Design and Construction of an ROV for Underwater Exploration
| Autor: | J. R. Cardenas-Valdez, Oscar Roberto López-Bonilla, E. E. García-Guerrero, Jesús Everardo Olguín-Tiznado, Everardo Inzunza-González, Esteban Tlelo-Cuautle, Oscar Adrian Aguirre-Castro |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
underwater exploration
vision Computer science Real-time computing Raspberry Pi PID controller 02 engineering and technology Remotely operated underwater vehicle Remotely operated vehicle Biochemistry Article Analytical Chemistry law.invention law 0202 electrical engineering electronic engineering information engineering Electrical and Electronic Engineering Underwater Instrumentation Graphical user interface subsea inspection and intervention real time complementary filter Video capture business.industry 020208 electrical & electronic engineering video capture marine robotics Motion control Frame rate Atomic and Molecular Physics and Optics underwater technology ROV 020201 artificial intelligence & image processing business Remote control |
| Zdroj: | Sensors (Basel, Switzerland) Sensors Volume 19 Issue 24 |
| ISSN: | 1424-8220 |
| Popis: | 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 &mu s 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. |
| Databáze: | OpenAIRE |
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