Diseño de un robot prototipo submarino ROV’s para la inspección visual en los tanques reservorios de agua potable.

Abstract

The objective of this research is to design an ROV'S submarine prototype robot. This will carry out the visual inspection and preventive maintenance in the reservoirs of drinking water to avoid the suspension of the water service. To solve this problem a method called heuristic was applied. The prototype was designed in a software CAD with characteristics of 3D. It was considered simple aspects to facilitate its construction and hydrodynamic characteristics, after establishing the type of robot the material that was used was selected such as: acrylic because it is resistant and transparent, to design the cabin, PVC was used to make the body and the Buoys, because it is very easy to find in the commercial market, this is also resistant to moisture, for the accessories the PLA material was used, which is plastic fiber for 3D printing; The thrusters are brushless motors resistant to water, a camera submersible for its image quality, LED lights for dark places, a UTP category 5e multi-pair cable to establish communication between the computer and the robot, plus a microcontroller for the performance of the actuators with an HMI that was developed in LABVIEW, which has the function of capturing images and videos. During the inspection a good image quality of the ROV'S camera was achieved in different depths, the light of the prototype for the image capture did not influence the inspection. The advance brushless motors verified the expected performance, while in the lower motors responsible for submerging the robot there was a decrease in speed at greater depths since the tanks are at higher pressure. Finally, the materials and equipment selected for the design of the prototype were adequate; as well as its execution. It is recommended not to use it in turbulent waters.