面向水域生态观测的五自由度小型ROV系统设计与分析
Design and Analysis of a 5-DOF Small ROV System for Water Area Ecological Observation
DOI: 10.12677/mos.2026.151010, PDF,    科研立项经费支持
作者: 陈真炜, 黄梓希, 徐文俊, 陈立然, 庄智颖*：东莞理工学院粤台产业科技学院，广东 东莞
关键词: ROV；5-DOF；YOLOX；CFD；ROV； 5-DOF； YOLOX； CFD
摘要: 面向复杂水域生态环境监测与科考需求，本研究设计了一个“线–浮标”中继式小型五自由度检测级ROV系统。总体采用鱼雷式圆柱体中性浮力布局，以3台矢量布置推进器协同4台舵机完成5-DOF低功耗机动；主控基于树莓派 + ESP32双核架构，通过PS2手柄实现人机交互，以太网–浮标缆完成100 ms级实时视频与数据回传。集成1080 p工业摄像头、MS5837深度传感器及2盏PWM调光LED，结合YOLOX深度学习模型实现鱼类目标识别与跟踪。最后，由CFD仿真验证了流线型壳体的减阻有效性。
Abstract: To meet the needs of complex water environment monitoring and scientific exploration, this study designed a “wire-buoy” relay-type small-scale 5-DOF inspection-grade ROV system. The overall design adopts a torpedo-shaped cylindrical neutral buoyancy layout, utilizing three vector-arranged thrusters in coordination with four servo motors to achieve 5-DOF low-power maneuvering. The main control system is based on a dual-core architecture of Raspberry Pi + ESP32, enabling human-machine interaction via a PS2 controller, and achieving real-time video and data transmission with a latency of around 100 ms through an Ethernet-buoy cable. The system integrates a 1080 p industrial camera, an MS5837 depth sensor, and two PWM-dimmable LED lights, and employs the YOLOX deep learning model for fish target recognition and tracking. Finally, the drag reduction effectiveness of the streamlined hull was validated through CFD simulation.
文章引用：陈真炜, 黄梓希, 徐文俊, 陈立然, 庄智颖. 面向水域生态观测的五自由度小型ROV系统设计与分析[J]. 建模与仿真, 2026, 15(1): 104-115. https://doi.org/10.12677/mos.2026.151010

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