The Design Of Shallow Water Observation Type Remote Operated Vehicle

As the underwater operation equipment,remote operated vehicle is widely used in many fields such as waters investigation and monitoring,underwater resource exploration and development,underwater engineering and so on.Shallow water observation type ROV is one of the most important branches,which has been applied in water exploration,aquaculture,entertainment and underwater photography and other fields.It has extremely broad application prospects.According to the ROV requirements of shallow water observation,the shallow water observation type remote operated vehicle is studied on the basis of the research and analysis of the domestic and foreign small ROVs and their key technologies.First of all,through related literature review of underwater robots,the status quo and development trend of underwater robots is understood,especially focusing on the current research status of existing small and observation ROVs.Analyzing the problem of application and combining with the research background and significance of this paper,the objectives and main content of the thesis are determined.Secondly,according to the operating parameter requirements of the shallow water observation type ROV,the system solutions and structure of ROV are designed.After determining the composition of the ROV system and setting the technical parameters,the shape of the ROV is selected.Hermetic cabin,power system,observation system,watertight and overall balance are compared and optimized.The selection of materials,connection method and sealing method of the hermetic cabin is determined.The thickness of cylinder and end cap is calculated,and then the strength check is carried out.ROV motion resistance is estimated and the selection of each part of the powertrain is determined,then the shell structure and the propeller seal are designed.In addition,carrier frame,the fixing frame of flashlight and hermetic cabin and propeller,and the fixing plate in the cabin are designed.Then the ROV is built.Next,the surface pressure distributions of ROV,velocity of the surrounding flow field and resistance are studied and analyzed in detail by Computational Fluid Dynamics.Then the distribution of ROV surface pressure,the size and direction of the velocity of the surrounding flow field and the relationship between the velocity and the resistance are obtained.In order to improve the motion efficiency of ROV,the efficiency of propeller,which has the greatest effect on ROV motion efficiency,is studied.The influence of propeller trim angle on hydrodynamic performance is studied.It shows that the change of the trim angle has less effect on the open water performance of the propeller,but the surface pressure distribution is more coincided with the increase of trim angle.The center of gravity and buoyancy of the ROV model is calculated,and the ROV balance adjustment method is proposed.Finally,experiment with ROV.The ROV experiments are carried out,including functional verification items such as straight navigation,steering and submarine floating,and speed test.The experiment results show that each function of the ROV is integrated and the straight navigation speed reached the design index.