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水下机器人ROV.pdf

发布时间：2022-06-07 发布人：admin 分类：说明书 资料大小：3.58M 资料格式：pdf 举报 版权申诉
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    EDGE Setup Manual 1.0Changzhou YiSu Underwater Robots Electronics Co.,Ltd http://rovmaker.org mail@rovmaker.orgEdge Setup Manual Version 1.0Status : Released Page: 1/ 53Explore the Ocean Like Never Before
    Changzhou YiSu Underwater Robots Electronics Co.,Ltd http://rovmaker.org mail@rovmaker.orgEdge Setup Manual Version 1.0Status : Released Page: 2/48ROVMAKER EDGE Setup Manual Connecting the Underwater WorldEDGE Setup ManualWelcome Note Warning Unboxing Product Configuration Packaging Parts List Resources Overview Introduction Hardware Overview Software Overview Hardware Assembly Software Configuration Operation Preparations Configuration Files Developer Options 1 3 3 3 4 4 4 5 6 7 7 8 10 12 22 35 40 43 ...................................................................................... ........................................................................................................ ........................................................................................................... ...................................................................................................... ........................................................................................................ .................................................................................... .................................................................................................. .................................................................................................... ...................................................................................................... ........................................................................................................ ................................................................................................. ....................................................................................... ...................................................................................... ....................................................................................... .................................................................................. .................................................................................. ........................................................................................ .........................................................................................
    Changzhou YiSu Underwater Robots Electronics Co.,Ltd http://rovmaker.org mail@rovmaker.orgEdge Setup Manual Version 1.0Status : Released Page: 3/48ROVMAKER EDGE Setup Manual Connecting the Underwater WorldWelcomeThank you for reading ROVMAKER EDGE Setup Manual. In order to make the best use of this product, please read this manual carefully before using it for the first time and only use it strictly according to the oper-ating instructions. Note The design and configuration of your EDGE underwater vehicle may be different from those specified in this manual. It is not recommended to fully rely on this manual as specific operating details might be different from those specified herein. Product specifications and manuals are subject to constant modifications and improvements without prior notice.To the maximum extent permitted by law, in no event shall the Company be liable for any special, incidental, or consequential damages, regardless of the cause of such losses. The product and this document are copyright protected property of Changzhou Rovmaker Underwater Vehicle Technology Co., Ltd.ROVMAKER is our registered trade name. The use of this document requires authorization and is not for sale. Unless authorized in accordance with the license agreement affixed to the product or this document, it is strictly prohibited to use or make copies of this document. No part of this document may be reproduced or stored in a public server or transferred in any format or manner, including electronic, hand-copy, photocopying, recording, scanning, digitizing and other methods.Permission is granted to print this manual for personal use. Warning- As described in this manual, improper operation under any circumstances may result in physical injury, for which the Company assumes no responsibility. - Note that there is no complete safety protection measure that can prevent physical injury caused by the rotation of the propeller. - Note that, in order to prevent any accidental damage, there should be someone watching over the lithium battery during recharge.- Pay attention to wiring and power supply and prevent damages caused by short circuit or other reasons. - Warranty does not cover any damage caused by direct or indirect human errors, including those happened during operations specified in the manual. This manual is for reference only and not to be entirely relied upon.
    Changzhou YiSu Underwater Robots Electronics Co.,Ltd http://rovmaker.org mail@rovmaker.orgEdge Setup Manual Version 1.0Status : Released Page: 4/48ROVMAKER EDGE Setup Manual Connecting the Underwater WorldUnboxingpicture1-3:Axis viewpicture1:front viewpicture1-2:back viewProduct Configuration *EDGE adopts the typical open frame structure with two cabins (the power cabin and the electronic cabin), a total of six thrusters. The solid buoyancy materials and lead weights are located at top and bottom of the product, respectively.
    Changzhou YiSu Underwater Robots Electronics Co.,Ltd http://rovmaker.org mail@rovmaker.orgEdge Setup Manual Version 1.0Status : Released Page: 5/48ROVMAKER EDGE Setup Manual Connecting the Underwater Worldpicture2:Package contentPackaging *Parts List *S/NNameQuantityRemarkTypeFixing ring for the Semi-circular cabin2110 OD x 2, 90 OD x 2Black oxide aluminumalloy6Watertight connector2 sets of 4 core units,4 core plugs x 2300 meter pressure resistanceWater absorption <5%, 6.5Mpa compressive strength 7Solid buoyancy materialfloats x 8,red hoods x 2, white hoods x 2300 meter pressureresistance1HDPE frameSingle layer 1 setGrey sandblastingHigh density polyethylene board, machining30a ESC 1m line length3Thruster assembly3 clockwise paddles, 3 counterclockwise paddlesReversible, 2kg thrust4Underwater lighting2Aluminum alloy,15wIncludes holder, 1500 lumens5Threading screwhollow x 4, solid x 2Black aluminum alloySupporting seals8Counterweight200g x 6 Lead castingLead outer layer9Flange110 OD x 2, 90 OD x 2 Aluminum alloy, blackSupporting seals and a set of spare sealsTake the protective box from the carton, then remove a total of three layers of liner. Depending on your order status, check if all accessories are included according to the parts list.Checking the parts list according to your order,may not include consumables and tools.
    Changzhou YiSu Underwater Robots Electronics Co.,Ltd http://rovmaker.org mail@rovmaker.orgEdge Setup Manual Version 1.0Status : Released Page: 6/48ROVMAKER EDGE Setup Manual Connecting the Underwater Worldpicture3:Parts listHatch cover110 OD x 1, 90 OD x 2 9 holes (110),1 hole and no hole (90)Aluminum alloy processing1020Equipment box1 Pcs18Tool1 set19Consumables1 setWaterproof rotary switch121 setRed oxide aluminumalloyIncludes all internalcomponents17Devices within theelectronic cabin 1 setWith depth sensor11Dome cover and retaining ring110 dome cover x 1 and matching fixing ring x 1Acrylic cover5mm thick acrylic dome cover13Red aluminum oxideLarge threading screw1 PcsFor power wiring14Lithium battery pack, charger1 set6s4p40A discharge capacity, 5A charger15Surface station cabletray and cable1 set200 meter cable5G wifi version includes xbox gamepad16Cable fasteners andconnectors1 aluminum sleeve 1 heart ring1 ring buckle 1 junction boxStainless steelWith black cable tieConsumables: Subsea white ab glue x1 (3 heads), epoxy potting glue (a bottle, b bottle and a bag of syringes) x1, thread glue (1 red & blue set) x3, professional lubrication grease x1, tie wrap x20 (white narrow ones and black wide ones), silicone thread x4 (4 colors), heat shrinkable tubing 2 mx3 (thin blue , thick blue, fine white), desiccant x1, block terminal x20 , xt60 connector (3 male 1 female), pix cable x12. Tools: glue gun x1, hexagonal set x1 (3 types), cross screwdriver x1, flat screwdriver x1, sealing ring screwdriver x1, stainless steel wrench x1, stripping knife x1, brushless motor tester x1 and other tools. Optional accessories: Depending on your order status, the following items might not be included in the package: windows10 computer, remote controller, ground station reel and there might also be variations in cable length and number of specific parts.
    Changzhou YiSu Underwater Robots Electronics Co.,Ltd http://rovmaker.org mail@rovmaker.orgEdge Setup Manual Version 1.0Status : Released Page: 7/48ROVMAKER EDGE Setup Manual Connecting the Underwater WorldResourcesYou can also visit http://rovmaker.org to view online documents other than this user manual. Three-dimensional modelThis product comes with complete open source software and hardware resources, please visit GrabCAD and search by keyword "rovmaker" to download the CAD 3D files or directly preview the same without downloading.Online communityWe have established an underwater vehicle online community to facilitate exchanges and communication between enthusiasts and professional engineers in this field. You are welcome to visit our community at: http://rovmaker.cn and post reply. FeedbackWe are constantly improving our products and open source documentation. If there is any question or problem, feel free to contact us through any channel available (including the online community) so that we can make corresponding improvements. To download the software, visit http://rovmaker.org and go to the relevant page.
    Changzhou YiSu Underwater Robots Electronics Co.,Ltd http://rovmaker.org mail@rovmaker.orgEdge Setup Manual Version 1.0Status : Released Page: 8/48ROVMAKER EDGE Setup Manual Connecting the Underwater WorldOverviewSoftware configuration comes after the hardware assembly. Software introduction may be provided in advance to help understand the overall software and hardware architecture. If you want to build your product as soon as possible, go to the hardware assembly section. When doing software configuration for the first time, please follow all instructions specified in the manual.Introduction EDGE underwater vehicle comes with the Ardusub system. Derived from ArduCopter, Ardusub is a part of the Ardupilot project and currently the most popular open source software for ROV and AUV. Ardusub is a safe, easy-to-operate, highly scalable, fully-open source and well-developed system. The combination of ROVMAKER hardware and Ardusub's mature open source software allows you to build an underwater vehicle with minimal efforts. Main features -Stable and precise feedback control: Based on the multicopter autopilot system, ArduSub firmware has accurate feedback control to actively maintain orientation.-Depth hold. Using pressure-based depth sensors, the ArduSub firmware can maintain depth within a few centimeters. -Heading hold. ArduSub automatically maintains vehicle heading when not commanded to turn.-Camera tilt. Camera tilt control with servo or gimbal motors through the joystick or gamepad controller.-Lighting control. Control of subsea lighting through the joystick or gamepad controller.-No programming required. ArduSub is applicable to most frame options without any programming changes and almost all parameter settings of the same are adjustable.-Supports a variety of mainstream vehicle frame options and motor configurations.-High scalability and customizability in hardware and software.-Attitude and Heading Reference System (AHRS) and Inertial Navigation Filter (EKF)-User-customizable and expandable framework configuration system.-Well developed ground control station software for piloting and configuration-Supports many development tools targeting MAVLink-enabled vehicles-Sensor and navigation data logging. Preparations A complete underwater vehicle system includes some essential components, a simple list of which is shown below: -[Supported ROV Framework] Contains the thruster and supports forward/backward ESC-Autopilot (e.g. 3DR's PixHawk) -Cables used for power carrier or network communication-A computer that runs the QGroundControl surface station-USB joystick or remote controller-Depth sensor
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