US 11,912,387 B2
Submersible remote operated vehicle tool change control
Mark Leonhardt, Sacramento, CA (US); Bijou Abraham, Sacramento, CA (US); Peter Boissiere, Los Ranchos, NM (US); Steve Cohan, Davis, CA (US); Kevin Hjelden, Sacramento, CA (US); Doug Mayne, Vacaville, CA (US); Tim Ranstrom, Davis, CA (US); Sean Rogers, Sacramento, CA (US); Kevin Schell, Davis, CA (US); Spencer Slam, Sacramento, CA (US); and Adwait Jayant Gandhe, Mountain View, CA (US)
Assigned to FMC Technologies, Inc., Houston, TX (US)
Filed by FMC Technologies, Inc., Houston, TX (US)
Filed on Mar. 17, 2023, as Appl. No. 18/185,947.
Application 18/185,947 is a continuation of application No. 16/460,467, filed on Jul. 2, 2019, granted, now 11,608,148.
Claims priority of provisional application 62/830,104, filed on Apr. 5, 2019.
Prior Publication US 2023/0249791 A1, Aug. 10, 2023
Int. Cl. G06F 17/00 (2019.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/04 (2006.01); B63G 8/00 (2006.01); B63C 11/52 (2006.01)
CPC B63G 8/001 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1664 (2013.01); B25J 13/085 (2013.01); B25J 15/0491 (2013.01); B63C 11/52 (2013.01); B63G 2008/002 (2013.01); B63G 2008/005 (2013.01); G05B 2219/40271 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A submersible remote operated vehicle (ROV) system, comprising:
a submersible ROV with a manipulator arm for carrying a tool;
a tool holder for storing the tool;
a tool carousel for moving the tool holder; and
a control system configured to:
receive an input from a human operator identifying a tool;
receive data from sensors of the ROV about the operation of the arm;
operate the tool carousel in response to the input to present the tool holder containing the tool to an access position; and
automatically control, based on the data, movement of the arm in docking the arm to the tool holder.