Design And Experimental Study Of Underwater Vehicle For Cable Control

Remote Operated Vehicle (ROV) is a device that can be used in underwater moving, with visual and perceptual system, by remote control or autonomous operation, by using robot or other tools to replace or assist people to complete the task of underwater operation. At present, its application fields can be roughly summed up in underwater engineering、marine scientific research、 marine military、 fisheries、 aquaculture etc. With the development of China’s deep sea strategy, the development of resources has gradually shifted from land to ocean, underwater construction is becoming more and more. The ROV has immeasurable commercial prospects.Based on the investigation and analysis about the key technologies of home and abroad ROVs, From the perspective of ROV structure optimization and control form simplification, This paper designed a simple structure and convenient control ROV. According to the drawings complete the ROV prototype manufacture. The underwater navigation experiment verifies the rationality and the stability of motion control.The main research contents and achievements are as follows:1. According to the overall function and index of ROV, preliminarily determine the overall design of the ROV structure. Includes the choice of body form、 pressure shell form and the propulsor mode、 number and layout scheme. The ROV adopts a frame structure, the pressure shell is provided with a cylindrical shell of a hemispherical head, The propulsion mode adopts pusher propeller, and a propeller is arranged on both sides of the pressure shell and the upper side of the pressure shell.2. Complete ROV mechanical structure design. Including the design of electronic module、 observe window 、 thruster and seal structure etc. The stability of the electronic cabin and the observation window was checked by Workbench. The hydrodynamic characteristics of ROV under different speed were simulated by Fluent. Completed the selection of propeller motor、 propeller and other parts. Lastly complete the processing and assembly of the ROV.3. Complete the design and assembly of the control box. Motion control, PTZ camera control and light brightness adjustment of the ROV is controlled by the AVR single chip. The PC control software is compiled by Lab VIEW, which has the function of video display、 motion control and sensor data display.4. Complete the underwater navigation experiment. After the ROV static sealing and dynamic sealing experiment, completed the ROV flights、 steering、 and sensor data acquisition and experiment. The test result verified the balance and the stability of the ROV. Completed the underwater detection experiments and the experimental data was collected successfully.