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Underwater Unmanned Vehicle Operation & Maintenance Assistance System

While high-end Remotely Operated Vehicle (ROV) systems are often equipped with Dynamic Positioning (DP), there is a significant technological gap in automated target framing and real-time operational correction. To address this, we have developed an Underwater Unmanned Vehicle Operation & Maintenance Assistance System. This system integrates image displacement recognition, current-resistance motion algorithms, and 3D vision measurement to maintain operational focus in challenging conditions. Designed for seamless integration with frame-type ROVs, it prevents target loss caused by current drift and significantly reduces the cognitive burden on ROV operators during complex offshore wind farm inspections.

Underwater Unmanned Vehicle Operation & Maintenance Assistance System
Figure 1: Full view of the Underwater Unmanned Vehicle Operation & Maintenance Assistance System

Key Technical Features

  • Advanced Stability in High-Current Environments: Specifically engineered for the strong currents of the Taiwan Strait, the system enhances the vehicle's station-keeping capabilities. This is critical for precision tasks such as Cathodic Protection (CP) measurements on sacrificial anodes and marine growth (biofouling) removal, where stability is paramount.
  • Visual Target Locking and Framing: During robotic arm (manipulator) operations, targets often drift out of the field of view due to environmental turbulence or manual handling errors. Our system features an automated target bounding and locking mechanism, ensuring the objective remains centered in the display throughout the entire operation.
  • Modular and Scalable Design: The auxiliary platform is designed with a modular architecture, making it compatible with small, medium, and large frame-type commercial ROVs. The current implementation is optimized for ROVs in the 5kg to 50kg class.
  • Autonomous Correction & High-Precision 3D Measurement: Leveraging binocular (stereo) tracking and advanced image recognition, the system achieves autonomous vehicle correction. Key capabilities include image enhancement (real-time clarification of murky underwater footage), dynamic feature recognition, and stereo displacement detection for autonomous positioning.
  • Integrated Visualization & Control Interface: The intuitive interface provides operators with a comprehensive operational overview. It visualizes critical data points to meet the rigorous demands of underwater tracking, including multi-data overlay (simultaneous display of live video, depth, 3D coordinates, and displacement), 3D point cloud imaging, and motion control analytics.

System Hardware and Interface Display

Modular auxiliary platform structure
Figure 2: Modular auxiliary platform structure (including Auxiliary Platform Control Cabin, ROV Control Cabin, and Binocular camera)
Locking in the target task
Figure 3: Locking in the target task
Attitude Correction Control System Control Interface
Figure 4: Attitude Correction Control System Control Interface
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