[논문]Implementation of an Underwater ROV for Detecting Foreign Objects in Water

Lho, Tae-Jung

doi:10.6109/jicce.2021.19.1.61

Implementation of an Underwater ROV for Detecting Foreign Objects in Water 원문보기

Journal of information and communication convergence engineering, v.19 no.1, 2021년, pp.61 - 66

Lho, Tae-Jung (Department of Mechatronics Eng., Tongmyong University)

Abstract ▼ AI-Helper

An underwater remotely operated vehicle (ROV) has been implemented. It can inspect foreign substances through a CCD camera while the ROV is running in water. The maximum thrust of the ROV's running thruster is 139.3 N, allowing the ROV to move forward and backward at a running speed of 1.03 m/s underwater. The structural strength of the guard frame was analyzed when the ROV collided with a wall while traveling at a speed of 1.03 m/s underwater, and found to be safe. The maximum running speed of the ROV is 1.08 m/s and the working speed is 0.2 m/s in a 5.8-m deep-water wave pool, which satisfies the target performance. As the ROV traveled underwater at a speed of 0.2 m/s, the inspection camera was able to read characters that were 3 mm in width at a depth of 1.5 m, which meant it could sufficiently identify foreign objects in the water.

주제어

표/그림 (12)

그림 Fig. 1. Concept of the ROV to be developed.
그림 Fig. 2. Arrangement of vertical and horizontal thrusters.
그림 Fig. 3. Four horizontal thrusters driving in the E, W, S, and N directions.
그림 Fig. 4. Capturing view of the inspection camera.
그림 Fig. 5. 3D model of the ROV mechanics.
표 Table 1 lists the main specifications of the inspection cam-eras used. As shown in Fig. 4, the field of view (FOV) forcapturing an image was enlarged by installing a camera atthe bottom of the ROV.D. Structural Strength and Deformation AnalysisAs shown in Fig. 5, the developed product was 3D mod-eled for a structural-strength analysis and the development-Table 1. CCD camera specifications
그림 Fig. 6. Stress analysis of the guard frame.
그림 Fig. 7. Deformation analysis of the guard frame.
그림 Fig. 8. Prototype ROV manufactured by 3D printer. https://doi.org/10.6109/jicce.2021.19.1.61https://doi.org/10.6109/jicce.2021.19.1.61
그림 Fig. 9. Overview of the developed ROV mechanics.
그림 Fig. 10. Performance test of developed ROV in water.
그림 Fig. 11. Images captured by inspection camera and results [8].

AI 본문요약
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가설 설정

2) The maximum thrust of the ROV's horizontal thruster is 139.3 N. This is much greater than the 4.8-N resistance for moving forward and backward at a speed of 0.2 m/s under- water. It is slightly larger than the maximum resistance, 127.

제안 방법

9. Its structural strength and deformation were subsequently analyzed and verified.

데이터처리

03 m/s, the ROV's own weight acts on one side of the guard frame. A structural analysis was performed using the ANSYS simulation software. As shown in Fig.

성능/효과

3) A structural strength analysis of the guard frame, when the ROV was running at a speed of 1.03 m/s, indicated that the maximum stress was 22.8 MPa and the maximum deformation amount was 1.18 mm, confirming that it was safe during collisions.

참고문헌 (8)

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원문보기 상세보기
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원문보기 상세보기
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