Voyager
The Voyager is an Observation ROV the Voyager can perform Platform Inspection and Survey, CP Surveys, diver support Debris and bottom Surveys, Pipeline surveys, General video surveys.
Small tools can be fitted to the vehicle.
Manufacturer: Perry Tritech Inc.
VOYAGER SPECIFICATION
Depth Capability 610 MSW
Speed
Maximum Speed (without tether drag) Forward: 2.7 knots
Reverse: 2.0 knots, Lateral: 2.0 knots, Vertical: 1.2 m/sec., Turning Rate 90 deg./sec
Vehicle dimensions
Length: 41 in overall, Width: 32 in overall, Height: 24 in overall
Vehicle weight
in air 182 kgs
Control Functions
Auto Depth 1000 m. Pressure transducer feedback to a Subsea control loop, +/- 7.5 cm.
Auto Heading Magnetic reference +/-2°, Magnetic Compass w/Subsea control loop, Rate Sensor Watson Rate Sensor
Payload
10 kg minimum in seawater after 2 video cameras, still camera, 3 function manipulator, lights and sonar are installed.
Buoyancy
PVC co-polymer foam block with polyurethane skin. Rated to 610 meters (2000 Ft). Includes cut out for single vertical thruster, vehicle tether/lift point, and Imaginex Mini-Sonar head. Vehicle is delivered in neutral trim condition (freshwater) with applicable lead complement.
Lighting system
4 x 250 Watt, independently fused and adjusted in pairs.
Vehicle Frame
Acetyl resin, fibre reinforced.
Power requirements
4.5 KVA (approximate at vehicle), (1200 Vac, 3Ø, 2.75 Amp per phase, Vehicle power)
Operating Temperature Vehicle:
0 to +35°C water temperature
Storage Temperature:
-20 to +60°C
Thruster Assemblies
5-Tecnadyne Brushless DC w/ magnetic propeller coupling
Power Requirements 140 Vdc, 6.0 Amps each (approximate)
Thruster Configuration Four (4) horizontal mounted at 45°.
Two (2) fore/aft thrusters mounted forward on port and starboard side, two (2) fore/aft thrusters aft on port and starboard side. One (1) vertical thruster mounted mid-vehicle.
Control Bottle
1000m rated, Double O-ring seal.
Includes:
-KVH compass
-Rate sensor
-Current Loop Modem
-Signal Conditioning PCB to meet Norwegian requirements.
-Strobe charge circuit
-Relay PCB
-Ground Fault/Water alarm PCB. GFI to meet North Sea standard for operation with divers.
-STD telemetry cards (5)
-Power Supply for power to:
-Cameras (2 off)
-Sonar (Tritech)
-STD cards (5 off)
-Compass (KVH)
-F/O transmitters
-ROV telemetry
-Video channels (3)
Telemetry System , 6 slot STD bus chassis to include:
One (1) Telemetry processor
One (1) Main processor
One (1) MSI 7563 PCB
One (1) Robotrol 7728 PCB
One (1) Robotrol 7712 PCB
Input/Output Channels (Total) Digital Outputs - 24
Analogue Outputs - 8 Current
12 Voltage
Analogue Input - 16
Fibre Optic Penetrator Oil filled, accommodates 6 multimode fibres
Camera Capacity (1)Colour Camera (STD or Super VHS)
(1)SIT Camera
(1)Photosea 1000/stills system - optional
(1)Photosea 1500S Strobe - optional
Tilt Range: +50°/-70°
Torque: TBD
Speed: Fast/Slow (Selectable on pilot console)
Power Bottle , 1000 m rated, 1 ATM containing:
-Lighting controllers (2)
-Camera Tilt control
-Manipulator controls
-Manipulator Power supply (24 or 48 Vdc) used for all electric actuators.
Termination Bottle , 1000 m rated, two (2) section bottle,
one section Oil filled, one section 1ATM which contains:
Oil Section:
-Torroid transformers
-Hydrostatic pressure transducer
-Tether termination
1ATM Section:
-F/O Electronics
CONSOLE 19" rack which includes both a colour monitor and multi-sync monitor, PC based control system and current loop modems.
Console Graphic Displays Control System Graphics and diagnostics are displayed on a multisync monitor, and include tether twist, depth, and tether-out.
Video Annotation Video Annotation Board Interface allows operator to select any of 200 system status items from a global menu and individually specify screen location and label of displayed data.
Surface PC control system 19" rack mounted PC with integral power supply to include:
One (1) 286 processor card
One (1) Digital I/O card (72 Channel)
One (1) Analogue input card (32 Channel)
One (1) Analogue output card (16 Channel)
One (1) Super VGA graphics card
One (1) Video annotation card
One (1) Serial/Parallel/Floppy Disc Drive
One (1) 50 Mb Hard Disc Drive
One (1) 1.44 Mb 3.5" Floppy Disc Drive
One (1) 1.2 Mb 5.25" Floppy Disc Drive
PILOT'S CONSOLETTE Includes Joystick and all switches and potentiometers necessary to control manipulators, cameras, lights, TMS, etc.
Joystick Controls Forward/Reverse
Lateral left/right
CW/CCW rotation
Up/Down
Other Camera Tilt Up/Down
Tether In/Out (Foot switch)
Variable Potentiometer Depth and Heading trim
(Slide or Toggle Control)
Surface transformer with the following characteristics:
440 Vac/1200 Vac, 3Ø, 60 Hz 5KVA Transformer (Vehicle Power)
440 Vac/220 Vac, 3Ø Transformer (TMS Power)
440 Vac/120 Vac 1Ø Transformer
(Surface Instrumentation)
All required breakers and overload protection.
Ground Fault Interrupt System
(To monitor 1200 Vac vehicle power).
Deck cable termination.
OPERATIONAL MANUALS 2 sets
TMS modified SPRINT type TMS with 120 m (400 FT) tether installed and drive mechanism modified to accommodate tether minimum bend diameter.
Tether To be determined with minimum of:
3 Power Conductors
1 Ground Wire
1 Fibre Bundle (6 multi-mode fibres)
2 Twisted Shielded Pairs
Mechanical Properties: Weight in Air: 280 kgs
Weight in Water: Approx. neutral in sea water
Breaking Strength: 8 kN (1800 lbs) min.
Minimum Bend Dia: 0.3 m
Length: 120 m (400 Ft)
Components (armoured umbilical) 3 Power Conductors (Vehicle Power)
3 Power Conductors (TMS Power)
2 Power Conductors (TMS Latch)
1 Fibre Bundle (6 multi-mode fibres)
2 Twisted Pairs (individually shielded)
Mechanical Properties: Weight in Air 2400 kg/km
Weight in Water 1830 da N/KM
Breaking Strength 270 KN
(Certified to 3.0 g Dynamic Loading)
Minimum Bend Dia. 6 m
Length 610 m (2000 Ft)
A FRAME AND SKID
Dimensions: Length - 5.2 m
Width - 2.5 m
Height - 3.5 m
Weight - 11,000 kgs
Reach beyond outboard edge of skid unit 2 m
The A-Frame head unit comprises of a fixed sheave (Root Dia. 846 mm) and a fixed length Swing Frame mounted bumper mechanism. The damping/fendering function of the bumper mechanism is be provided by an extruded 'D' rubber section.
WINCH AND POWER UNIT
The winch is designed to store 1100 m of 28 mm dia. Umbilical Cable in 7 layers at 42 turns per layer .
The performance of the winch is as follows:
Dynamic Pull 860 kgf at 7th layer
Static Pull 2150 kgf at 7th layer
Maximum speed 32 m /min at 7th layer
The dimensions of the winch barrel:
Core Diameter 1000 mm
Flange Diameter 1532 mm
Barrel Length 1235 mm
The Winch drive is via 2 stage epicyclic hub mounted gearbox and Gerotor type hydraulic motor.
The winch is fitted with a chain driven cable spooler.
The non-drive end shaft of the winch will be suitable to accommodate a client supply focal type 176 slipring unit and access will be provided for a rotating junction base within the winch barrel.
The power unit will be integral with the winch and is incorporates a 120 litre hydraulic tank and all necessary valves and filters. The pump unit is variable displacement type power absorbed being 15 kw and is provided with a direct on-line starter suitable for 400 to 480 V 60 HZ supply.