rov and umbilical Download PDFInfo
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- US20120210926A1 US20120210926A1 US13/031,048 US201113031048A US2012210926A1 US 20120210926 A1 US20120210926 A1 US 20120210926A1 US 201113031048 A US201113031048 A US 201113031048A US 2012210926 A1 US2012210926 A1 US 2012210926A1
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- rov
- power signal
- signal
- umbilical
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/02—Divers' equipment
- B63C11/26—Communication means, e.g. means for signalling the presence of divers
Abstract
A method of operating a remotely operated underwater vehicle (ROV) includes launching the ROV from a vessel into water; supplying a direct current (DC) power signal to the ROV from the vessel via an umbilical; and sending a first command signal to the ROV from the vessel via the umbilical while supplying the DC power signal.
Description
- 1. Field of the Invention
- Embodiments of the present invention generally relate to a direct current (DC) powered remotely operated underwater vehicle (ROV) and umbilical.
- 2. Description of the Related Art
- Work class ROVs employ electric motors of up to several hundred horsepower. Power is typically supplied by four hundred eighty volt three phase alternating current (AC) which requires cables of relatively large diameter. The cable adds significant weight and drag to the ROV, often comprising the majority of the load on the vehicle. This results in a reduction in the speed and maneuverability of the vehicle and in some conditions, may impact the ability to predictably control the ROV. The additional drag also decreases the efficiency of the ROV as additional thruster power is required to overcome the drag on the cable.
- Embodiments of the present invention generally relate to a direct current (DC) powered remotely operated underwater vehicle (ROV) and umbilical. In one embodiment, a method of operating an ROV includes launching the ROV from a vessel into water; supplying a DC power signal to the ROV from the vessel via an umbilical; and sending a first command signal to the ROV from the vessel via the umbilical while supplying the DC power signal.
- In another embodiment, an ROV includes a chassis; a float connected to the chassis; a thruster connected to the chassis, the thruster including an electric motor; a manipulator connected to the chassis; a video camera connected to the chassis; a light connected to the chassis; a diplexer connected to the chassis and operable to connect to a two conductor tether and split a composite signal from the tether into a DC power signal and a first command signal; a power converter connected to the chassis and operable to receive the DC power signal from the diplexer and supply a second power signal to the thruster motor; and a programmable logic controller connected to the chassis and operable to receive a first command signal from the diplexer, modulate a video signal from the camera, and transmit the video signal to the diplexer.
- So that the manner in which the above recited features of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of this invention and are therefore not to be considered limiting of its scope, for the invention may admit to other equally effective embodiments.
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FIGS. 1A and 1B illustrate deployment of an ROV to a subsea production tree, according to one embodiment of the present invention. -
FIG. 2 is an isometric view of the ROV. -
FIG. 3A is a layered view of the umbilical and tether.FIG. 3B is an end view of the umbilical and tether. -
FIG. 4 is a system diagram illustrating power supply and data communication between the ROV and the support vessel. -
FIGS. 1A and 1B illustrate deployment of anROV 100 to asubsea production tree 5, according to one embodiment of the present invention. - A
subsea wellbore 10 has been drilled from afloor 1 f of thesea 1 into a hydrocarbon-bearing (i.e., crude oil and/or natural gas) reservoir (not shown). A string of casing (not shown) has been run into thewellbore 10 and set therein with cement (not shown). The casing has been perforated to provide to provide fluid communication between the reservoir and a bore of the casing. A wellhead (not shown) has been mounted on an end of the casing string. A string of production tubing may extend from the wellhead to the formation to transport production fluid from the formation to theseafloor 1 f. A packer (not shown) may be set between the production tubing and the casing to isolate an annulus formed between the production tubing and the casing from production fluid. - The Christmas or
production tree 5 may be connected to the wellhead, such as by a collet, mandrel, or clamp tree connector. Thetree 5 may be vertical or horizontal. If thetree 5 is vertical, it may be installed after the production tubing is hung from the wellhead. If thetree 5 is horizontal, the tree may be installed and then the production tubing may be hung from thetree 5. Thetree 50 may include fittings and valves to control production from the wellbore into a pipeline (not shown) which may lead to a production facility (not shown), such as a production vessel or platform. - A
support vessel 15 may be deployed to a location of thesubsea tree 5 to perform an intervention operation. Thesupport vessel 15 may include a dynamic positioning system to maintain position of thevessel 15 on thewaterline 1 w over thetree 5 and a heave compensator to account for vessel heave due to wave action of thesea 1. Thevessel 15 may further include a tower and winches for deploying tools to thetree 5 for performing the intervention operation. - The ROV 100 may be launched into the
sea 1 from thesupport vessel 15 by a launch and recovery system (LARS) 30 to assist the intervention operation. The LARS 30 may be mounted on a working deck of thesupport vessel 15. TheROV 100 may be controlled and supplied with power from acontrol van 300 carried onboard thesupport vessel 15. The control van 300 (seeFIG. 4 ) may include acontrol console 302, a programmable logic controller (PLC) 305 v, apower converter 310 v, and a diplexer (DIX) 315 v. The control van 300 may receive a low voltage alternating current (AC) power signal from agenerator 301 of the vessel or include its own diesel powered generator. The low voltage may be greater than or equal to one hundred volts, two hundred volts, three hundred volts, or four hundred volts and less than one kilovolt. Thepower converter 310 v may include a rectifier for converting the low voltage AC signal received from the generator to a low voltage direct current (DC) power signal for delivery to theDIX 315 v for transmission to a tether management system (TMS) 50 via an umbilical 200 u. - Alternatively, the
power converter 310 v may include a transformer (not shown) for stepping the low voltage AC power signal to a medium voltage AC power signal, such as greater than or equal to one kilovolt, and then the power converter may convert the medium voltage AC power signal to a medium voltage DC power signal for transmission over the umbilical. Additionally, thepower converter 310 v may include a transformer for reducing the low voltage AC power signal to an ultra-low voltage AC signal, such as less than or equal to one-hundred twenty volts, and then the power converter may convert the ultra-low voltage AC signal to an ultra-low voltage DC power signal for powering thecontrol console 302 andPLC 305 v or thecontrol van 300 may include an additional power converter (not shown) for powering the control console and PLC. - The
PLC 305 v may receive commands from the ROV pilot (not shown) via thecontrol console 302 and include a data modem (not shown) and multiplexer (not shown) for modulating and multiplexing the commands into a data signal for delivery to theDIX 315 v and transmission to theTMS 50 via the umbilical 200 u. The DIX 305 v may combine the DC power signal and the data signal into a composite signal and transmit the composite signal to theTMS 50 via the umbilical 200 u and to theROV 100 viatether 200 t (and umbilical 200 u). The DIX 305 v may be in electrical communication with the umbilical 200 u via an electrical coupling (not shown), such as brushes or slip rings, to allow power and data transmission through the umbilical while theLARS 30 winds and unwinds the umbilical. Thecontrol console 302 may include one or more hand-operable controllers, such asjoysticks 302 c, and one ormore video monitors 302 v. The multiplexing scheme may be frequency division and commands to theTMS 50 may have a separate channel than commands for theROV 100. Communication among thevan 300,TMS 50, andROV 100 may be full duplex. ThePLC 305 v may also receive data signals from theROV 100, such as video signals from thecameras 125, via atether 200 t, umbilical 200 u, andDIX 315 v, demodulate and demultiplex the data signals, and display the data signals on one of themonitors 302 v. In this manner, the ROV pilot may operate theROV 100 from the control van 300. ThePLC 305 v may also include an autopilot (not shown) to assist the ROV pilot in operation of theROV 100. The ROV pilot may selectively disengage and engage the autopilot and operate theROV 100 in tandem with the autopilot. - The LARS 30 may include a frame, a
winch 31, a boom, a boom hoist, and a hydraulic power unit (HPU) 320 v. TheLARS 30 may be the A-frame type (shown) or the crane type (not shown). For theA-frame type LARS 30, the boom may be an A-frame pivoted to the frame and the boom hoist may include a pair of piston and cylinder assemblies (PCAs), each PCA pivoted to each beam of the boom and a respective column of the frame. The HPU 320 v may include a hydraulic fluid reservoir, a hydraulic pump, and one or more control valves for selectively providing fluid communication between the reservoir, the pump, and the PCAs. The hydraulic pump may be driven by an electric motor. The winch may include a drum having the umbilical wrapped therearound and a motor for rotating the drum to wind and unwind the umbilical 200 u. The winch motor may be electric or hydraulic. A sheave may hang from the A-frame. The umbilical 200 u may extend through the sheave and an end of the umbilical may be fastened to a cablehead of theTMS 50. The frame may have a platform for the TMS/ROV ROV vessel 15, and to a position over thewaterline 1 w. The winch may then be operated to lower the TMS/ROV sea 1. Recovery of the ROV/TMS - The
ROV 100 may be launched together with theTMS 50. A top of theROV 100 may be fastened to theTMS 50 for a top-hat type TMS. Alternatively, the ROV may be housed in the TMS for a cage type TMS (not shown). TheTMS 50 may be connected to theLARS 30 by the umbilical 200 u. TheTMS 50 may include a frame, a cablehead, awinch 51, aPLC 305 t (seeFIG. 4 ), a power converter (PC) 310 t, and aDIX 315 t. Thewinch 51 may include a drum having thetether 200 t wrapped therearound and an electric motor for rotating the drum to wind and unwind thetether 200 t. Thepower converter 310 t may receive the low voltage DC power signal from the umbilical via theDIX 315 t, include an inverter for converting the DC power signal to an AC power signal, and a transformer for stepping the low voltage AC power signal to an ultra-low voltage AC power signal and a rectifier for converting the ultra-low voltage AC to ultra-low voltage DC power signal for powering thePLC 305 t. Thepower converter 310 t may include one or more single phase active bridge circuits as discussed and illustrated in US Pub. Pat. App. 2010/0206554, which is herein incorporated by reference in its entirety. The circuits may be arranged in series to gradually step the DC voltage from low to ultra-low. Theconverter 310 t may include a three-phase inverter for receiving the low voltage DC power signal and outputting a three phase low voltage AC signal for powering the winch motor. Theconverter 310 t may include a switch for selectively providing the AC signal to the winch motor and the switch may be in communication with theTMS PLC 305 t for operation thereof. Theconverter 310 t may also be capable of reversing the polarity of the AC power signal to the winch motor and theTMS PLC 305 t may control the polarity. - Similar to the
control van PLC 305 v, theTMS PLC 305 t may include a modem and modulator for receiving command signals from theDIX 315 t. TheTMS PLC 305 v may then release theROV 100 and operate thetether winch 51 in response to receipt of the appropriate command signals. TheTMS 50 may further include one or more sensors (not shown). TheTMS PLC 305 t may send the sensor data to thevan PLC 305 v along a dedicated channel. Additionally, theTMS 50 may include one or more thrusters (not shown) so that thevessel 15 may be moved away from over thetree 5 while theROV 100 remains at the tree. Additionally, theTMS 50 may include one or more accessory tools (not shown) for theROV 100. Alternatively, theTMS 50 may include an HPU (not shown) and the winch motor may be hydraulic. - The
ROV 100 may be connected to theTMS 50 by thetether 200 t. Thetether 200 t may be in power and data communication with the umbilical 200 u so that theROV 100 andTMS 50 are connected to the umbilical 200 u in a parallel arrangement. TheTMS 50 may include an electrical coupling (not shown) similar to the electrical coupling discussed above providing power and data communication between thetether 200 t and the umbilical 200 u. - The ROV/
TMS tree 5. TheROV 100 may then be released from theTMS 50 and driven to the tree by the ROV pilot. TheTMS 50 may unwind an excess of thetether 200 t to maintain sufficient slack in the tether so that theROV 100 is isolated from vessel heave. TheROV 100 may transmit video to the pilot for inspection of thetree 50. TheROV 100 may then interface with thetree 5 to assist in the intervention operation. Alternatively, theROV 100 may be deployed to assist in a drilling operation, completion operation, or abandonment operation. Alternatively, theROV 100 may be deployed to conduct a subsea pipeline inspection operation. -
FIG. 2 is an isometric view of theROV 100. TheROV 100 may be an unmanned, self-propelled submarine that includes achassis 105, afloat 110, a cablehead, aPLC 305 r (seeFIG. 4 ), apower converter 310 r, aDIX 315 r, anHPU 320 r, and one or more:thrusters 115 f,v,t, lights 120,video cameras 125,manipulators 130, andsensors 325. Each of the ROV components may be connected to thechassis 105. TheROV 100 may be classified as a work-class, meaning that the thrusters may be capable of producing at least one hundred, one hundred fifty, or two hundred horsepower. Thechassis 105 may be made from a metal or alloy, such as aluminum or stainless steel, and thefloat 110 may be made from a buoyant material, such as syntactic foam, and be located at a top of the chassis. Thefloat 110 may be configured to provide slightly positive buoyancy or neutral buoyancy at the expected working depth. - The thrusters may include one or more
longitudinal thrusters 115 f, one or moretransverse thrusters 115 t, and one or morevertical thrusters 115 v. Thehorizontal thrusters 115 f,t may be fixed (shown) or vectored (not shown). The thruster motors may be reversible, thereby affording complete three-dimensional movement of theROV 100. Eachthruster 115 f,v,t may include a propeller, a shroud, and an electric motor for driving the propeller. Each thruster motor may directly drive each propellor or include a gearbox. Each thruster may have a dedicated motor or two or more thrusters may be driven by one motor and a gearbox. Alternatively, the thruster motors may be hydraulic and driven by theHPU 320 r. - The
sensors 325 may include one or more of: a depth gage, altimeter (i.e., height-off bottom sonar), scanning sonar, temperature sensor, laser line scanner, gyroscope, Doppler velocity log, and/or magnetometer. Thecameras 125 may be monochrome or color, standard definition, enhanced definition, high definition, or low light and may be fixed or have panning and tilting capability. As shown, theROV 100 may include a pair offront facing cameras 125 for stereo vision. Eachcamera 125 may include its own channel for multiplexed transmission over thetether 200 t and umbilical 200 u. Although only a pair offront facing cameras 125 are shown, the ROV may additionally have one or more rear facing, left and right facing, bottom facing, and/or top facing cameras. Thelights 120 may include one or more of Hydrargyrum medium-arc iodide (HMI) lights, high intensity discharge (HID) lights, quartz halogen, high intensity light emitting diode (LED) and/or strobe lights. The intensity of thelights 120 may also be adjustable from the surface to accommodate seafloor conditions (i.e., low beam/high beam). As with thecameras 125, although only a set offront facing lights 120 are shown, theROV 100 may additionally have one or more rear facing, left and right facing, bottom facing, and/or top facing lights. Thelights 120 may also be fixed or have pan and tilt capability. - The
manipulators 130 may each include an arm and a pair of opposable claws and may each have multi-degree of freedom capability (i.e., shoulder, elbow, and wrist movement). The jaws of eachmanipulator 130 may also be removable for replacement by other tools, such as a snip or drill, carried by theTMS 50. Eachmanipulator 130 may include a shoulder, aft arm, forearm, wrist, and hand, each portion pivoted to one or more of the other portions and PCAs and/or hydraulic motors for articulating the portions. TheHPU 320 r may include a hydraulic fluid reservoir, a hydraulic pump, and one or more control valves for selectively providing fluid communication between the reservoir, the pump, and the PCAs/hydraulic motors. The hydraulic pump may be driven by an electric motor. Alternatively, themanipulators 130 may include electric actuators instead of the PCAs/hydraulic motors, such as lead screws, linear motors, and/or stepper motors, and theHPU 320 r may be omitted. -
FIG. 3A is a layered view of the umbilical 200 u andtether 200 t.FIG. 3B is an end view of the umbilical 200 u andtether 200 t. Each of the umbilical 200 u and thetether 200 t may include aninner core 205, aninner jacket 210, ashield 215, anouter jacket 230,armor cover 245. Alternatively, thecover 245 may be omitted. - The
inner core 205 may be the first conductor and made from an electrically conductive material, such as aluminum, copper, or alloys thereof. Theinner core 205 may be solid or stranded. Theinner jacket 210 may electrically isolate the core 205 from theshield 215 and be made from a dielectric material, such as a polymer (i.e., polyethylene). Theshield 215 may serve as the second conductor and be made from the electrically conductive material. Theshield 215 may be tubular, braided, or a foil covered by a braid. Theouter jacket 230 may electrically isolate theshield 215 from thearmor more layers TMS 50 and ROV 100) so that the umbilical 200 u may be used to launch and remove the TMS/ROV into/from the sea. The high strength material may be a metal or alloy and corrosion resistant, such as galvanized steel, aluminum, or a polymer, such as a para-aramid fiber. The armor may include two contra-helically wound layers 235, 240 of wire, fiber, or strip. - Additionally, each of the umbilical 200 u and the
tether 200 t may include asheath 225 disposed between theshield 215 and theouter jacket 230. Thesheath 225 may be made from lubricative material, such as polytetrafluoroethylene (PTFE) or lead, and may be tape helically wound around theshield 215. If lead is used for thesheath 225, a layer ofbedding 220 may insulate theshield 215 from the sheath and be made from the dielectric material. Additionally, abuffer 250 may be disposed between the armor layers 235, 240. Thebuffer 250 may be tape and may be made from the lubricative material. Thecover 245 may be made from an abrasion resistant material, such as a polymer, such as polyisoprene or polyethylene. - Due to the coaxial arrangement, each of the umbilical 200 u and the
tether 200 t may have anouter diameter 255 less than or equal to one and one-quarter inches, one inch, or three-quarters of an inch. As discussed above, the each of the umbilical 200 u andtether 200 t may be capable of delivering at least seventy-five, one hundred twelve, or one hundred fifty kW (for one-hundred, one hundred fifty, or two hundred horsepower thrusters, respectively). As compared to a three conductor (phase) AC umbilical/tether, a significant reduction in weight and diameter is achieved, thereby improving performance of theROV 100 and improving the portability of theLARS 30 andTMS 50. For example, replacing a three conductor AC tether/umbilical with the coaxial umbilical/tether may reduce the diameter from two inches to point six five inches and reduce the weight from one point eight pounds per foot to one-half pound per foot. - Alternatively, the umbilical 200 u and/or the
tether 200 t may include additional conductors (not shown) for conducting the data signals separately from the power signal. The additional conductors may be electrically conductive and/or optical fiber. If the additional conductors are electrically conductive, they may additionally carry (along same or different conductors) an ultra-low voltage power signal for powering the tether and/orROV PLCs 305 t,v instead of converting the signals from the low voltage power signal. Alternatively, the tether armor may be made from a lower strength material or omitted as thetether 200 t may not have to support the weight of theROV 100 and theTMS 50. The low strength material may be may be a polymer, such as an aliphatic polyamide. -
FIG. 4 is a system diagram illustrating power supply and data communication between theROV 100 and thesupport vessel 15. - Similar to the
tether power converter 310 t, theROV power converter 310 r may receive the low voltage DC power signal from thetether 200 t via theDIX 315 r, include an inverter for converting the DC power signal to an AC power signal, and a transformer for stepping the low voltage AC power signal to the ultra-low voltage AC power signal, and a rectifier for converting the ultra-low voltage AC to ultra-low voltage DC power signal for powering thePLC 305 r. Thepower converter 310 r may also include the one or more single phase active bride circuits, discussed above. The circuits may be arranged in series to gradually step the DC voltage from low to ultra-low. Theconverter 310 r may include a three-phase inverter for receiving the low voltage DC power signal and outputting a three phase low voltage AC signal for powering the thruster motors and the HPU motor. Theconverter 310 r may also be capable of reversing the polarity of the AC power signal to the thruster motors and theROV PLC 305 r may control the polarity. Theconverter 310 r may supply thelights 120 with low voltage or ultra-low voltage AC power signals. - Similar to the
TMS PLC 305 t, theROV PLC 305 r may include a modem and modulator for receiving command signals from theDIX 315 r. TheROV PLC 305 r may then operate the thrusters and/or the manipulators in response to receipt of the appropriate command signals. TheROV PLC 305 r may send the sensor data to thevan PLC 305 v along a dedicated channel. Eachsensor 325 may have a dedicated channel or data from two or more of the sensors may be time division multiplexed on a single channel. TheROV PLC 305 r may relay ultra-low voltage DC power signals to thesensors 325 and thecameras 125. TheROV PLC 305 r may also be in data communication with thesensors 325 and thecameras 125. TheROV PLC 305 r may receive data from thesensors 325 and thecameras 125, modulate and multiplex the data, and transmit the data to thecontrol van PLC 305 v via theDIX 315 r, thetether 200 t, the umbilical 200 u, and theDIX 315 v. TheROV PLC 305 r may also be in communication with the HPU control valves for selectively operating the valves to control movement of themanipulators 130. - The
ROV 100 may further include a motor controller (not shown) for operating the thruster motors and the HPU motor. Each thruster motor and the HPU motor may be an induction motor. The motor controller may be integrated with thepower converter 310 r or each motor may have its own motor controller. The motor controller may be in data communication with thePLC 305 r for receiving pilot/autopilot commands from thecontrol van 300 and sending diagnostic data to the control van 300 (i.e., RPM and temperature). The motor controller may be capable of simple control (i.e. constant speed). Alternatively, the motor controller may be capable of controlling the speed of the motors, such as by variable frequency drive. In this alternative, the motor controller may receive the low voltage DC power signal and construct quasi-sinusoidal motor power signals (i.e., three phases) for speed controlled operation of the motors. - Alternatively, the motors may be reluctance motors, such as switched reluctance or synchronous reluctance. The reluctance motors may each include a wound stator and a rotor having a multi-lobed laminate core. The motor controller may output stepped, trapezoidal, or sinusoidal power signals to the reluctance motors and the motor controller may control the speed of the motors by controlling the frequency of the power signal. The motor controller may employ an asymmetric bridge or half-bridge circuit for control of the reluctance motors.
- Alternatively, the motors may be permanent magnet motors, such as brushless DC motors (BLDC). The BLDC motors may each include a wound stator, a permanent magnet rotor, and a rotor position sensor. The permanent magnet rotor may be made of a rare earth magnet or a ceramic magnet. The rotor position sensor may be a Hall-effect sensor, a rotary encoder, or sensorless (i.e., measurement of back EMF in undriven coils by the motor controller). The BLDC motor controller may be in communication with the rotor position sensor and include a bank of transistors or thyristors and a chopper drive for complex control (i.e., variable speed drive and/or soft start capability). Alternatively, the motors may be universal motors. Alternatively, the motors may be brushed permanent magnet motors or any other type of AC or DC motors.
- While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (22)
1. A method of operating a remotely operated underwater vehicle (ROV), comprising:
launching the ROV from a vessel into water;
supplying a direct current (DC) power signal to the ROV from the vessel via an umbilical; and
sending a first command signal to the ROV from the vessel via the umbilical while supplying the DC power signal.
2. The method of claim 1 , wherein the umbilical comprises only two conductors.
3. The method of claim 1 , wherein:
the ROV comprises a power converter, and
the method further comprises converting the DC power signal to a second power signal using the power converter.
4. The method of claim 3 , wherein:
the ROV comprises an electric motor, and
the second power signal is supplied to the electric motor.
5. The method of claim 4 , wherein the second power signal is a three phase alternating current power signal.
6. The method of claim 4 , wherein the electric motor is an alternating current motor.
7. The method of claim 4 , wherein the electric motor is a DC motor.
8. The method of claim 4 , wherein the electric motor is a reluctance motor.
9. The method of claim 4 , wherein the electric motor is a permanent magnet motor.
10. The method of claim 3 , wherein the second power signal is a reduced voltage DC power signal.
11. The method of claim 1 ,
further comprising sending a second command signal to a tether management system via the umbilical, thereby releasing the ROV and unwinding a tether,
wherein the ROV receives the DC power signal and the first command signal via the umbilical and the tether.
12. The method of claim 11 , wherein each of the umbilical and the tether comprises only two conductors.
13. The method of claim 1 , wherein the DC power signal is greater than or equal to one hundred volts.
14. The method of claim 1 , wherein:
the ROV comprises a video camera, and
the method further comprises sending a video signal from the video camera to the vessel via the umbilical.
15. A remotely operated underwater vehicle (ROV), comprising:
a chassis;
a float connected to the chassis;
a thruster connected to the chassis, the thruster comprising an electric motor;
a manipulator connected to the chassis;
a video camera connected to the chassis;
a light connected to the chassis;
a diplexer connected to the chassis and operable to connect to a two conductor tether and split a composite signal from the tether into a DC power signal and a first command signal;
a power converter connected to the chassis and operable to receive the DC power signal from the diplexer and supply a second power signal to the thruster motor; and
a programmable logic controller connected to the chassis and operable to receive a first command signal from the diplexer, modulate a video signal from the camera, and transmit the video signal to the diplexer.
16. The ROV of claim 15 , wherein the second power signal is a three phase alternating current power signal.
17. The ROV of claim 15 , wherein the electric motor is an alternating current motor.
18. The ROV of claim 15 , wherein the electric motor is a DC motor.
19. The ROV of claim 15 , wherein the electric motor is a reluctance motor.
20. The ROV of claim 15 , wherein the electric motor is a permanent magnet motor.
21. The ROV of claim 15 , wherein the power converter is also operable to supply a reduced voltage DC power signal to the programmable logic controller.
22. A system for deploying a remotely operated underwater vehicle (ROV), comprising:
the ROV of claim 15 ; and
a tether management system (TMS) operable to connect to the ROV and comprising:
a winch operable to wind and unwind the tether and comprising an electric motor;
a diplexer operable to connect to a two conductor umbilical and split a composite signal from the umbilical into a DC power signal and a second command signal; and
a power converter operable to receive the DC power signal from the TMS diplexer and supply a second power signal to the winch motor.
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US13/031,048 US20120210926A1 (en) | 2011-02-18 | 2011-02-18 | Dc powered rov and umbilical |
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US13/031,048 US20120210926A1 (en) | 2011-02-18 | 2011-02-18 | Dc powered rov and umbilical |
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EP3735374A4 (en) * | 2018-01-02 | 2021-10-20 | WT Industries, LLC | System for launch and recovery of remotely operated vehicles |
US20190375482A1 (en) * | 2018-06-06 | 2019-12-12 | Oceaneering International, Inc. | ROV Deployed Buoy System |
US10858076B2 (en) * | 2018-06-06 | 2020-12-08 | Oceaneering International, Inc. | ROV deployed buoy system |
CN111427275A (en) * | 2020-04-24 | 2020-07-17 | 上海查湃智能科技有限公司 | Electric control method and system for water surface power supply type underwater robot |
WO2022003311A1 (en) * | 2020-07-01 | 2022-01-06 | Impaq Technologies Limited | Subsea power converter |
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