3-DIMENSIONAL ORBITING GIMBAL WITH A HEAD TRACKING SYSTEM FOR REMOTELY OPERATED SUBMARINES PERFORMING PRECISE UNDERWATER OPERATIONS

Abstract

From an ecological perspective, increasing autonomy in subsea operations is vital for maintaining marine sustainability. These operations involve inspecting, maintaining, and repairing underwater equipment and structures, which can significantly impact the ecosystem if not carried out correctly. Using precise systems can reduce the risk of human error and minimize disturbance to the surrounding environment. This article presents an integrated head tracking system for ROV submarines, using a 3- dimensional orbiting gimbal for precise underwater operations, such as cutting, welding, moving objects, and waste collection. ROV operators face multiple issues, such as insufficient lighting, floating debris, scene depth estimation, and dust fog. The ability to observe the working area from multiple angles is crucial for good performance. However, moving the ROV causes dust from the seabed to be kicked up by the water stream created by the motors and increases the risk of collision. A camera mounted on a moving gantry solves these issues but adds additional complexity to the manual controls, which would confuse the operator. Our solution to this problem is an intuitive VR head-tracking system integrated with a 3D orbiting gimbal. The camera can move around the working area, giving the operator more information. Using this system does not require additional joysticks. The system has been integrated with an ROV submarine prototype and tested underwater.