###### Abstract  
In order to realize the detection of marine engineering facilities, the hardware system of a new type of remotely operated vehicle (ROV) is designed independently, and the control system, including the lower computer program and the upper computer software, is developed. At the same time, in order to explore the thrust distribution of the thruster and realize the optimization of the thrust distribution under the installation position and installation angle of the designed thruster, the mathematical model of the ROV propulsion system is established. The simulation models of ROV motion control and thrust distribution are established in MATLAB R2022a and Unity 3D, respectively. Given the thrust input of the compound motion, the sequential quadratic programming (SQP) method and the direct logic method are used to compare the simulation results of thrust distribution. Finally, the underwater attitude control experiment and the application experiment of the actual scene are carried out. Combined with the simulation and experimental results, the feasibility of using the sequential quadratic programming method to optimize the thrust allocation is verified, and it is shown that the new ROV system can basically meet the expected design requirements. system design; ROV; ground control box; thrust distribution; SQP +
Footnote †: journal: Applied sciences  
0000-0002-4000-0000-0000-0000-0000-00000-0000-0000  
for scientific exploration and other work, but they have disadvantages of high risk and high cost. At present, many countries have the ability to independently develop HOVs and have achieved many results. For example, these include \"Jiaolong\" in China, \"Alvin\" in the United States, \"Deep Sea 6500\" in Japan, Russia's \"Warrior D\", and France and Norway's jointly developed \"Sea God\". Compared with HOVs, AUVs have advantages in autonomy, operation range, and economy, but their shortcomings in signal transmission, endurance time, and load capacity cannot be compensated for. Some countries have also made breakthrough progress in research on AUVs. For example, these include \"Dive Dragon 3\" in China, \"REMUS300\" in the United States, \"HUGIN Endurance\" in Norway, and \"SeaOtter Mk2\" in Germany. Compared with HOVs and AUVs, ROVs have the advantages of greater control precision, greater flexibility and adaptability, stronger power, and greater load capacity [3,4]. At present, research on various types of ROVs has made breakthrough progress. [PERSON] et al. [5] developed a small ROV for river exploration and observation and carried out simulation and operation experiments in the actual underwater environment, which showed good performance. [PERSON] et al. [6] designed an ROV for underwater inspection of deep sea mining and analyzed its hydrodynamic characteristics in detail. The ROV has good hydrodynamic performance. [PERSON] et al. [7] developed a closed streamlined observation-level ROV, which is mainly used to observe and locate complex underwater environments. [PERSON] et al. [8] developed a small observation-level ROV, which is mainly used for underwater inspection and measurement. [PERSON] et al. [9] designed and implemented a low-cost multi-functional underwater detection ROV, which can achieve six degrees of freedom operation. The reliability of the ROV was verified by experiments and simulations. In addition to the above ROVs with underwater detection functions, at present, a water wall climbing robot has also begun to be widely used in the field of industrial detection. [PERSON] et al. [10] proposed the design of a modular tracked robot for the detection, operation, and maintenance of paint film on the surface of an offshore wind turbine tower. [PERSON] et al. [11] developed a permanent magnet adsorption wheeled robot for weld detection on the surface of a ship. [PERSON] et al. [12] designed a permanent magnet adsorption wall climbing robot for water-cooled wall thickness detection of electric boilers. [PERSON] et al.