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Blue Robotics Bluerov2bluerov2bluerov2 by Paul Unterweiser Tech File Blue Robotics BlueROV2BlueROV2BlueROV2 By Paul Unterweiser The popularity and availability of aerial quad-copter drones At fi rst glance, the BlueROV2 is a vectored six thruster ROV, have grown exponentially over the past few years. But, in capable of depths of 100 meters in a kit form. But because ev- large part because of the complexities that water penetration ery bit of the design, from the housings to thrusters to the fi rm- poses for electronics, underwater remotely operated vehicles ware that controls it, is open to the public, the future and up- (ROVs) have not experienced that same level of popularity. grade-ability of the design is virtually unlimited. This not only The technology required to fabricate the components for an means that people with technical skills will be able to adapt ROV to explore beyond a few meters depth has been beyond the BlueROV2 to perform whatever new tasks they might be the capabilities of all but a handful of companies who have clever enough to design, but it also means that even the aver- mastered the skills. In many cases, those skills have been age user is free to source parts and enhancements (such as kept proprietary and the products have demanded high prices. sonars) from whomever they want. This is an entirely new and Not long ago you needed well over $10,000 to consider buy- potentially powerful approach to ROV design and marketing. ing even the smallest observation ROV. As mini ROVs have grown in capabilities, so have the prices to the point where a What comes with the kit fully-capable mini ROV now costs in excess of $40,000. All The kit includes all the thrusters, electronics, housings, that may soon change thanks to companies like Blue Robotics frame, fl otation, nuts and bolts that you will need to fully and its newly released BlueROV2. assemble a complete ROV. It also includes a tether (of your *All images courtesy of Paul Unterweiser 40 MTR November/December 2016 MTR #9 (34-49).indd 40 12/7/2016 3:54:20 PM choice of length) and a topside elec- and what components that are not inert thrusters afford, it would appear to be a tronics board. What it does not include are potted. Surprisingly, even though viable approach. are a few basic tools you will need these thrusters are constantly exposed (such as screwdrivers and wire snips), to salt and debris, long term testing Kit options batteries (14.8 VDC LiPo batteries are has proven them to be pretty reliable. Besides various tether length options, recommended), a laptop/ tablet to con- And considering the cost savings these you can also choose between the “stan- trol the ROV, or a monitor to display the video. These are left to the builder to buy and assemble as they wish. Some steps of the construction, such as the waterproof housing penetrators, have already been potted to the cables, while other steps, such assembling the frame and connecting the wires to the vari- ous electronics, have been left for the builder to complete. BlueROV2 kit components Besides Blue Robotics’ novel approach to delivering this new product, some of the components which make up the kit are themselves equally novel. The mo- tors in the thrusters, for example, are not sealed from water intrusion but in- stead are open so water can pass freely. The thruster’s construction is mostly Ph: (714) 546-3478 | www.secoseals.com | [email protected] from plastics and other inert materials, www.marinetechnologynews.com Marine Technology Reporter 41 MTR #9 (34-49).indd 41 12/7/2016 3:54:42 PM Tech File dard” and “advanced” electronics packages. The standard electronics or small tool experience at all, this might package uses RS-422 serial communications for control and take you a bit longer, but it took me about an hour composite (NTSC / PAL) video. The advanced package uses a altogether. Most of that time was deciding how to best tiny, on-board computer (Raspberry Pi), and other electronics route the wires so everything would appear neat and to send both HD video and ROV control via Ethernet and a easy to repair in the future. single twisted pair. The standard electronics is similar to how 2. Assembling the frame - This was one of the easiest most commercial ROVs are confi gured. The advanced elec- parts of the build. The frame is made of HDPE, tronics is something new, offering some exciting new capa- anodized aluminum and connected with stainless bilities along with a few additional risks. For this evaluation I screws. This took less than 30 minutes to complete. built two kits, one with standard electronics and one with the 3. Change props and mount the thrusters - This was as advanced electronics. easy as step 2. The only bit that was more time consuming was swapping the right-hand props in three Building the kits thrusters to left-hand props. The thruster needs to be The fi rst kit I built was a “beta” version of the “Standard disassembled in order to do this, which is not an ideal Electronics” kit and so my build was only slightly more com- situation, but performing this task offers two plex than what a customer who receives a kit can expect. As- advantages: fi rst, you end up with enough spare props sembling the kit primarily involved: so you have replacement for all six of them, and 1. Wiring the ROV side electronics - This step involved second, you are taught how to dis- and reassemble the mounting two electronics boards to the panel and then thrusters, a skill worth having with any ROV. connecting them, via screw terminal strips, to the 4. Mount the housings and route the external wires - electronic speed controllers (ESC) and thrusters; This next to last step was very straightforward and did and then connecting the tether leads to the electronics not take long at all to accomplish. The most diffi cult in the same manner. If you have absolutely no part (until Blue Robotics sent me a photo for guidance) 42 MTR November/December 2016 MTR #9 (34-49).indd 42 12/7/2016 3:55:26 PM BlueROV2 testing was deciding how to route the external wires. With a Building a topside box few photos for guidance (which are now included in One of the bigger challenges to assembling this kit is design- the kit’s instructions) I fi nished the ROV end of the build.ing a box to house the topside electronics. This is one area 5. Design and assemble a topside control box - This last where it is completely up to you as to how complex or how step is likely the most challenging part of building the simple you want to be. I wanted to use “off the shelf” com- kit, and your options range from simply mounting the ponents as much as possible and decided to use a simple, wa- topside electronics in a plastic box (which is what I terproof plastic (NEMA) electronics box and splash resistant did) to mounting it along with monitor, tablet and bulkhead connectors. While I was at it, I also installed a USB other electronics in a proper, waterproof pelican style to RS485 converter in the box for use with a sonar I will be case (what I plan on doing in the future). In my case, installing later. I spent roughly $400 on all the parts and batteries I needed to fi nish the build to the state seen in the photos.Bench testing I built the second kit (with the “Advanced Electronics”) sev- After assembling the ROV and building a simple topside eral months after the fi rst. In that time I picked up several kit control unit it was time to install the software and give ev- building tips from other builders and came up with a few of erything a test. The software that the BlueROV2 uses topside, my own. Because this electronics package includes an addi- “QGround Control” is an adaptation of aerial drone software. tional component (the Raspberry Pi computer) building it was Likewise, the ROV end hardware it uses is also an adapta- a little bit more involved and routing the wires neatly was a bit tion called “ArduSub”. Although initially designed for fl ying more challenging than the fi rst kit. As for the software side, I craft, I later learned Blue Robotics modifi ed version worked ran into a few minor glitches but thanks to some help on Blue pretty well, plus because most of the software’s momentum is Robotics’ support forums I was able to get things up and run- driven by the aerial drone community, it is constantly being ning relatively quickly. improved. Another benefi t of open source software is that I can use it with a wide variety of hardware platforms. The top- www.marinetechnologynews.com Marine Technology Reporter 43 MTR #9 (34-49).indd 43 12/7/2016 3:55:44 PM Tech File side controller, for example, can be a Windows, Mac, Linux Before taking the ROV in the fi eld, I also wanted to give it a or even Android computer/tablet. I used a Windows tablet top- test in freshwater. So I gave the water-tight housings a vacuum side and updated the ArduSub fi rmware via a USB cable con- test, just to make sure they were sealed properly, then put the nected to the control electronics in the ROV. A few minutes ROV in a water fi lled tub.
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