Research On Highly Maneuverability Mimi Underwater Monitoring Vehicle

As humans continue to deepen into the ocean world,underwater vehicles have gained special application in the process of human exploration of the underwater world.Underwater Remotely Operated(ROV)has attracted people's attention with its outstanding advantages.They can be seen in traditional fields such as military and scientific investigations,as well as in modern industries such as aquaculture and fisheries,underwater search and rescue,underwater surveying,and recreation.This paper designs a mini ROV with high maneuverability that is mainly used for underwater monitoring.Compared with divers and other underwater operations,Mini Observation Class ROVs(OCROV)have the advantages of safety,economy,greater depth and higher efficiency.High maneuverability is the guarantee that ROV will navigate safely and give full play to its performance.According to ROV's performance index,the ROV hull shape and key components are designed in detail,and the basic shape of ROV and the structure of each component,materials used and sealing methods are determined.Then through the theoretical calculation and the use of finite element analysis software ANSYS to check the strength and stability of ROV's main mechanical components.Referring to the motion equation of the submarine,a mathematical model of ROV space 6-DOF movement was established,and various types of forces and moments experienced by ROV were analyzed in detail.According to the ROV model,the steady and unsteady motion of the ROV was simulated using the computer fluid dynamics software FLUENT,and a total of 48 hydrodynamic coefficients were obtained.It lays the foundation for establishing an accurate ROV dynamic model.A ROV motion simulation platform was set up to evaluate and simulate ROV's motion stability and horizontal and vertical maneuverability.The simulation results show that the ROV designed in this paper has good maneuverability in both horizontal and vertical planes.The ROV control system was designed and the physical assembly was completed.The functional experiment of ROV was carried out.The results show that ROV can perform basic movements such as sail,rotation and pitch,and underwater camera operations according to the instructions of the control terminal,and has good maneuverability.