中文摘要：

为水下探测提供实验平台，设计一款便携式20 kg级水下机器人ROV，机器人装备有推进器、水下摄像头、防水机械臂、电磁阀、PH计传感器、GPS等。主要介绍了机器人硬件系统的设计，包括主控电路、推进器驱动、电源转化、漏水检测等电路设计及电子舱内通信协议。各部分电路均设计保护电路，硬件系统工作稳定，搭载AHRS、声纳等传感器后，配合上位机软件，可以构建水下未知环境地图，并且具有作业和采集数据能力。

英文摘要：

A portable ROV（remotely operated vehicle）in 20 kg class was designed to supply a test platform for underwa-ter detection. This ROV is equipped with propeller,solenoid valve,waterproof mechanical arm,underwater cameras,PH meter sensor,GPS and so on. The hardware system design of the ROV is introduced in detail,including the designs of control circuit, propeller drive circuit,power conversion circuit,water leakage detection circuit and communication protocol. Every circuit has its own protection circuit. The hardware system works stably. when equipped with sensors like AHRS or SONAR,and cooperated with PC software,the ROV can not only build the map of the unknown underwater environment,but also execute some missions and acquire data.