Falcon
Remote Operated Vehicle
Authorized
sales agents for Falcon ROVS
Falcon
Features
300 metre depth rating, 16 kilo payload
Magnetically coupled brushless DC thrusters with velocity feedback loop
4 Vectored and 1 vertical thruster
50 kgf thrust with 1:1 power to weight ratio
Distributed intelligence control system
Integral system diagnostics
High resolution colour camera on 180º Tilt Platform
Variable intensity 150 watts of lighting
Auto heading, depth, compass and rate gyro
Portable surface control system with video overlay and daylight readable
display
Low drag umbilical
Single phase A/C power input - universal 100-270 VAC at 2.5 kw
Introduction
Falcon is the first ROV designed and built to meet the operational requirements
of coastal and inshore operators. In developing this system the same
criteria of performance, reliability and ease of operation were set
but with the added challenge of creating a system that was to be portable
and affordable.
Falcon
& its Surface Units
The Falcon incorporates many of the features that have proved so successful
in other ROVs but with a number of technical innovations never before
seen in a lower cost ROV. The Falcon sets a new standard for inshore
and coastal operations to 300 metres depth.
THE
VEHICLE
Vehicle Specifications
Maximum Working Depth: 300 msw
Length: 1000 mm
Height: 500 mm
Width: 600 mm
Launch Weight: 50kg or 62kg with additional buoyancy module fitted
Thrust Forward: 50 kgf
Thrust Lateral: 28 kgf
Thrust Vertical: 13 kgf
Payload: 4kg or 16kg with additional buoyancy module fitted
Chassis
The chassis is made of polypropylene which is extremely rugged, maintenance
free, non-corroding and self-supporting in seawater. Additional equipment
may be bolted directly onto the chassis members. All fittings and the
lift point are manufactured from 316 stainless steel. The core frame
is manufactured using modern composite materials.
Buoyancy
Buoyancy and payload is primarily controlled by the addition or subtraction
of closed cell foam blocks secured to the chassis below a quick-release,
hydrodynamic polypropylene shell. (The shell also encapsulates all Falcon's
electronics housings and provides protection for cabling). Mounting
points on the vehicle skids are provided for lead ballast to facilitate
trimming of the vehicle's centre of gravity and buoyancy.
Propulsion
Falcon features brushless DC thrusters, which, apart from having the
greatest power density, have drive electronics with velocity feedback
for precise and rapid thrust control. These thrusters are interfaced
to a fast PID control system along with a solid-state rate gyro for
enhanced azimuth stability, a feature that automatically prevents overshoot
on a change of heading. These essential building blocks enable Falcon
to provide superior control and response from their powerful ROVs, setting
them apart from the competition. The innovation for Falcon was the development
of a Magnetically Coupled brushless DC Thruster unit (MCT1) capable
of resisting higher torque loads than competing units. Falcon is powered
by 5 Magnetically Coupled Thruster units (MCT1) each capable of achieving
13 kgf thrust at 320W or a combined forward thrust (bollard pull) of
50 kgf. For an ROV weighing only 50 kilos this represents an impressive
1:1 power to weight ratio.
These thrusters run cool without being oil filled and
having no moving shaft seals, are low maintenance, extremely reliable
and ideal for use in sensitive areas such as fisheries and on reefs.
Thruster Configuration
4 Vectored Horizontal Thrusters
1 Vertical Thruster
Thruster
vector angles can be changed by the operator to reconfigure the vehicle
to best suit the particular mission requirements.
Control
System
The Falcon is the first ROV to enter production with a distributed intelligence
control system. This is a multi-drop network which allows up to 128
devices to be connected together on a single RS485 serial network. Each
device connected to the network, be it a thruster, light, compass or
a future option, contains a microprocessor and interface electronics
and is called a 'node'
These 'nodes' are controlled by a master processor in
the Surface Unit and are fully isolated to maximise system reliability.
Each node is connected to the Network's Star Point at the ROV junction
box. The Star Point is a printed circuit board that provides each node
with its own fused power supply and telemetry.
This modular approach eliminates the need for a complex
central electronics pod and significantly reduces the number of subsea
connectors used. The result is a very flexible modern and simplified
system architecture designed to improve reliability and ease of maintenance.
These 'nodes' are controlled by a master processor in
the Surface Unit and are fully isolated to maximise system reliability.
Each node is connected to the Network's Star Point at the ROV junction
box. The Star Point is a printed circuit board that provides each node
with its own fused power supply and telemetry.
This modular approach eliminates the need for a complex
central electronics pod and significantly reduces the number of subsea
connectors used. The result is a very flexible modern and simplified
system architecture designed to improve reliability and ease of maintenance.
Control
System Diagnostics
A software routine automatically checks each node when the system is
powered up with alarms provided on the video overlay to alert the operator.
Local diagnostics are also provided for each node in the Junction Box.
A test button is provided with colour coded LEDs that confirm green
if the fuse is intact or red if it is blown on a particular node. A
further LED indicates the presence of telemetry to the node.
The
ROV Junction Box
The one atmosphere junction box contains the Network Star Point and
the video line-driver. The line driver allows quick and easy 'gain'
adjustments to be made if differing umbilical lengths are to be used.
A standard bulkhead connector is used to connect each node to the Network
Star Point at the junction box.
Camera
System
Falcon is fitted with a tilt platform and high-resolution colour camera
as standard. The tilt platform makes provision for additional industry
standard cameras to be fitted.
Standard Camera Specification
Camera Resolution: 480 TVL
Min. Scene Illumination: 0.2 LUX (F1.4)
Pick Up Device: 1/2 Inch CCD Image Sensor
Lens: 1/2" Aspherical 3.8mm lens, wide angle fixed focus
Horizontal Field of View: 91°
Tilt: ±90°
Lighting
Two, individually fused, 75 watt Tungsten Halogen lamp units are fitted
each with their own remote brilliance control. The lights are powered
at low voltage, to improve reliability and longevity.
Navigation
System & Auto Functions
Falcon's navigation sensors and aids are housed in a single hardened
aluminium pod. A compass is provided for heading information and a solid
state rate gyro for auto heading control. A depth sensor provides depth
information in feet or metres on the video overlay as well as control
of auto depth.
Specification
Compass Accuracy: ±2°
Depth Sensor Accuracy: ±0.5% of FSD
Gyro: 0.1 °/s
Surface Update Rate: <40mS
SURFACE
EQUIPMENT
Power
Requirements
Single phase "Universal Input" of between 100VAC - 270VAC
at 2.5kw.(Compatible with generators fitted with auto voltage regulation).
Standard
Surface Unit
The Falcon's power supply unit, processors and video systems are rack
mountable and supplied in portable enclosures. The power supply unit
provides a galvanically isolated 500VDC output protected by a L.I.M..
All equipment is fitted into a transit case complete with handles and
heavy splash-proof covers.
Surface
Units can be arranged
horizontally or ... vertically
Transport Case 1 Transport Case 2
Surface Power Supply Unit
& Surface Control Unit Monitor &
Keyboard Draw
Height: 444mm 444mm
Width: 514mm 514mm
Depth: 674mm 604mm
Weight: 64kg 28kg
Optional
IP68 Surface Unit
IP68 is a waterproof standard providing protection against water ingress
following immersion to a depth of 1 metre. The dimensions of this optional
Falcon Surface unit are:
Dimensions
Height: 400mm
Width: 600mm
Depth: 380mm
Weight: 60kg
Standard
Hand Control Unit
Falcon's Standard Hand Control Unit (HCU) is formed within a rugged
case and contains all the ergonomically designed vehicle controls.
Falcon hand controller & 5 metre lead
Dimensions
Height: 180mm
Width: 280mm
Depth: 120mm
Weight: 0.5kg
Optional
IP68 Hand Control Unit
Falcon's Hand Control Unit (HCU) can also be provided to IP68 standard.
With it's own integral monitor this option also includes all sonar controls
and interfaces.
Dimensions
Height: 190mm
Width: 470mm
Depth: 370mm
Weight: 6kg
Vehicle
Controls
The following Falcon controls are provided:
Single 3 axis joystick for horizontal vehicle control
Rotary control for vertical thruster power UP or DOWN
Rotary control for lights intensity
Auto pilot functions for both heading & depth.
Vehicle power switches
Auxiliary vehicle controls (including manipulator)
Video
Overlay
A video Overlay system is incorporated as standard providing the following
information to the pilot:
Compass
heading
Depth
Camera tilt position
Auto pilot function status
Tether turns counter
Free Text using a QWERTY keyboard
UMBILICAL
CABLE
A choice of neutrally buoyant in fresh water or thinner, slightly heavy
umbilical cable is offered. These light weight proprietary jacketed
cables offer high abrasion resistance with strength rovided by a Vectran
strain member.
Specifications
Diameter: 11mm 13.1mm
Breaking Strain: 525kg 530kg
Weight in air: 100kg/km 134kg/km
Weight in seawater: 7.3kg/km heavy Buoyant
Weight in fresh water: Heavy Neutral
Minimum bend radius: 150mm (Dynamic) 197mm (Dynamic)
FALCON OPTIONAL EQUIPMENT
Falcon standard spares kit
Sonar system
SIT Camera or other additional camera
CP probe - contact or proximity
Single function manipulator and node
Pilot/technician training courses
SPECIFICATIONS MAY CHANGE WITHOUT PRIOR NOTICE
