BlueLink BlueROV2 User manual

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BlueROV2 Operating
Manual
Operating Manual Intro
The information on this page is for operating the BlueROV2. In order to operate the BlueROV2, it must be assembled and the software must be set up. If you have not assembled your
BlueROV2, please see our Assembly Manual (/brov2/assembly/). If you have not completed the software setup, please see our Software Setup (/brov2/software-setup/) page.
Safety
 When working with electricity, especially in water, always practice caution. Always ensure that connections are secure and watertight. Keep your body away from spinning motors
and propellers.
Batteries
We recommend using LiPo batteries for the
BlueROV2 . If you do not have any experience with LiPo batteries, our Battery Selection Guide (/battery/) has good introductory information on
LiPo batteries.
LiPo Safety
Our Battery Selection Guide (/battery/#lipo-safety) has several links to detailed LiPo safety information. The highlights are as follows:
Charge LiPo batteries in a ᵠre proof bag
Let LiPo batteries cool oᶰ for at least 15 minutes after use before charging
Never leave a LiPo battery unattended when charging
Install a smoke detector in the area where you charge your LiPo batteries
How to Charge Your Battery
To ensure that your LiPo batteries last as long as possible, it is important to not discharge the battery below 3.2 volts per cell or 12.8 volts if you are using a 4S battery.
A nominal 14.8 volt (a 4s pack) LiPo battery is fully charged when it reaches 16.8 volts (4.2 volts per cell). If you charge a 4S battery beyond 16.8 volts, the battery may become damaged or
catch ᵠre. To safely charge a LiPo battery, you should charge with a LiPo-compatible charger. A LiPo-compatible charger will prevent over-charging; it will also balance the cells. A good
rule of thumb is to charge your LiPo battery at less than or equal to “1C” or 1 time its capacity. So, if you are using the 10,000mAh battery, you would want to charge at or less than 10
amps.
Swapping Batteries
To exchange batteries in the
BlueROV2 use the following procedure:
1. Move the
BlueROV2 to a dry area.
2. Remove the vent plug from the vent penetrator. Place the vent plug in a safe place
3. Remove the 4-hole end cap from the battery enclosure
4. Disconnect battery and remove it from the battery enclosure.
5. Connect new battery and place it in the battery enclosure.
6. Install 4-hole end cap onto battery enclosure.
7. Check the O-rings on the vent plug, then install it into the vent penetrator.
Getting Ready for Your First Dive
Before putting the BlueROV2 in the water, there are a few things that you need to do.
Your ᵠrst dive should be in a body of water that is shallow, still, and clear. We recommend a pool or a test tank. Testing in a more controlled environment will provide a good opportunity
to check that the ROV is ballasted correctly. It will also allow you to conᵠrm that your controller is set up correctly and your ROV is behaving how you expect it to.
Connecting Your Batteries
To get ready for your ᵠrst dive, you need to start by connecting a charged battery using the same process as shown in the Swapping Batteries section.
Setting up Your Topside Control
To set up your topside control follow the instructions on the Software Setup (/brov2/software-setup/) page.
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To set up your topside control follow the instructions on the Software Setup (/brov2/software-setup/) page.
Vacuum Test
To perform a vacuum test on the
BlueROV2 , you need a vacuum pump. If you do not own one, we recommend this pump. (https://www.amazon.com/HFS-Brake-Bleeder-Vacuum-
Tuner/dp/B00NP60URE/ref=sr_1_10?ie=UTF8&qid=1470775016&sr=8-10&keywords=vacuum+pump) It is important to do a vacuum test prior to putting the
BlueROV2 in the water for the
ᵠrst time. It is also important to perform a vacuum test after changing anything that could compromise a seal, such as changing out a penetrator or an O-ring.
The vacuum test can be performed using the following procedure:
1. Remove the vent plugs from both the electronics and the battery enclosure.
2. Install one of the vacuum plugs on the included tee in the electronics enclosure and the other in the battery enclosure.
3. Pump until the gauge reads 10 in. Hg [34 kPa] vacuum.
4. Let the
BlueROV2 and pump sit for 15 minutes.
5. If the gauge reads above 9 in. Hg [31 kPa] vacuum after 15 minutes, your seals are acceptable.
If the gauge reads below 9 in. Hg [31 kPa] vacuum after 15 minutes, you should check the following:
1. Make sure that the M3 screws on the front and back end caps of the battery and electronics encloure using the M2.5 hex driver. If you are able to tighten one or more, attempt the vacuum test again.
2. Make sure the the penetrators on the battery and electronics enclosure are fully tightened. Check by attempting to loosen by hand. If you are able to tighten one or more, attempt the vacuum test
again.
3. Make sure that all of the O-rings are installed in the penetrators. If any are missing, install then attempt the vacuum test again.
4. Check that the Face seal O-rings and radial O-rings are installed in the battery and electronics enclosures and in good condition. If you ᵠnd a damaged or missing O-ring, install and attempt the
vacuum test again.
Controller Functions
The BlueROV2 comes with the button setup shown below as a default:
If you do not like the button settings, you can change the button setup in QGroundControl.
1. Go to
Settings then select “Joystick”
2. Under “Button actions:” QGroundControl shows what all buttons are currently set to control.
3. Press the button that you are interested in changing. The button number will light up.
4. Select what you would like the button to do from the dropdown to the right of the button number.
Dive Modes
In Manual Mode (Flight Mode 1) the BlueROV2 will only output motor controls based on the pilot input from the joysticks. There is no feedback stabilization, heading holding, or
depth holding.
In Stabilize Mode (Flight Mode 2) the BlueROV2 will stabilize roll to level and it will maintain heading when not commanded to turn. The vertical control is left entirely to the pilot.
In DepthHold Mode (Flight Mode 3) the BlueROV2 will hold depth unless you command it to dive/ascend. It will also stabilize roll to level and maintain heading when not commanded
to turn.
Pre-Dive Checklists
Comprehensive Checklist
This checklist is more thorough than the Pre-Dive Checklist and should be done in a couple of circumstances:
After travel by airplane
After extended travel by car or boat (>1 hour)
After taking oᶰ the electronics enclosure
After replacing or exchanging penetrators
After replacing any sealing O-ring
Comprehensive Checklist
Check that the ROV has connected to QGroundControl
Tighten the M5x16 screws that hold the frame to the center and bottom panels using the short part of the M3 hex key as the handle or an M3 hex driver.
Tighten the M3x12 screws that hold the back end caps to the ᵸange seals using the M2.5 hex driver.
Tighten the M3x16 screws that hold the clips to the electronics enclosure.
Tighten the M3x12 screws that hold the dome and the front battery end cap to the ᵸange seals using the M2.5 hex driver.
Gently attempt to twist the ballast weights clockwise.
Pull on the side panels and attempt to twist the frame.
Pull on the cable bundles going into the 14 hole end cap.
Pull on and twist the tether thimble.
Attempt to loosen all of the penetrators by hand.
Check that the vent plugs are installed.
Push and twist the battery enclosure.
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Push and twist the battery enclosure.
Visually check that all screws holding the back end caps are installed and look tight.
Pull on all of the thrusters.
Grab and shake the fairings.
Pull on the Lumens .
Visually check that all screws holding the dome and front battery end cap are installed and look tight.
Visually check the radial seals on the electronics and battery enclosure.
Put the ROV on the ground and make sure that people are clear of the thrusters.
Put the ROV in manual mode.
Arm the ROV.
Press the forward/reverse stick forward to check that the vectored thrusters are spinning freely.
Press the ascend/descend stick forward to check that the vertical thrusters are spinning freely.
Disarm the ROV.
Launch.
Pre-Dive Checklist
This checklist should be done every time the ROV is put into the water, prior to putting the ROV in the water. This checklist starts after you have connected the battery, reinstalled the
battery enclosure end cap, and reinstalled the battery enclosure vent plug.
Check that the ROV has connected to QGroundControl.
Gently attempt to twist the ballast weights clockwise.
Pull on the side panels and attempt to twist the frame.
Pull on the cable bundles going into the 14 hole end cap.
Pull on and twist the tether thimble.
Attempt to loosen all of the penetrators by hand.
Check that the vent plugs are installed.
Push and twist the battery enclosure.
Visually check that all screws holding the back end caps are installed and look tight.
Pull on all of the thrusters.
Grab and shake the fairings.
Pull on the Lumens .
Visually check that all screws holding the dome and front battery end cap are installed and look tight.
Visually check the radial seals on the electronics and battery enclosure.
Put the ROV on the ground and make sure that people are clear of the thrusters.
Put the ROV in manual mode.
Arm the ROV.
Press the forward/reverse stick forward to check that the vectored thrusters are spinning freely. Do not run the thrusters for more than 30 seconds in air.
Press the ascend/descend stick forward to check that the vertical thrusters are spinning freely. Do not run the thrusters for more than 30 seconds in air.
Disarm the ROV
Now you are ready to launch
Launch
The BlueROV2 can be launched in many conditions. Some conditions require special care.
All Launches
Do not launch the ROV near swimmers or divers.
Do not release the ROV prior to it touching the water. If necessary, use the tether to lower it down. When lowereing the ROV, keep the dome away from any hard or sharp objects.
Do not launch in water that is too shallow to freely drive the ROV.
Keep the ROV away from boats that do not know that the ROV is in the water.
Do not arm until the ROV is in the water and the launcher is clear of the ROV.
Boat Launch
Keep the ROV and tether clear of the boat’s propellers or jets.
Make sure that the captain of the boat knows that the ROV is about to be launched.
Shore Launch
Do not launch the ROV in heavy surf.
You may need to walk the ROV into the water to get to a point where the water is deep enough to drive the ROV.
Dock Launch
Operation
Tether Management
When diving the
BlueROV2 the tether will require some active management. Here are some guidelines for good tether management:
Keep the tether away from propellers or jets if you are operating on a boat.
Keep the tether and ROV away from other boats that are not aware that it is in the water.
Keep the tether away from sharp objects such as coral, rocks, etc.
Do not deploy too much tether. Excess tether in the water will add drag to the ROV and opportunity for the tether to get caught on something.
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Do not deploy too much tether. Excess tether in the water will add drag to the ROV and opportunity for the tether to get caught on something.
Do not deploy the tether over sharp edges or rough ground.
Do not step on the tether.
Driving Guidelines
Do not drive into a sandy bottom. If you do drive into a sandy bottom, stop driving the vehicle and allow it to ᵸoat up to prevent sand from getting into the vertical thrusters.
Drive smoothly and on low gain when possible to maximize battery life.
Do not touch coral with the ROV to prevent damage to the coral.
Avoid driving into seaweed when possible. Seaweed can get sucked into and stop the thrusters from spinning.
When diving, it is helpful to follow down a chain or a line to give a frame of reference.
Storage Between Dives
If you have a break between dives where the
BlueROV2 is out of the water for more than 15 minutes, make sure to keep it in a shaded area. If there is no shade nearby, a towel draped
over the ROV will supply suᶐcient shade.
Recovery
 Disarm the
BlueROV2 prior to attempting to recover it.
Powered Recovery
Typically, you will be recovering the
BlueROV2 when it is under power.
The ROV pilot should ᵠnd the tether and follow it back to the launching area.
While the pilot is driving back pull in the tether slack. Clean debris oᶰ of the tether and inspect for cuts or nicks while pulling in.
When the ROV arrives back to the launching location, disarm the ROV.
Pick up the ROV directly if practical, or pull the ROV up using the tether. Avoid sharp or hard object while lifting the ROV by the tether; allow space for the ROV to swing.
Remove the vent plug from the battery enclosure vent penetrator.
Disconnect the battery.
Unpowered Recovery
If the ROV loses power or connection to QGroundControl while diving, you should do the following:
Pull the tether in at a moderate pace. Don’t try to pull it in as fast as possible.
Post Mission Checklist
Rinse down with fresh water
If you were operating in a sandy environment or seaweed, clean sand and seaweed from the thrusters.
Preventative Maintenance
Every 100 Hours of Operation or Every 6 Months
Replace Lumen mount O-rings.
Replace radial battery cap O-rings on the side that you open and close when swapping batteries.
Replace vent plug O-rings.
Issue Reporting
We’re always trying to make our documentation, instructions, software, and user experience better. If you’re having an issue with anything, please report it so that we can address it as
soon as possible! Here’s where to do that depending on what’s wrong:
ArduSub Issues: For anything related to the ArduSub software that runs on the Pixhawk and controls the ROV, reports issues on the ArduSub Github Issues Page
(https://github.com/bluerobotics/ardusub/issues). If you’re unsure where your issue should be posted, you can report it here.
QGroundControl Issues: For anything related to the QGroundControl software, joystick setup, video streaming, etc., please report an issue on the QGroundControl Github Issues Page
(https://github.com/mavlink/qgroundcontrol/issues).
Documentation: For anything related to the documentation and instructions here, please report an issue on the Blue Robotics Documentation Github Issues Page
(https://github.com/bluerobotics/bluerobotics.github.io/issues).
BlueLink, LLC / 619-204-1060
(Authorized Distributor)