Micro-ROV tethered to HOV for deep-sea observation: design, implementation and experimental validation
Human-occupied vehicles (HOVs), constrained by substantial volume and weight, encounter significant challenges in exploring complex seabed terrains, such as rugged seabed and confined operational spaces. To compensate for the limitations of HOV, a micro-observation-class remotely operated vehicle (ROV) tethered to the HOV Shen Hai Yong Shi was developed to enhance HOV’s exploration capability in complex seabed terrains. This paper, for the first time, presents an overall design of the functions and composition of the deep-sea micro-observation-class ROV system. In the design of the micro ROV mechanical, electrical and control systems, the payload space, weight and energy constraints of the HOV are considered. A power supply and communication scheme is designed for the ROV from the mother HOV via an optoelectronic composite umbilical cable. This scheme provides sufficient weight margins and spatial allocation for the thrusters and detection sensors, thereby significantly optimising the ROV's performance in terms of lightweighting and motion maneuverability. The design concept of the micro-observation-class ROV, mounted on the HOV Shen Hai Yong Shi, has been comprehensively validated during a sea trial at a depth of 1,380 m.