A low cost remotely operated vehicle for underwater surveillance — A complete experimental platform

摘要

Underwater experiments are usually very expensive and hard to perform. It is really essential to develop such experimental bench especially in Bangladesh which is crisscrossed by water. This paper presents design and construction of a low-cost Hybrid Remotely Operated Vehicle (HROV) for underwater surveillance. This HROV uses modern technology for its proper functioning. The principles of the structure design of the HROV are kept the device considerably affected by the characteristics parameter in water such as mass, buoyancy, hydrodynamic forces etc. For maneuvering of the HROV, uses Brushless Direct Current (BLDC) motor with suitable propeller placed in vectored configuration in order to produce different kinds of motion. Navigation system uses a full High Definition (HD) camera, Nine Degree of Freedom (9DOF) and a depth and pressure sensor. The orientation of the HROV determined using Direction Cosine Matrix (DCM) algorithm from the high-rate inertial measurement unit (IMU) consist of accelerometer, gyros, and magnetometer. This information is presented on a screen with the control unit. There provide some additional devices for the safety of the device to overcome any unwanted consequences.