Voyager


General

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.