S-ROV : Underwater Drone

S-ROV : Underwater Drone

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S-ROV : Underwater Drone

S-ROV hardware parts & assembly(2017/02/05 updated)

The most important thing in designing the ROV hardware was modularization for each part to make assembly and production easier. S-ROV consists of six parts, and each part can be made independently.

I'm still in the progress of designing and will continue to update the progress in this article. :)

  • About fish-eye lens camera

    YJ Kim2 days ago 0 comments

    The problem I felt while watching the streamed video was the narrow viewing angle of the ordinary pi camera.

    So, a few days ago, I got a Pi Camera (g) with a fish-eye lens and tested.

    Below is a picture with fisheye lens.

    When compared the image between normal camera and fisheye camera, I could see that the latter showed a mush larger viewing angle. But I could see the distortion caused by the spherical effect appears on the edge of image.. I think I need to think about whether there is any improvement in this part.

  • S-ROV First Dive

    YJ Kim02/14/2017 at 04:23 0 comments

    Finally, we have tested for the first time in a large water tank!

    You can get more information from the following link :).

  • S-ROV first test in water!

    YJ Kim02/09/2017 at 16:57 0 comments

    Finally, we integrated the hardware and electrical devices and tested it in a small tank. We confirmed that the motors and LEDs work well, and the video streaming also works well! Tomorrow, we will go to a large water tank and conduct various tests :). However, the propellers will be shipped next week, so the drive test will be available next week.

  • Video streaming test

    YJ Kim02/05/2017 at 10:09 0 comments

    I streamed the video from the camera attached to the ROV through 50m tether. You can find more information from the link below :)

  • Assemble S-ROV controller & Main tube

    YJ Kim02/05/2017 at 10:04 0 comments

    It's been updating in a long time :). In the meantime, there have been major electrical and hardware modifications. The control board has been redesigned to be more stable, and the front part of the main tube has been replaced with a hemispherical shape. I will replace the camera with a fisheye lens in the future. So it has been changed to hemisphere to make space. Detailed instructions about assembly and fabrication will be posted soon!

    I have tested the waterproofing, and once I have confirmed that the water is not leaking. I'll test the waterproofing once again in a deeper water.

  • S-ROV controller v.0.1

    YJ Kim01/20/2017 at 16:40 0 comments

      S-ROV Controller v.0.0

      S-ROV Controller v.0.1

      The following items have been revised and supplemented.

      1. Power supply stabilization => Solve MCU reboot when ESC turns on, and implement circuit stabilization
      2. Adding voltage and current sensing => Excess voltage / current can be detected.
      3. Adding ESC programmable pins => Can change the firmware and settings of each ESC via UART.

      I will test it next week :)

      github :

  • S-ROV controller test

    YJ Kim01/19/2017 at 05:55 0 comments

    I have tested the main controller. The wiring is ,a bit complicated, but the following tests were conducted in the above situation.

    1. PLC(Power Line Communication) availability

    I checked the Ethernet communication through the 50m long wire and it works fine.

    2. BLDC control

    There are only two motors available at the moment, so I tested only two of them. To find out if a motor driver affects a sensitive part such as an MCU, I tried to input an excessive amount of motion, such as an excessive speed change in the motor, and it seemed to work well.

    3. Additional PWM control

    I tested several servo motors connected to the main board. There was no problem.

    4. Complementary points

    Here are some problems identified :

    • When 4 ESC power is turned on, current is sucked into the capacitor connected to ESC, and voltage drop occurs. For this reason, the MCU is reset every time the ESC switch is turned on.

    • ESC can be updated the firmware and settings through its pwm pin. But there was a problem that the ESC was not recognized by the computer because of the signal coming from the PWM driver.

    • I am going to put voltage and current measuring devices to identify the state.

  • Main Controller v.0.0

    YJ Kim01/16/2017 at 06:55 0 comments

    Finally I made the pcb! The main controller configuration is shown below, and I will test it as soon as possible. :)

  • S-ROV design

    YJ Kim01/11/2017 at 16:00 0 comments

    I'm currently supplementing the design of the rov... It is not yet finalized, but as the specification becomes more and more definite, the design is being completed.

    The cad files are open to Onshape.

  • S-ROV Main Controller Design

    YJ Kim01/09/2017 at 09:40 0 comments

    I designed ROV control PCB. It has STM32F103 MCU, and can be controlled by serial communication. Four ESC and PLC module can be attached. I will order this pcb tomorrow!

    The open source for the circuit was released to github below.

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Enjoy this project?



Hassan Ali wrote 01/25/2017 at 07:06 point

Thanks Alot

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Hassan Ali wrote 01/25/2017 at 07:05 point

Thanks Alot

  Are you sure? yes | no

Hassan Ali wrote 01/25/2017 at 07:05 point

Thanks Alot

  Are you sure? yes | no

Hassan Ali wrote 01/24/2017 at 17:30 point

Which Software you used to design the ROV frame.

  Are you sure? yes | no

YJ Kim wrote 01/25/2017 at 03:03 point

I'm using Onshape.

It is Web-based CAD program. So you can use it without install software, and just sign in! Interface of it is similar to Solidworks. So if you are a Solidworks user, Onshape will also be easier to use.

  Are you sure? yes | no

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