Design and Implementation of an Interactive Embedded System as a Low-Cost Remotely Operated Vehicle for Underwater Applications

Abstract

The underwater environment is harsh and challenging for human life, prompting companies and researchers to develop advanced technologies for exploration. Building on previous work that applied a CNN-based method for underwater object classification, this paper focuses on the design and implementation of an interactive embedded system for a compact Remotely Operated Vehicle (ROV) with specific dimensions and weight. The primary goal is to capture real-time underwater video using remote control communication via Ethernet. The ROV is powered by five brushless motors controlled by a smart PID controller. Precise pulse-width modulation signals enhance stability during movements along three axes, enabling high-resolution video capture. The system utilizes the Raspberry Pi 3's computing power for motion control, positioning, temperature monitoring, and video acquisition. Experimental results demonstrate the system's capability to process 42 frames per second. A user-friendly graphical interface allows for remote ROV control across various operating systems. With a depth rating of 100 meters and speed of 0.148 m/s. This ROV surpasses human divers' limitations and holds significant potential for applications in surveillance, operations, maintenance, and measurement tasks underwater. The proposed ROV contributes to the advancement of underwater exploration technology by combining high performance with cost-effectiveness.