A Modular Remote-Controlled Unmanned Vehicle for Underwater Precision Operation

With the development of marine resources and the exploration of marine environment, the importance of unmanned underwater vehicle (UUV) in underwater engineering, scientific research and military field is becoming increasingly prominent. In this paper, a modular remote control underwater vehicle (ROV) is designed to solve the problems such as the lack of structural reliability of the traditional UUV in the water depth of hundreds meters, the accumulation of single navigation error of more than 5 meters /10 minutes and the operation accuracy of the robot arm is less than ±5mm. First of all, through mechanical structure innovation, the use of aluminum alloy coaxial cylinder body combined with eight propellers torque balanced propulsion layout, combined with the panoramic view of the dual camera system and the double freedom head, the operation accuracy is improved to ±1 cm, and the pressure resistance of 6MPa is achieved, which solves the problem of insufficient structural reliability under hundreds meters of water depth. Then, at the control system level, the power line carrier communication scheme is constructed, so that the submersible can maintain a 95% success rate of signal transmission under 100 meters of water depth, the data delay is controlled within 60ms, and the voltage fluctuation is less than ±1 V through power isolation technology. Then, through the integration of IMU and vision sensor data through the navigation system, the MSCKF algorithm is applied to achieve 1-meter-level positioning accuracy, effectively inhibiting the accumulation of errors, and solving the problem that the accumulation of single navigation errors exceeds 5 meters /10 minutes. Then, by configuring a dual-mode robot arm in the operating system, that is, a two-axis motor arm and a three-axis servo arm, the former can achieve ±lmm grasp accuracy, with 5kg load capacity, the latter can achieve ±0.05° Angle control, with 8kg load capacity, to solve the problem of the manipulator's operating accuracy below ±5mm. Finally, the test proves that the attitude control accuracy of the UUV can reach ±0.5°, the continuous operation time can exceed 8 hours, and the operating error is ±8mm. The vehicle has excellent performance in adaptability, motion control accuracy and operation accuracy, and effectively improves the overall performance of underwater operations. It provides strong technical support for the fields of underwater equipment maintenance, deep-sea sampling and mine detection.