Design and implementation of a small diving safety detection underwater robot

In order to test the safety of diving in shallow waters, this design uses a small submersible safety detection underwater robot based on STM32 microcontroller, which can be used as a small cable unmanned underwater robot (ROV, Remote Operated Vehicle) detected in shallow waters. The underwater robot can realize the self-balance of the underwater posture, detect the underwater environment, fuse the sensor data, and send the water detection results to the upper computer display through the wireless module. Brief introduction of hardware structure design, software framework construction, introduce the control algorithm, sensor data collection and diving water hazard judgment. The underwater robot has verified the feasibility and stability of this design.