ROV (remotely-operated vehicle, robot submarino de controlo à distância)

rov_sp_front_200.jpgName: ROV SP

Model: SeaBotix LBV300S-6
Tether length: 350 m
Maximum depth of operation: 300 m

Thruster configuration
Six brushless DC thrusters – 4 for forward, 1 for vertical, and 1 for lateral motion
Minimum/maximum vehicle speed over ground:
Speed at surface - 4 knots - 4.6 mph - 2.05 m/s
Max Operating Current - 3.0 knots - 3.45 mph - 1.54 m/s
Bollard thrust: Forward - 12.7 Kg/f; Vertical – 3 Kg/F; Lateral – 3.2 Kg/F
Trim function: locks thruster settings without having to manually hold a key or move the joystick
A control option is also implemented for maintaining constant depth.
Power requirements: 220 VAC

Cameras
The ROV has 2 cameras. One colour camera (570 line/02 Lux super HAD color) and one black & white camera (430 LINE/ 0.03 LUX). Focus control is manual via a hand controller. Focus is 90 mm to infinity. Images from only one camera can be viewed or recorded at a time.
The camera automatically adjusts gain and white balance.

Camera orientation
The camera chassis is able to move to look downward, ahead and upward. The tilt range is 270º per camera (180° from internal chassis rotation plus 90° from camera lens tilting). Panning is achieved by moving the ROV itself. Camera orientation is usually changed throughout the dive as the seafloor and its features are explored. The camera tilt angle is overlaid on the displayed image.

Lights
The ROV includes a Luxeon 6 LED array (480 Lumen) mounted internally on the camera chassis. Light intensity is controlled manually.
4 additional arrays (4x 480 Lumen) have been installed externally on the 4 front corners of the ROV.

rov_mergulhador_200.jpgHeading
Built-in magnetic compass

Size calibration
Two parallel lasers are installed on the vehicle with a separation of 5 cm.
Vertical sizes can also be estimated from depth gauge variation while moving the ROV vertically.

Environmental information
Temperature information from the sensor embedded in the ROV is continuously overlaid on the footage but cannot be fed to a port and logged into a computer file.
Small sensors/environmental data loggers can be externally attached to the ROV structure.

Acquired video footage
Footage is recorded and stored on mini-DV cassettes. Video colour format can be NTSC or PAL.
The time codes of the mini-DV recorder and of the ROV control box (which ads a time code to the image) is calibrated at the start of each survey day with a +-1 sec. precision using the GPS UTC time.

Tracking/Positioning System
The system includes a surface Acoustic Ultra Short Baseline (USBL) transducer (with integrated magnetic compass and pitch and roll sensors), a Subsea Micron Nav unit (fitted on the vehicle), a surface Micron Nav 100 interface module and operating software under control of a host PC.

Surface USBL transducer
Calculates range and bearing of the ROV from surface platform.

Built-in magnetic compass and pitch and roll sensor
Tracking range: 500m (1,640ft) typical Horizontal, 150m (492ft) typical Vertical
Range accuracy: typically +/- 0.2m (7.87 inches)
Bearing accuracy: +/-3°
Position update rate: 0.5 to 10 seconds
Targets tracked: 1 responder and up to 15 transponders
Operating beam width: 180°
Spread spectrum: 20-28 kHz band
Maximum Diameter: 110mm (4.33 inches) including mounting plate 75mm (2.95 inches)
Body Tube Diameter: 270mm (10.63 inches)
Maximum Height Weight in Air: 1.96kg (3lbs 15oz)
Weight in Water: 810g (1lb 12oz)
Surface Station Power: 110-220V AC or 9-30V DC

MicronNav unit (fitted on the vehicle)
Beam width: omni-directional transducer
Power Requirement: 12-50V DC
Power Consumption: 3.5W Transmitting, 280mW Standby, 48mW Sleep Mode
Transmitter Source Level: 169dB re 1uPa @ 1M
Interface: RS232 or RS485
Depth Rating: 750m (2,460ft)
Maximum Diameter: 56mm (2.20 inches)
Maximum Height: 76mm (2.99 inches)
Weight in Air: 225g (7.9oz)
Weight in Water: 70g (2.5oz)

Data Display
Polar and Cartesian display with optional user bitmap chart.
Position of underwater and/or surface vehicles.

Software
The Seanet Pro software provides data logging and playback facility that can be used to record and playback all data from subsea sensors potentially installed on the ROV such as tracking USBL system, heading/altitude sensors, SeaKing DFS Sonar, DFP Profiler, Sidescan and Bathy. Other data (such as NMEA 0183 strings) may be recorded.

Sonar
Used for obstacle/target detection.
The Tritech Micron DST (Digital Sonar Technology) Scanning Sonar is the smallest digital CHIRP sonar worldwide. It features: true acoustic zoom, forward-looking sonar, 360° Sonar and Sector Scan Sonar Modes, instant scan reversal and sector scan options, inverted mode sonar operation, hard boot protection for transducer, target size measurement.

Operating frequency: chirped 650kHz to 750kHz (other frequency bands available on request)
Beamwidth, vertical: 35°
Beamwidth, horizontal: 3°
Range settings: From 2m (6ft) to 75m (250ft)
Scan sectors: User selectable up to 360° continuous
Step speed: Normal, Fast or Very Fast
True acoustic zoom: Yes
Instant reversal: Yes
Image measurement: Yes
Inverted head operation: Yes
Maximum diameter: 56mm (2.20 inches)
Maximum height: 78.5mm (3.09 inches)
Weight in air: 324g (10.25 oz)
Weight in water: 180g (5.15 oz)
Maximum operational depth: 750m (2,460ft)
Power requirements: 12V - 50V @ 4 VA (average)
Data communication: RS 485 (twisted pair), RS 232 (via modem up to 115kb/s)
Communication requirements: Maximum cable length 1000 m (using RS 485)
Topside control: Customer supplied PC or laptop using standard serial COM ports. Windows 2000/XP/Vista operating system.

Software
Tritech SeaNet (OEM) display and control or low-level direct command protocol

Altimeter
Designed to be complementary to the Tritech Micron DST sonar, it can also act as a stand-alone altimeter, providing accurate height off the seabed and other subsea distance measurements.

Operational Depth: 750m (2,460ft)
Operating Frequency: 500KHz
Beamwidth: 6° conical (at 500KHz)
Operating Range: 50m (160ft)
Digital Resolution: 1mm
Analogue Output: 0-5V, 1-50m
Standard Operating Temperature: -10°C to +35°C
Storage Temperature: -20°C to +50°C
Maximum diameter: 56mm
Maximum height: 59mm
Weight in air: 200 grams
Power Requirements: 12V to 50VDC @ 3.5 VA
Data Communication: RS485 (Standard interface for Micron aux. port) RS232 (Stand alone option)
Output Format: ASCII, NMEA, DBT
Topside Control: Customer supplied PC or Laptop using standard serial COM port with Windows 98, 2000, XP or Vista operating system