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projects:rc-submarine [2011/03/11 09:19]
Mads Chr. Olesen [Pressure sensor/Depth Gauge]
projects:rc-submarine [2013/04/08 15:47] (current)
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 +====== Remote-Controlled Submarine ======
  
 +Inspired by http://​blog.xkcd.com/​2010/​11/​05/​submarines/​ , http://​nventivity.com/​ROVIAB.html,​ http://​submarineboat.com/​rov.htm , http://​www.homebuiltrovs.com/​
 +
 +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 "​vision"?​
 +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://​en.wikipedia.org/​wiki/​Inertial_measurement_unit|IMU]] for attitude determination/​navigation,​ depth-measuring and for scanning the bottom-topology.
 +  * Metal detector/​probing stick for determining what something is
 +  * Compressed air-container,​ allowing release of small amounts of bubbles to indicate position on the surface
 +  * Speaker, to play 8-bit music to the fishes (http://​www.youtube.com/​watch?​v=8pczd4Z9r7c&​feature=related)
 +  * Forward thursters ({{http://​submarineboat.com/​building_bob.htm|"​bilge pumps"​}}) for fast forward!
 +  * Harpoon for fish hunting (Technically,​ the operator will need a fishing license. Food for thought: If we make the robot an autonomous hunter, will the robot need a fishing license?)
 +
 +===== People =====
 +  * Mads Chr. Olesen (mchro)
 +  * [[members:​mikaelhm|Mikael Harkjær Møller]]
 +  * Alex Birklykke (Webcam/​laser sonar)
 +  * [[members:​kdhansen|Karl D. Hansen]]
 +The more the merrier; please sign up if you want to help with the project.
 +
 +===== Parts list =====
 +  * Plastic rør (Ø20-30mm ?) + samlinger
 +  * Undervandskamera,​ vandtæt til 20-30m (se http://​www.lh-camerashop.dk/,​ [[http://​www.lh-camerashop.dk/​shop.asp?​sid=1&​rfld=1&​m1=&​pageload=serievis&​gruppeid=23&​serieID=5|Vandtæt til 50m, inkl. lys, 3743,75,-]] )
 +  * Tryk-sikker kasse til elektronik
 +  * 1-200m CAT5 kabel
 +  * 1-200m strømkabel (2 ledere)
 +  * 12v batteri (bilbatteri?​)
 +  * Propeller (1 dybdepropel,​ 2 styrepropeller)
 +  * Microcontroller (Arduino?)
 +  * Vandtæt samling til kabel attach/​detach
 +
 +==== Propellers ====
 +http://​www.homebuiltrovs.com/​howtobilgeconversion.html
 +
 +The most common seem to be using bilges and converting to propellers.
 +
 +http://​www.biltema.dk/​da/​Bad/​Pumpe/​Lansepumpe/​Lansepumpe/​
 +
 +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 :​[[http://​www.homebuiltrovs.com/​howtos/​bilgeconversion/​bilgeadapter.jpg]]
 +
 +We can buy the propels here:
 +[[http://​modelskibet.dk/​group.asp?​group=28]]
 +
 +==== 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/​stonline/​books/​pdf/​docs/​1773.pdf\\
 +
 +Schottky Diodes
 +http://​platea.pntic.mec.es/​~lmarti2/​circuitos/​lm2576/​1N5822.pdf\\
 +
 +5V regulator e.g. 7805
 +Misc. resistors and capacitors
 +==== Camera ====
 +Making a cheap submersible camera: http://​www.homebuiltrovs.com/​howtosimplehousing1.html , http://​www.homebuiltrovs.com/​howtocamerapotting.html
 +
 +Maybe using something like http://​www.hardware-store.dk/​overvagningskamera/​spionkamera/​prod_3218.html
 +
 +Deal Extreme http://​www.dealextreme.com/​p/​mini-cmos-surveillance-security-camera-with-30-led-night-vision-dc-12v-42034 or http://​www.dealextreme.com/​p/​waterproof-night-vision-ir-30-led-camera-pal-dc-12v-500ma-15756 or http://​www.dealextreme.com/​p/​professional-cmos-surveillance-security-camera-with-36-led-night-vision-silver-dc-12v-47914
 +==== Pressure sensor/​Depth Gauge ====
 +If target depth is 50m sensor needs to be able to go to ~600 kPa (~100 Psi)
 +
 +Maybe SPD-100-G-2,​ e.g. from ELFA.
 +
 +On [[http://​seaperch.mit.edu/​sensors.php|Sea Perch]] they use Arduino as controller and the MXP4250 by Freescale, as presure sensor. We should be able to get two free samples from the webpage of [[http://​www.freescale.com/​webapp/​sps/​site/​taxonomy.jsp?​nodeId=01126990368716|Freescale]].
 +It is also available on [[https://​www.elfaelektronik.dk/​elfa3~dk_da/​elfa/​init.do?​item=73-100-14&​toc=0|Elfaelektronik.dk]],​ where then the price is at 130DKK.
 +
 +UPDATE: We now have a [[http://​www.google.dk/​url?​sa=t&​source=web&​cd=1&​ved=0CBkQFjAA&​url=http%3A%2F%2Fcache.freescale.com%2Ffiles%2Fsensors%2Fdoc%2Fdata_sheet%2FMPX4250.pdf&​rct=j&​q=MPX4250GP&​ei=vQhwTfqrD8vtsgamyMnwDg&​usg=AFQjCNHMHMuzEt7zY6x9RYcFYcOuIMo_HA&​cad=rja|MXP4250GP]],​ thanks to Flemming!
 +===== 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 "​lak",​ as done by some overclockers when they watercool?
 +
 +For creating watertight seal, see: http://​www.homebuiltrovs.com/​howtosealingwireexits.html
 +==== 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://​www.av-cables.dk/​computer_kabler/​netvaerkskabel/​cat5_netvaerkskabel/​cat_5e_graa/​cat_5e_stp_netvaerkskabel_50_m_1782_da.html|Cat 5e STP 50m - 150,-]]
 +[[http://​www.av-cables.dk/​computer_kabler/​netvaerkskabel/​loes_netvaerkskabel/​cat_5e/​cat_5e_ftp_udendoers_netvaerkskabel_100_meter_3561_da.html|Cat 5e FTP udendørs Netværkskabel 100 meter - 589,-]]
 +
 +
 +==== 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 "​gitter"​ will do, but it might reduce the effect of the rotors as well.
 +
 +==== 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 "​updrift"​.
 +
 +==== Preventing rolling ====
 +The robot should be kept upright. The standard solution seems to be to have two "​pølser"​ of light material (pvc pipe, plastic foam).
 +
 +Randall Munroe (xkcd) seems to be {{http://​imgs.xkcd.com/​blag/​sub/​sub_on_floor.jpg?​linkonly|doing without}}.
 +===== Work Sketches =====
 +{{:​projects:​rc-submarine:​uav-sketch1.png?​400&​direct|Sketch of skeleton}}
 +{{:​projects:​rc-submarine:​uav-sketch2.png?​400&​direct|Considerations about frontal center of gravity}}
 +
 +===== 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://​code.launchpad.net/​~shiyee/​leo/​trunk|Leo at Launchpad]]. The software is naturally named "​Leo"​.
 +
 +
 +
 +===== Pictures from the building process =====
 +{{gallery>:​projects:​rc-submarine?​dsc*&​80x80&​crop&​lightbox}}
 +===== Videos =====
 +{{http://​www.youtube.com/​v/​S2_PeoWhXwE?​.swf?​600×800}}
Permalink projects/rc-submarine.txt · Last modified: 2013/04/08 15:47 (external edit)

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