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Table 1. Main technical specifications of the ROV system
No Item Main specifications
1 Size/weight 900 mm × 600 mm × 600 mm/90 kg
2 Working depth 200m
3 Thrust Forward thrust > 48 kgf/lateral thrust > 30 kgf/vertical thrust > 30 kgf
4 Speed Forward speed ≥ 4 knots, lateral speed ≥ 1.5 knots, vertical speed ≥ 2 knots
5 Camera related 2 CCD high-definition cameras, 4 30W positive LED lights
6 Sensors Sonar, depth gauge, altimeter, electronic compass, ultra-short baseline positioning
7 Thrusters 6 thrusters, DC150V power supply, thrust size: 17 kg/10 kg (forward/reverse)
8 Umbilical cable 300 m
9 Power supply 8 KW(max)
10 Control method remotely control

Figure 3. Design and physical drawing of the water surface control box: (A) design drawing of water surface control box; and (B) water
surface control box.

positioning and tracking, with complex functions and strong pertinence, many of which are planned using
label pages, with the characteristics of simple interface and convenience.

2.3. Composition and principle
The ROV system consists of the ROV body, the winch (with umbilical cable system), and the surface con-
sole. Zuluaga et al. developed and implemented the low-level control system of the underwater vehicle Vi-
sor3, which is an observation ROV used to monitor and inspect port facilities and underwater structures and
has been used as a test platform for developing the underwater exploration robot technology in Colombia [10] .
Control and navigation algorithms are all implemented in the onboard processor (BeagleBone embedded com-
puter). The ROV body and the surface console are important components. The ROV body and the surface
console are connected by zero buoyancy bearing photoelectric composite cable, which is retracted by a hand
winch. The surface console adopts the hardware architecture of an industrial computer, PLC system, man-
ual operator, image acquisition card, industrial display, three-way switching power supply, optical terminal,
switch knob, keyboard and mouse, and self-developed display and control software, which mainly performs
ROV control and search and rescue capturing operations. The ROV body mainly includes an ultra-high molec-
ularweightpolyethylene(UPE)frame, upperload-bearingplate, propeller, equipmentcabin(controlcabinand
power cabin mainly composed of PC104 system and high-power power conversion module), grab mounting
and fixing mechanism, buoyancy material, acoustic detection system, sensor, sonar, camera, LED lamp, coun-
terweight, etc., which are used to navigate and carry the detection equipment. Data communication between
the above part and the underwater ROV body is realized by the optical transmitter and receiver. The system
principle is shown in Figure 4.

TheROVsystemusesunderwaterthrusterstogeneratethrust, whichcanachievebothpropulsionandsteering.
The layout structure of the six thrusters is shown in Figure 5, with two ascending and descending thrusters and