Underwater Wall-Climbing Inspection ROV Scheme Design and Flow Resistance Simulation Based on BlueROV2 Modification

The condition monitoring of underwater components of ships is an important means to ensure the safe navigation of ships. To address the problems of the current portable small underwater ROVs (Remotely Operated Vehicle) such as weak resistance to flow and difficult operation, based on the BlueROV2 HEAVY, an underwater ROV, this paper adds a tracked wall-climbing and barrier-crossing chassis to give it the ability to crawl on the underwater parts of the hull of ship. Simulation of the flow resistance of the modified wall-climbing ROV by ANSYS CFD software showed that: The modified underwater wall-climbing ROV not only has all the motion characteristics of the original BlueROV2 HEAVY, but also has good resistance to flow and can crawl steadily on the surface of the ship's submerged hull to achieve rapid underwater inspection of the submerged parts of the hull of ship.