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projects:rc-submarine [2011/02/19 20:48] – [Videos] Mikael H. Møller | projects:rc-submarine [2013/04/08 15:47] (current) – external edit 127.0.0.1 | ||
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+ | ====== Remote-Controlled Submarine ====== | ||
+ | Inspired by http:// | ||
+ | |||
+ | The idea will be to build a skeleton, then add a camera, then add propels and steering. | ||
+ | It would also be really cool to add some form of sonar, this can probably extend the range of the underwater " | ||
+ | A depth gauge is almost mandatory, then there should be a switch to make the robot automatically maintain the current depth (using the depth propeller). | ||
+ | |||
+ | Additional features, too cool to think about ATM: | ||
+ | * Robot arm for grapping stuff | ||
+ | * Sonar | ||
+ | * Topology-sonar using webcam and line lasers. Could be used as an crude [[http:// | ||
+ | * Metal detector/ | ||
+ | * Compressed air-container, | ||
+ | * Speaker, to play 8-bit music to the fishes (http:// | ||
+ | * Forward thursters ({{http:// | ||
+ | * Harpoon for fish hunting (Technically, | ||
+ | |||
+ | ===== People ===== | ||
+ | * Mads Chr. Olesen (mchro) | ||
+ | * [[members: | ||
+ | * Alex Birklykke (Webcam/ | ||
+ | * [[members: | ||
+ | The more the merrier; please sign up if you want to help with the project. | ||
+ | |||
+ | ===== Parts list ===== | ||
+ | * Plastic rør (Ø20-30mm ?) + samlinger | ||
+ | * Undervandskamera, | ||
+ | * Tryk-sikker kasse til elektronik | ||
+ | * 1-200m CAT5 kabel | ||
+ | * 1-200m strømkabel (2 ledere) | ||
+ | * 12v batteri (bilbatteri? | ||
+ | * Propeller (1 dybdepropel, | ||
+ | * Microcontroller (Arduino?) | ||
+ | * Vandtæt samling til kabel attach/ | ||
+ | |||
+ | ==== Propellers ==== | ||
+ | http:// | ||
+ | |||
+ | The most common seem to be using bilges and converting to propellers. | ||
+ | |||
+ | http:// | ||
+ | |||
+ | Power budget for needed propellers (32 l/min models): | ||
+ | ^ Part ^ Usage (12V) ^ | ||
+ | | Up motor | 2,5 A | | ||
+ | | Left motor | 2,5 A | | ||
+ | | Right motor | 2,5 A | | ||
+ | **Total: 7,5 A** | ||
+ | |||
+ | Forward booster (62 l/min): 4 A | ||
+ | |||
+ | Blueprints for shaft converter : | ||
+ | |||
+ | We can buy the propels here: | ||
+ | [[http:// | ||
+ | |||
+ | ==== Motor Control ==== | ||
+ | It is suggested to use a H-bridge configuration with PWM (Pulse Width Modulation) to enable precise control of the thrusters. The H-bridge (L298) is driven by a PWM signal on its EN pins and the direction is controlled via its IN1 and IN2 pins. An Arduino is used as controller together with the small potentiometer-Joystick we have at the hackspace | ||
+ | |||
+ | **Components**\\ | ||
+ | 3A H-bridge L298 | ||
+ | www.st.com/ | ||
+ | |||
+ | Schottky Diodes | ||
+ | http:// | ||
+ | |||
+ | 5V regulator e.g. 7805 | ||
+ | Misc. resistors and capacitors | ||
+ | ==== Camera ==== | ||
+ | Making a cheap submersible camera: http:// | ||
+ | |||
+ | Maybe using something like http:// | ||
+ | |||
+ | Deal Extreme http:// | ||
+ | ==== Pressure sensor/ | ||
+ | If target depth is 50m sensor needs to be able to go to ~600 kPa (~100 Psi) | ||
+ | |||
+ | Maybe SPD-100-G-2, | ||
+ | |||
+ | On [[http:// | ||
+ | It is also available on [[https:// | ||
+ | |||
+ | UPDATE: We now have a [[http:// | ||
+ | ===== Potential problems ===== | ||
+ | ==== Protecting the electronics ==== | ||
+ | Both from water and from the pressure. | ||
+ | One solution is to build a air-tight water-proof box, but then there is the pressure to worry about. | ||
+ | Maybe it is easier to coat the PCB's in " | ||
+ | |||
+ | For creating watertight seal, see: http:// | ||
+ | ==== Interference on the cable ==== | ||
+ | We will probably run both analog (camerafeed) and digital (steering, comm.) through the same, quite long, cable. Maybe we need to go to CAT6? Or two parallel cables? | ||
+ | |||
+ | [[http:// | ||
+ | [[http:// | ||
+ | |||
+ | |||
+ | ==== Lighting ==== | ||
+ | It quickly gets dark underwater, some form of preferably quite strong lighting is required. | ||
+ | |||
+ | ==== Protecting the propellers ==== | ||
+ | Stuff (cable, nastyness, etc.) in propeller = stuck robot. Maybe a form of " | ||
+ | |||
+ | ==== Air in the skeleton pipes ==== | ||
+ | The skeleton pipes should probably be airtight, to not increase the weight of the robot dramatically. This should also give the robot " | ||
+ | |||
+ | ==== Preventing rolling ==== | ||
+ | The robot should be kept upright. The standard solution seems to be to have two " | ||
+ | |||
+ | Randall Munroe (xkcd) seems to be {{http:// | ||
+ | ===== Work Sketches ===== | ||
+ | {{: | ||
+ | {{: | ||
+ | |||
+ | ===== Software ===== | ||
+ | Initial design is to have an Arduino controlling the motors onboard, communicate with it over RS485 with a laptop. | ||
+ | |||
+ | ==== Control Software ==== | ||
+ | None yet. | ||
+ | |||
+ | ==== Laptop Software ==== | ||
+ | Initial GUI can be found at [[https:// | ||
+ | |||
+ | |||
+ | |||
+ | ===== Pictures from the building process ===== | ||
+ | {{gallery>: | ||
+ | ===== Videos ===== | ||
+ | {{http:// |