Development of a Compact Hybrid Type Underwater Vehicle for Shallow Water Area

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Recently the necessity of marine survey is increasing in order to progress the climate change. We have developed the hybrid type ROV (Remotely Operated Vehicle) for investigating the marine environment. We have realized the hybrid type underwater vehicle utilizing the WROV (wireless ROV) and UROV (Untethered ROV). In the sea surface, temperature, conductivity and turbidity are measured by WROV for check the environmental parameters. In the shallow water, UROV can observe the sea bottom environment, fisheries resource and alga field.The hybrid ROV includes three subsystems. The control subsystem is operated by ROV pilot via wireless system. The sensor subsystem extracts the data of GPS, electronic compass, sonar and depth sensor, using PSoC microprocessor. The sensor data is transmitted- for the pilot' support system. The communication subsystem composed of system for control signal, data system for communicating sensor data in ROV, and image communication. Especially UROV system composes the wireless system and the automatic buoy which wind and rewind the optical cable. The optical cable is connected through O/E (Optical/Electronic) convertor and E/O (Electronic/Optical) convertor for propeller control with UROV and image transmission. UROV is easily operated by PROPO transmitter for the radio control system.Therefore, because in the investigation of one kilometer, navigation and collection the sensor data of UROV are able to perform on land, work efficiency, and cost-effectiveness improve greatly. As the results of investigating, good experimental data have been obtained for the route according to the target, the maintenance of the position, and taking a picture of a target thing.