New concept of an integrated ROV for underwater inspection

Transcription

1 New concept of an integrated ROV for underwater inspection system T. Graczyk, M. Matejski, W. Skorski Faculty of Maritime Technology Technical University of Szczecin Al Piastow 4, Szczecin tuniv.szczecin.pl Abstract Tasks performed underwater require application of more and more complicated tools. To provide needs of deep water inspection the new concept of integrated underwater system was elaborated at the Faculty of Marine Technology. In the paper results of research work of the Underwater Technology Team are presented. Equipment for underwater missions applied at the Faculty of Marine Technology - short characteristics There is the technical objects detection system KRAB-50 applied in underwater missions performed in the lakes and in the Baltic Sea. It has been designed and built for location and identification of technical objects on the sea bottom down to 50 m. including assessment of the condition of military deposits, (Matejski *). The KRAB system consists of two objects: underwater vehicle carrying the necessary equipment and the mobile research and control station, which is placed on double axles car trailer and contains the following units: vehicle control console, system for monitored data recording and reproduction, system for video-images recording and processing, chemical and physical minilaboratorium. Technical description of the system is presented briefly in Table.

2 566 Marine Technology Table. Comparison of ROVs technical data # Technical data Task site category Shape Dimensions [ mm ] Weight in air [ kg ] Operational depth [ m ] Speed - forward [ m / s ] Number of propellers: longitud.+transv.+vertical Umbilical Supply voltage [VxHz] Basic equipment: Optional equipment Deck devices KRAB ROY point site cuboid 200x270x m m- analogue control electric wires for signal transmission 220 x 50 colour video camera b&white video camera lights 4 x 50 W one-function jaw manipulator tilt platform for 2 cameras and 4 lights magnetic compass pressure draught gauge magnetometer water sampling device sonde testing physical & chemical parameters of water sonic height and depth meter hand control console keyboard two video monitors video overlay computer energy supply console TODS-400 ROV line or area site spindle 2250 x 760 x and 400m., - numerical control optical fibres for signal transmision 3 x380x50 colour video camera b&white video camera photo camera & strobe lights 4 x 300 W two-function jaw manipulator pan&tilt platform for one camera and 2 lights magnetic compass pressure draught gauge tracking system magnetometer water sampling device sonde testing physical & chemical parameters of water hand control console keyboard two video monitors computer with video overlay installed monitor mouse keyboard energy supply cabinet

3 Marine Technology Necessity of penetration of the deepest Baltic Sea sites aiming at military deposits neutralisation The most frequent artificial residuals of the Baltic Sea bottom are, (Matejski ^): - steel construction parts, - ship wrecks, - chemical warfare. The steel construction parts' group consists of pieces of land construction parts, lost anchors, ship equipment parts, containers, cars, military equipment etc. The ship wreck's group consists of wrecks mostly from the II World War period; however, there is a number of much older and much younger wrecks due to intense human activity in the region nowadays and in history. Handling of these spots of the sea bottom is governed by appropriate regulations and except for technical problems, these spots are relatively non-dangerous with exception of the wrecks of warships from the I and the II World War. Quite different appears the problem of existing military ammunition and chemical warfare. Apart from explosives (ammunition), this group consists of phosgene, yperite, lewisite, DFP, sarine, somane and a several other, not commonly known chemical warfare agents. Their concentration attaining the level of fraction of milligrams per litre may cause death. The shells, mines and bombs which were "the means of transport" for these chemical warfare agents are mostly in very bad condition due to corrosion processes.. Penetration of the abyss without any danger for exploring teams will be possible using well equipped ROV, which works separately in the distant sea bottom site. This is a reason to develop proper equipment for investigations of the hazardous objects. Design of such equipment have been lately elaborated at the Faculty of Marine Technology. 3 Assumptions for a new system design for deep water penetration Taking into consideration physical conditions of the Baltic Sea, especially on the sea bottom, (Skorski ^), technical assumptions for the new TODS-400 ROV system have been made. The system has to allow continuous work at the deepest sites of the Baltic Sea bottom. It should be robust for penetration of steel construction parts and ship wrecks, flexible because of diversity of underwater tasks. It should be easy rearrangeable for use of different research equipment as video-camera, photo camera, manipulator. The vehicle should be also equipped with lights, compass, depth meter, tracking system and special equipment like magnetometer, water sampling device, sonde testing physical & chemical parameters of water.

4 NICAL OBJECT DETECTION SYSTEM TODS - BLOCK DIAGRAM CLE - CARRIER OF APPARATUS CONTROL STATION GZ\AWvVI sonar S0NMJ2ATION [W4ifL J.ta OTCJMIE, STROBE UCHT? FOR^JL^ TUT '"" ^"" "n~ ' cu ONTR OL ; AAGNETOAJETER HAND CONTROLLER NIT :ONTROL UNIT UN T COURSE/ /DEPTH H [3 ' *" *" "** -jl 0 L_ GLAND I i VIDEO s~\ RECORDEI 0 o 2 or,3 ^ IKf PORT/STARBOARD So- " r n JAW MONOFWCTl MANIPU ON KEYE OARD VIDEO UTOR [ RECORDEI lo- i rgm J ^ 03 "o MONITOR os VERTICAL o-a«. C^pLE.6 o" IKW THRUSTER uo aa in cj f] y ECHO (BOTTOM) 80 UNDER } 0 0 MKIftt-o d _U fl ECHO (SEA LEV SO UNDER DATA il ' INPUT/0TPUT EL) MONITOIi- PC 4 ANALOG CARD /±\HOR«Oh ^n= ( KV TK ITAL RUSTER A/DK/m/Dt 0 I CABLE o CABLE irospec 0^.Im SP fj CABLE -pr sm FORT/STARBOARD ^CABLE " GLAND I MAIN CONSC)LE CAND J i y Vo/ ioom IJMBILIC/ IL CABLE SCNALZATION f: STROBE UGHr AFT DES GN M. MATEJS: COMPASS W. SKORSK <I ( 77 DIVCE CAD L. PISKORSKI U, ^0 %L ALL RIGHTS RESI:RVED HKA D/APPRd VAL T. GRAC7YK ~~~7 OCEAN }^ BLE Instytut Ocea notechi liki TECHNICAL OBJECT E ETECTION SYSTEM i Okr^townictwa TODS AL 7- Zaktad Tcchnolc>gii OkrQl6w SZCZECIN Al. Piasldw POL tcl DS-IP- 02 fax.

5 Marine Technology 569 Block diagram of the TODS-400 system, Fig., proposed at the initial step of the design, shows main parts of a vehicle - apparatus carrier and configuration of a surface control station. The vehicle is equipped with 6 (initially 5) electrical thrusters providing 4 stages of freedom. Fig. 2. and Fig. 3 present diagrams of the power and data transmission and surface equipment of the system respectively, made within the PHARE project realised in co-operation with Hytec-Eweco company, Montpellier, France, (Graczyk *). POWER AND DATA TRANSMISSION BLOCK DIAGRAM ROV!! ^\ \<x^ /^ OPTO REMOTE ELECTRICAL I I./^^ CONVERTERS j = s^ ^\ j 00 METERS UMBILICAL CABLE! ^J^ OR I -" H00 METERS UMBILICAL CABLE j! ^\/^ CABLE HEAD I >\ OPTO ELECTRICAL ; I ^X^ ^\J CONVERTERS j CONTROL 230V^AC 2 ^ 260V AC 3 -^=r FIXED POWER C2/24V] I SUPPLY BOARD! LylTV CAMERA I } I _ : * *-&** / _/" r \i LHMLKH pqmrrq d ^ / \,.. U / PHSTTTONNINR ITI i-ii-ii. T # uiri ) A\ \ L/<nwap \- VsVbILM J/ \ C ANALYZER y~ rclhy i ' * BOARD { ^ I CPU ^ '.WATER DETECTUR) I L^pnoTO CAMERA ) BOARD ^ ^RESSURE ^ L^PTTTU ) < CFLUXGATE ) (-^MANIPULATOR j r ' j L-fe^WATER SAMPLER ) -., E POWER,' 0 artncrff^ JU^LOUI LLI, I "«OPO,ER SUPPLY BOARD UT^v BOARD ^ \. i * * : i icni bulh >Trn! cu ci ^.UKKLT ippi v &y ( ^, THRUSTERS ^,.,^,^^.^^ ^,^ X5 \) ^---, ' j rontpol ^v. I_ J (LibHTo XH )! gs4q%#-7 ^ -,m wm rt«n rolerbnce DC /, Pt»0» t»o oatfl TRimsnissi»l»- {f"%!%. SWFflCC «.«XrDI<«WH ROV \fmj=f t^t^i W»TC,6/,e/97 HYI (77^2-0 H N./3. HlYTEC «""E ^«rr»,re l,^y?^ irepw5%%%" 5JS^-r'"^y,?e, Figure 2. TODS-400 ROV system - diagram of the power and data transmission

6 570 Marine Technology POWER AND DATA TRANSMISSION BLOCK DIAGRAM SURFACE EQUIPMENT >TO ANALYZER PC VIDEO OVERLAY CPU BOX REMOTE OPTO ELECTRICAL CONVERTERS 00 METERS UMBILICAL CABLE i ' OR I 400 METERS UMBILICAL CABLE; CABLE HEAD OPTO ELECTRICAL CONVERTERS Figure 3.TODS-400 ROV system - diagram of the surface equipment 4 Characteristics of the new built ROV system Technical description of the system is presented briefly in Table in comparison with KRAB ROV system being in the possession of the Faculty. The main advantages of the new built ROV system are as follows:

7 Marine Technology 57 - working depth down to 400 m; - speed exceeding 2.5 mps; - spindle shape enabling low resistance in water stream and manoeuvrability; - much more sophisticated equipment allowing to perform task with greater precision and to measure on-line parameters with greater accuracy; - tracking system based on ultra short base positioning system giving precise description of vehicle position at the work site. Vehicle, control equipment of the system and mobile control station are presented at laboratory stand, see photo - Fig.4. Final remarks TODS-400 ROV system seems to be a powerful system for deep water investigations ready to use in monitoring and inspection tasks to asses condition of underwater objects including the post military residues on the sea bottom. The team involved in design and operation of the new built system cooperates closely with many companies owning sea-vessels, carrying on various sea-operations, underwater works, etc. There is a hope, that basing on this cooperation the system will be engaged in research and exploration projects realised in various regions of the sea and inland waters. Figure 4. TODS-400 ROV system during laboratory tests

8 572 Marine Technology References. GraczykT., Matejski M., Skorski W.: Project no PL ,,Coastal Monitoring - Szczecin", EU Phare, Cross Border Co-Operation Programme Poland-Denmark, Technical University of Szczecin, Matejski M., Skorski W., Graczyk T.,: Technical aspects of localisation of offshore structures in the Baltic Sea, Marine Technology II, Proc. of the Second International Conference on Marine Technology ODRA '97, Szczecin, 3-5 May 997, ed. by T.Graczyk, T.Jastrzgbski, C.A.Brebbia, Computational Mechanics Publications - Southampton & Boston, 997, p Skorski W., Matejski M., GraczykT.: Baltic Sea waters measurements and modelling in aspects of post-war military residues, Marine Technology II, proc. of the Second International Conference on Marine Technology ODRA '97, Szczecin, 3-5 May 997, ed. by T.Graczyk, T.Jastrzgbski, C.A.Brebbia, Computational Mechanics Publications - Southampton & Boston, 997,p