Abstract
The design of a remotely operated vehicle (ROV) with a size of 18.41 cm × 29.50 cm × 33.50 cm, and a weight of 15.64 kg, is introduced herein. The main goal is to capture underwater video by remote control communication in real time via Ethernet protocol. The ROV moves under the six brushless motors governed through a smart PID controller (Proportional + Integral + Derivative) and by using pulse-wide modulation with short pulses of 1 μs to improve the stability of the position in relation to the translational, ascent or descent, and rotational movements on three axes to capture images of 800 × 640 pixels on a video graphic array standard. The motion control, 3D position, temperature sensing, and video capture are performed at the same time, exploiting the four cores of the Raspberry Pi 3, using the threading library for parallel computing. In such a way, experimental results show that the video capture stage can process up to 42 frames per second on a Raspberry Pi 3. The remote control of the ROV is executed under a graphical user interface developed in Python, which is suitable for different operating systems, such as GNU/Linux, Windows, Android, and OS X. The proposed ROV can reach up to 100 m underwater, thus solving the issue of divers who can only reach 30 m depth. In addition, the proposed ROV can be useful in underwater applications such as surveillance, operations, maintenance, and measurement.
Highlights
Several works on remotely operated vehicles (ROVs) have been reported for applications in ocean research [1,2,3,4]
The experimental results using the Raspberry Pi 3 as the ROV’s onboard computer are summarized as well as the hardware resources used by each algorithm and other processes running simultaneously
We found that the change made by the Ardu-Pilot flight controller was quite sudden for the brushless motors used in this paper
Summary
Several works on remotely operated vehicles (ROVs) have been reported for applications in ocean research [1,2,3,4]. In [18,19], they are key to oceanographic research related to obtaining highly dynamic tidal data. In marine archeology, they are used for the exploration of underwater pools of toxic brine [20] and observation of underwater structures [21]. The authors are focused on the design and implementation of an aquatic robot suitable for underwater exploration in order to improve its stability performance and achieving an efficient exploration system
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