The Compact Work ROV
Roper Resources Ltd Cdn Sales: (250) 361-9115 US Sales: (805) 798-0277 Facsimile: (250) 361-9115 Email: email@example.com Web: www.roperresources.com
More Power, Better Performance with Quick-Change Tooling
The Seaeye Cougar-XT is a development of the successful Seaeye Cougar range, proven worldwide in demanding applications and recognised for its capability to operate effectively as a compact work-class ROV.
handling this enables a Seaeye Cougar-XT to accommodate a wider range of heavier duty tooling for work tasks. These include drill support, salvage and IRM to depths of 2000 metres.
The new Cougar-XT comes with a considerable improvement in performance. Developments in drive and power technology has seen vehicle thrust increased by over 50% in all directions - creating a vehicle with the highest thrust to weight ratio in its class. Vehicle power has been doubled by increasing the supplied voltage from 250 to 500 Volts. Apart from improving the vehicles
Tackling an expanding range of applications is made easier because task-specific tooling skids can easily be bolted on, and changed as needed. The Seaeye Cougar-XT leads a new generation of compact, highly flexible and extremely powerful electric ROVs that offer users the ability to undertake a wider range of demanding tasks at lower operating costs.
THE VEHICLE Chassis The extremely rugged polypropylene chassis with a stainless steel lift frame, is totally maintenance free, non corroding and self-supporting in seawater. The design allows for additional equipment to be directly bolted to the chassis for ready customisation. Seaeye was the first company to introduce polypropylene for the construction of ROV frames.
electronics with velocity feedback for precise and rapid thrust control. These thrusters are interfaced to a fast PID control system and a solid-state rate gyro for enhanced azimuth stability. These essential building blocks enable Saab Seaeye to provide superior control and response from their powerful ROVs and set them apart from the competition. The Seaeye Cougar-XT is no exception!
Equipment Interfaces A wide range of standard or custom interfaces are provided:
• • • • • •
Manipulator & cutter interfaces CP Interface (Proximity or Contact) Obstacle avoidance, multi beam, profiling or side scan sonar Bathymetric systems Fixed focus, zoom and stills cameras Emergency strobes and beacons Tracking systems 3-phase tooling supply Auxiliary connections providing telemetry & DC power for other accessories
Propulsion All Seaeye ROVs feature brushless DC thrusters which, apart from having the greatest power density, have integrated drive
Automatic Pilot The compass, rate gyro and depth sensors provide an automatic pilot for depth and heading. Auto altitude is an option requiring the addition of an altimeter and software modification. Video System The standard configuration transmits multiplexed video over two multimode fibres in the umbilical/tether. This provides up to 4 simultaneous video channels.
Buoyancy The syntactic foam buoyancy block is split into two sections for easier handling and access to vehicle components. Apertures are provided for sonar, Xenon strobe and tracking transponders.
• • •
Depth Sensor The system uses an electronic depth sensor accurate to + 0.1% FSD accuracy.
Four vectored horizontal and two vertical SM7 500 Volt brushless DC thrusters provide full three-dimensional control of a Cougar-XT. Compass & Rate Gyro A Flux-gate compass and a solid-state rate sensor are provided and give the Cougar-XT superior azimuth stability in forward flight and in auto heading.
Compass accuracy Resolution Update rate
+ 0.5º 0.351º 98 mS
THE VEHICLE Tilt Platform The + 90 degree camera tilt platform accepts two cameras and lights. A proportional tilt feedback potentiometer provides an accurate tilt angle which is displayed on the video overlay. Pan & Tilt Unit (optional)
Pan and tilt positional information is displayed graphically on the video overlay. Lighting A total of 600 Watts of lighting is available as standard. Two individually controlled lighting channels are provided, both containing two fused 150W lamps. Each channel has its own brilliance control on the pilot's Hand Control Unit.
Vehicle Electronics Pod The vehicle has one watertight electronics pod machined from 6082 marine grade aluminium and hard anodised in black. The pod is fitted with Leak and Vacuum alarms. Connectors The Seaeye range of metal shell connectors are mainly used throughout. Tether Termination The tether, or soft umbilical, is electrically terminated in an oil filled and pressure compensated Vehicle Junction Box (VJB). It is mechanically terminated using a Cable Grip.
An optional Pan & Tilt platform with high torque output is available. The mechanical and electrical components used to operate the platform are housed in a robust unit designed for the harsh subsea environment. This improved Pan & Tilt Unit (PT35NM) is oil filled and manufactured from anodised aluminium.
For free swimming Cougars, the soft umbilical can optionally be mechanically terminated in a bullet suitable for use with a lock latch or ‘go devil’ for launch and recovery.
SURFACE CONTROL AND POWER SUPPLY Surface control equipment can be provided as free standing units for installation in a customer facility or integrated into a custom ISO ROV Control Cabin or Container. The surface control system provides: • • • • •
AC and DC supply switching control DC current and voltage indication Control of video and video overlay A keypad for system configuration Plugs and sockets for system connections and interfaces for ancillary equipment ROV control system (remote from the Hand Control Unit) Output to Telemetry Monitor Unit for RS232
Control data is transmitted between the surface Central Processor Unit (CPU), PCB and subsea CPU PCB via dedicated twisted-pair cables from the ROV using a half duplex RS485 communication link. Monitors The system comes with two 15” colour video monitors that are multi-standard, dual-input with a 19” rack mounting kit. Video Overlay The monitors display the video information from the cameras and video overlay data as follows: • • • • • •
Heading data (in degrees) Analogue Compass Rose Depth in metres (or feet) Tilt position (or Pan & Tilt position if fitted) Date and time Free text from keyboard
• • •
TMS Bail Count (TMS cable counter when used with TMS) CP probe readings (if fitted) Vehicle Turns Counter
Telemetry Monitor Unit A Telemetry Monitor Unit is included in the spares kit. This interface unit with its associated software allows ROV data, such as heading and depth, to be displayed on a PC and/or exported to a survey computer. In addition to exporting data, it can be used for fault diagnostics. Keyboard A rack mountable keyboard is supplied for entering data and free text onto the video overlay. Hand Control Unit The Hand Control Unit (HCU) provides the interface between the operator and vehicle using a series of switches and controls. Working on a 5 metre ‘flying’ lead, the HCU controls the following: • • • • • • •
Vehicle movement, direction and speed Tilt control (Pan control for P&T Unit, if fitted) Lighting Safety thruster enable switch Auto depth and heading Additional camera selection Propulsion system offsets and power settings
System Power Supply The Power Supply Unit incorporates a series of protection devices, interlocks and cooling fans. Internal AC and DC supplies are only distributed when remotely operated at the Surface Unit.
The PSU requires a customer supplied 396-528 VAC power input. Full safety features include both AC and DC Line Insulation Monitors (LIMs) that constantly monitor electrical leakage in the system. Both LIMs have trips and alarm indicators. A new test facility allows the LIM to test the isolation of the system - without applying power - using a simplified menu driven set-up for umbilical current compensation. Multiple tapings are provided for the 3-phase 50/60Hz input supply. 3-Phase 9 KVA Tooling Power Supply Unit This unit provides a 3-phase 660V power supply at the vehicle for optional tooling. It is floor mounted and includes a Line Insulation Monitor, an over-current breaker and meters to display current consumption. The current meters provide useful feedback when tools such as cutters are used. Cabin Junction Box The Cabin Junction Box is a lockable container constructed in stove enamelled steel and provides easy access to all of the umbilical connections. It also contains fibre optic multiplexers for transmission of video data when using a fibre optic video transmission system. Documentation Three copies of the ROV system technical manuals and drawings will be provided as hard copy and CD-ROM copy, along with all equipment records and certifications.
COUGAR-XT SYSTEM GA
COUGAR-XT DEPLOYMENT all use a common armoured lift umbilical. Though generally more costly, crane-based alternatives are sometimes used where deck space is at a premium.
A Seaeye Cougar-XT can be operated free swimming with up to 600 metres of soft umbilical. For greater protection of the vehicle as it passes through the splash zone and for faster travel to and from the working depth, it is more usual to deploy this type of ROV in a garage Tether Management System (TMS). A skid mounted ‘A’ frame, Hydraulic Power Unit (HPU) and winch with an appropriate length of steel wire armoured lift umbilical is the most common Launch and Recovery System (LARS) used for vehicles like Cougar with a TMS. Seaeye Cougars, Panthers, Surveyors, Lynx and Tigers
A LARS can be ordered for use ‘in safe areas of operation’ or to meet the ‘Zone 2 area’ explosion proof standard often required in the offshore oil and gas industry. TYPE 3A TMS This garage-style TMS uses a bale arm arrangement to spool tether on and off a fixed drum without the complexity and additional cost of incorporating a slip ring. Up to 220 metres of tether can be accommodated which is remotely controlled by the ROV pilot. The floor of the TMS can be adjusted to accept the additional height of a Cougar when fitted with a wide variety of available tool skids.
QUICK-CHANGE TOOL SKIDS Task specific tool skids constructed of the same polypropylene material as the ROV frame can be readily changed for rapid turn around between dives needing different tooling packages. These skids can be custom designed to suit each customer’s operational requirements and can include: • • • • • •
Manipulator packages Anvil or disc cutters Water jetting equipment Torque tools Survey packages including camera booms Drill support and IRM tooling
Conducting pipeline survey
Survey skid with TSS pipe tracker
EXAMPLES OF AVAILABLE TOOLS FOR COUGARS Manipulator Skid A typical Cougar-XT package will include a detachable dual 5 function manipulator tool skid. These manipulators have an integral 12 mm rope cutter.
Wire Rotary Brush
Boom Cameras Camera booms used for pipeline surveys can be fitted to a skid fixed to the Cougar ROV and controlled using the manipulator valve pack. CP Probes Contact or Proximity CP probes can be fitted with voltages displayed on the video overlay or exported to a survey computer.
Skid fitted with rotary brush
5 function manipulator with 3 function grabber head replaced with WCO 38 LP cable cutter Wire & Cable Cutter The forearm of one of the manipulators can be replaced with an anvil or a rotary disc cutter, when specified.
AX Ring Removal Skid This skid can be mounted piggy back under a standard manipulator skid.
A rotary brush assembly can either be fitted to the chassis, or to a manipulator arm in place of the forearm for spot cleaning. A Cougar thruster motor drives the brush head via a flexible coupling. The brush assembly is fitted on a shock absorbed mounting to prevent stalling the motor. Water Jet A high pressure water jet system is available operating on 3-phase 440/660V power supply with directional control provided by the manipulator arm.
AX Ring Tool Skid
APPLICATION AREAS The Cougar-XT is ideal for a range of tasks including survey work, drill support, light construction tasks and support of salvage operations where a work capability is required at water depths up to 2000 metres.
> 3.2 knots
SYSTEM POWER REQUIREMENTS: Input
3-Phase 396-528 VAC
ROV + Tooling
38 kVA Manipulator with water jet and disc cutter on extender. A second under-slung skid with ax ring removal tool has been added.
Saab Seaeye Ltd Seaeye House, Lower Quay Road, Fareham, Hampshire, PO16 0RQ, United Kingdom Tel: +44 (0) 1329 289000 Fax: +44 (0) 1329 289001 e-mail: firstname.lastname@example.org www.seaeye.com ÂŠ SAAB SEAEYE 2007 SEAEYE COUGAR-XT REV 2
Email: email@example.com Web: www.roperresources.com
Roper Resources Ltd Cdn Sales: (250) 361-9115 US Sales: (805) 798-0277 Facsimile: (250) 361-9115