DESC:F O R M 2
THE PATENTS ACT, 1970
(39 of 1970)
The Patent Rule, 2003

COMPLETE SPECIFICATION
(See section 10 and rule 13)

“Power Transmission, Stability and Thermal Management Architecture for ROV”
By
Planys Technologies Private Limited
An Indian company
03 - A2, 3rd Floor, IITM Incubation cell, Madras Research Park, Kanagam Road Tharamani, Chennai 600113

The following specification particularly describes the invention and the manner in which it is to be performed
FIELD OF THE INVENTION
The present invention relates generally to remotely operated vehicle (ROV) and more particularly to power transmission, stability and thermal management architecture for observation class ROVs.
BACKGROUND OF THE INVENTION
A Remotely Operated Vehicle (ROV) is essentially a tethered underwater robot that allows the vehicle's operator to remain in a comfortable environment while the ROV works underwater. The applications of submersible ROV’s include observational tasks such as visual and/or sensory inspection of platforms, structures and pipelines, intervention tasks like construction and repair of inter-oceanic pipelines and structures as well as object location and recovery tasks including detection of underwater mines and so on.
Conventionally ROV system mainly consists of commanding station, tether for power and communication, thruster which is an electric motor driven propeller used for moving vehicle, camera for photos or video recording, storing, live feed, and lights in general LED for Illumination under sea due to poor visibility. Usually videos/photos and vehicle parameters are transmitted through tether to control station and control station command the ROV through the tether. Tether act as transmission of power and communication means.
Some ROV’s uses multi core tether viz. 8 core or more in separate wires for power transmission and for communication. Other ROV’s uses same wires of the tether for both power transmission and communication. However, in common the tether uses high voltage AC at approximately 1000V or more or high voltage DC approximately 600V or more with dedicated power converters at both the ends for power transmission and communication. This increases system complexity and cost.
Further, among the available ROV’s instability and insufficient of thrust is more common under high water current and rough weather conditions due to improper thruster configuration.
The other downside of the current observation class ROV’s includes, decrease in operational efficiency of the system due to heat generated from the electronics parts like converters, motor drives which are kept in pressure hull, thus heat generated is confined to the space inside the hull.
The present invention focus to address aforementioned drawbacks of the system, to overcome system complexity, reduce cost, increase efficiency, and for better thrust configuration of an ROV.
OBJECTIVE OF THE INVENTION
These objectives are provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This objective are not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
An important objective of the invention aims at providing a compact solution for the shortcomings of the above mentioned systems.
Another objective of the invention is to use domestic power supply for ROV.
Yet another objective of the invention is to maximize the system efficiency by minimizing thermal losses associated with electronics in the system.
Further objective of the current invention is to make vehicle more stable at rough weather condition.
These objectives are achieved according to the invention, a power transmission configuration of a ROV, consisting of an AC/DC converter converting input AC voltage to output DC voltage. And a DC/DC converter connecting in series to AC/DC converter converting DC voltage from one level to another, wherein the DC/DC converter connected to an electronic speed controller (ESC) through a DC bus bar propels coupled thruster. Further, the pressure hull consists of thermal architecture having plurality of cooling means, dissipating heat generated from the electronic converters or motor drives in the hull. Additionally, ROV consists of plurality of thrusters, which are vector configured to facilitate maximum stability for the ROV under high water current and rough weather conditions.
Object of the present invention is not limited to the above mentioned problem. Other technical problems that are not mentioned will become apparent to those skilled in the art from the following description.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention will now be described in greater detail with reference to an embodiment which is illustrated in the drawing figures:
Figure 1 shows power transmission for working of a ROV, according to an embodiment of the present invention;
Figure 2 shows architecture of plurality of fans in a pressure hull, according to an embodiment of the present invention; and
Figure 3 shows vector configuration of thrusters in a ROV, according to an embodiment of the present invention.
Throughout the drawings, it should be noted that like reference numbers are used to depict the same or similar elements, features, and structures.
DETAILED DESCRIPTION OF THE INVENTION
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of exemplary embodiments of the invention as defined by the claims and their equivalents. It includes various specific details to assist in that understanding but these are to be regarded as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
In the claims, all transitional phrases such as "comprising," "including," "carrying," "having," "containing," "involving," and the like are to be understood to be open- ended, i.e., to mean including but not limited to. Only the transitional phrases "consisting of and "consisting essentially of," respectively, shall be closed or semi-closed transitional phrases.
To facilitate the understanding of this invention, a number of terms may be defined below. Terms defined herein have meanings as commonly understood by a person of ordinary skill in the areas relevant to the present invention. Terms such as "a", "an", and "the" are not intended to refer to only a singular entity, but include the general class of which a specific example may be used for illustration. The terminology herein is used to describe specific embodiments of the invention, but their usage does not delimit the disclosed system or method, except as may be outlined in the claims.
Figure 1 shows power transmission for working of a ROV, according to an embodiment of the present invention. Accordingly a power transmission configuration of a ROV, consisting of a tether (100) having two ends connected to offshore power supply or the power generator (100A) through first end and the second end is the AC voltage receiving end (100B). The power transmission configuration is positioned preferably inside the pressure hull (120) of an ROV. In the pressure hull (120), the receiving end (100B) is connected to AC/DC converter (102) where the input AC voltage is converted to output DC voltage. Further, AC/DC converter (102) is connected to DC/DC converter (104) in series to convert DC voltage from one level to another. Furthermore the DC/DC converter (104) is connected to an electronic speed controller (ESC) (108) through a DC bus bar (106) with minimal power loss. The ESC (108) is coupled to a thruster (130) to propel ROV.
Further, pressure hull (120) consists of a thermal architecture (140) having plurality of cooling means (110) dissipating heat from pressure hull to surrounding. In a ROV cooling means (110) can be plurality of fans dissipating, heat generated from electronic converters or motor drives in the hull (120) to sea water. In an embodiment, to maintain optimum temperature inside hull (120), plurality of fans preferably 10 fans are placed in a unique orientation to transfer generated heat to hull (120) and then to sea water. Thermal architecture (140) of plurality fans in a unique orientation assists in circulation of air in a precise mode to remove heat from semiconductor converter very effectively. Among the 10 fans, 6 fans forces air in the longitudinal way (140A) along the pressure hull (120), and 4 fans in transverse way (140B) across the hull (120), thus circulating air in both longitudinal (140A) and transverse way (140B) to create turbulent air flow inside the hull (120) resulting in higher heat transfer coefficient.
In a pressure hull (120), heat from the printed circuit boards (PCB) is removed by mounting PCB on stacks with thermal tape for low contact resistance. The stacks are made up of aluminium and have physical contact with the hull (120) over large surface area. The circulatory motion of air inside the hull (120) along with usage of aluminium stacks transfers heat from the PCB according to forced convection and conduction respectively. The corresponding figure 2 shows thermal architecture of plurality of fans (110) in a pressure hull (120), according to an embodiment of the present invention.
Figure 3 shows vector configuration of thrusters (150) in a ROV, according to an embodiment of the present invention. ROV consists of plurality of thrusters (130), which are vector configured to facilitate maximum stability for the ROV under high water current and rough weather conditions. In an embodiment 8 thrusters (130) are vector configured to propel ROV, where 6 thrusters (130) are facing horizontal plane (150A) and 2 are facing vertical plane (150B) to enable 5 degree freedom to make ROV much more stable. Even the configuration (150) provides high thrust in all important directions including surge, sway.
While transmission, power at 240V, 50Hz is transferred through the tether (100) from offshore power supply or generator (100A) to pressure hull (120) of the ROV. Power received at ROV end of tether (100B) is AC voltage which is converted to DC voltage by AC/DC converter (102). The converted DC voltage can be of the value 48V, 12V, 5V, 3.3V. Further ample of DC voltage from the DC/DC converter (102) passes through DC bus bar (106) and ESC (108) to propel the thruster (130). DC bus bar (106) transmits the power with minimal losses whereas electronic speed controller (108) varies the speed of thruster (130).
In an embodiment, the tether (100) which is a three core cable consists of line, neutral and earth can be used for both power transmission and communication. Thus, much better data or HD videos/photos can be transmitted to and from the ROV without any additional cables/optical fiber.
The observation class ROV’s powered by offshore domestic power supply at 240V, 50Hz can able to operate up to 250 meters. The advantages of the invention includes ease of using commercial power supply or diesel generator as the source of power for actuating ROV’s, even ROV can be propelled with single phase ac supply. Other advantages includes use of sufficiently small tether diameter nearly 10mm, high power with high efficiency as compared to other inspection class ROV and better ROV stability and high thrust under rough sea condition.
The claimed invention finds application in underwater inspection of any off shore structures like ports, terminals, harbours for breakwater inspection, jetty inspection, wharf inspection, riser Inspection, dredging support, pre-dredging obstacles survey, bathymetry. Further, in shipping industry for inspection of paint loss, ultrasonic thickness mapping, bio-fouling inspection, ship propeller inspection. In oil and gas industry for platform structure inspection, single buoy mooring inspection, submerged cable inspection, submerged pipeline inspection, pipeline survey, and offshore installation support. Furthermore, in dam inspection, inspection for radiation leak, thermal plant tank inspection. Other applications are in scientific institutions for oceanographic sampling, archaeological survey, seismic survey and bathymetry.
While the preferred embodiment of the invention has been illustrated and described herein, it is to be understood that the invention is not limited to the precise construction herein disclosed, and the right is reserved to all changes and modifications coming within the scope of the invention.
Although there has been shown and described the preferred embodiment of the present invention, it will be readily apparent to those skilled in the art that modifications may be made thereto which do not exceed the scope of the appended claims. Therefore, the scope of the invention is only to be limited by the following claims.

I/we claim,
1. A power transmission configuration of a ROV, consisting of: a AC/DC converter converting input AC voltage to output DC voltage; a DC/DC converter connecting in series to AC/DC converter converting DC voltage from one level to another, wherein the DC/DC converter connected to an electronic speed controller (ESC) through a DC bus bar propels coupled thruster.
2. The power transmission configuration of a ROV according to claim 1, is positioned inside pressure hull of ROV.
3. The power transmission configuration of a ROV according to claim 2, wherein the AC/DC converter converts power at 240V, 50Hz to 48V, 12V, 5V, 3.3V.
4. The power transmission configuration of a ROV according to claim 1, further consists of a thermal architecture having plurality of cooling means dissipating heat from pressure hull to surrounding.
5. The power transmission configuration of a ROV according to claim 4, wherein said cooling means is a fan.
6. The power transmission configuration of a ROV according to claim 4 or 5, wherein said thermal architecture has 10 fans.
7. The power transmission configuration of a ROV according to claim 4 or 5 or 6, wherein the thermal architecture of said cooling means includes 6 fans in longitudinal way along the pressure hull, and 4 fans in transverse way across the hull, creating turbulent air flow inside the hull ensuing higher heat transfer coefficient.
8. The power transmission configuration of a ROV according to claim 1, further consists of plurality of thrusters, vector configured to facilitate maximum stability for the ROV under high water current and rough weather conditions.
9. The power transmission configuration of a ROV according to claim 8, wherein 8 thrusters are vector configured to propel ROV, wherein 6 thrusters are positioned in horizontal plane and 2 in vertical plane enabling 5 degree’s freedom to make ROV stable.
Dated this 26th September, 2017

S Afsar
Agent for applicant
Krishna & Saurastri Associates
[Registration No. IN/PA-1073]

ABSTRACT
Title: Power Transmission, Stability and Thermal Management Architecture for ROV
The present invention relates to power transmission, stability and thermal architecture for observation class ROVs. Accordingly, a power transmission configuration of a ROV, consisting of an AC/DC converter converting input AC voltage to output DC voltage. And a DC/DC converter connecting in series to AC/DC converter converting DC voltage from one level to another, wherein the DC/DC converter connected to an electronic speed controller (ESC) through a DC bus bar propels coupled thruster. Further, the pressure hull consists of thermal architecture having plurality of cooling means, dissipating heat generated from the electronic converters or motor drives in the hull. Additionally, ROV consists of plurality of thrusters, which are vector configured to facilitate maximum stability for the ROV under high water current and rough weather conditions.
Figure 1 (for publication)
,CLAIMS:I/we claim,
1. A power transmission configuration of a ROV, consisting of: a AC/DC converter converting input AC voltage to output DC voltage; a DC/DC converter connecting in series to AC/DC converter converting DC voltage from one level to another, wherein the DC/DC converter connected to an electronic speed controller (ESC) through a DC bus bar propels coupled thruster.
2. The power transmission configuration of a ROV according to claim 1, is positioned inside pressure hull of ROV.
3. The power transmission configuration of a ROV according to claim 2, wherein the AC/DC converter converts power at 240V, 50Hz to 48V, 12V, 5V, 3.3V.
4. The power transmission configuration of a ROV according to claim 1, further consists of a thermal architecture having plurality of cooling means dissipating heat from pressure hull to surrounding.
5. The power transmission configuration of a ROV according to claim 4, wherein said cooling means is a fan.
6. The power transmission configuration of a ROV according to claim 4 or 5, wherein said thermal architecture has 10 fans.
7. The power transmission configuration of a ROV according to claim 4 or 5 or 6, wherein the thermal architecture of said cooling means includes 6 fans in longitudinal way along the pressure hull, and 4 fans in transverse way across the hull, creating turbulent air flow inside the hull ensuing higher heat transfer coefficient.
8. The power transmission configuration of a ROV according to claim 1, further consists of plurality of thrusters, vector configured to facilitate maximum stability for the ROV under high water current and rough weather conditions.
9. The power transmission configuration of a ROV according to claim 8, wherein 8 thrusters are vector configured to propel ROV, wherein 6 thrusters are positioned in horizontal plane and 2 in vertical plane enabling 5 degree’s freedom to make ROV stable.
Dated this 26th September, 2017

S Afsar
Agent for applicant
Krishna & Saurastri Associates
[Registration No. IN/PA-1073]