Update on July 30, 2022: Finally made it
Main control inside ROV
Light test. This is really a project failure. Insufficient control of high-power LEDs, long working hours will cause the acrylic lenses and 3D printed shells to become soft. I'll think more about heat dissipation next time.
Compact internal structure. Since the casing is very small, but it is equipped with 4 motors and 1 high-power motor, I had no choice but to choose a 25C battery with only a 2000mAh battery. There is no low-voltage protection, so I am always worried about over-discharge every time I play.
Views from all directions
Water test. It's okay to play for a while, but it will get soaked in water after one night of soaking. It should be a limitation of FDM.
Deep dive mode (SMA extension mode). Considering the image transmission quality and waterproofness, I think it’s good to use the antenna to play on the water.
Image transmission and control page. For the code, refer to dronebotworkshop, and just change the pin definitions directly according to the circuit board.
Progress: The circuit and mechanism design have been completed. On the 20th, non-standard parts (PCBs, 3D printing parts, sheets, etc.) will be customized and standard parts will be purchased. The prototype is planned to be completed by July 31. After the prototype is completed and verified, the Arduino program, host computer program, CAD drawings, and BOM will be uploaded together. After the solicitation event ends, the project will be updated from time to time. The ultimate goal is to achieve a better ROV underwater photography experience under the premise of a limited budget (cost ≤￥1000). The current version is only used to test waterproofing and structure, (in the case of free JLC) the estimated cost is ≤￥200.
The picture above shows the PCB diagram of the ESP32CAM ROV for this project. Among them, 14 is the ROV main control PCB, which is mainly composed of ESP32CAM, L298N MINI, MINI360 and solid-state relays. It is used to receive WiFi signals from the host computer and feedback image transmission, and control the ROV attitude, movement direction and LED switch; 13 is the LED. , for shooting in darker environments. This PCB uses circuit modules, so it is larger in size, but this greatly saves design and verification time and is conducive to rapid iteration.
1: 1mm high-transparent acrylic, used to place the ESP32CAM camera. Special attention should be paid to the fact that the camera cable provided by ESP32CAM is short, so you need to purchase an additional camera with a long cable to place the camera at the target location. The camera model is: OV2640.
2: 2.5mm high-transparent acrylic, used to place LED lamp beads. Why is it 2.5mm thick? Because acrylic with a thickness of 2.5mm is readily available and is the required size, no additional customization is required. The 1mm thick acrylic in 1 can also be purchased directly. Extensive use of standard parts (parts that can be purchased directly) helps reduce R&D costs.
3: SMA connector WiFi antenna. Special note is that this antenna can only be used for ROV activities on the water. The ROV will lose contact when it submerges in the water. I will mention the compromise of dive control later.
4: IP68 waterproof switch. It's a bit expensive, but you can't save money or water will enter. The target diving depth of the current version is 1m.
Unmarked black cylinder: hand-tightened bolt for easy battery replacement/charging.
4 (should be 5): The motor that controls the ROV's floating, sinking, and left and right translation.
6: Motor that controls ROV forward, backward, left and right rotation.
7~8: Carbon fiber support. If you want to save money, just use PCB. The corresponding PCB file has been placed in the project.
I saw a message from a brother on Lichuang EDA’s official account saying that waterproof motors are more expensive. To reduce costs, you must DIY.
A: 3D printed paddles need to be fixed with a little quick-drying glue.
B: Butter storage room, filled with butter to make it waterproof.
C: 370 DC motor.
D: Butter storage room, filled with butter and waterproof +1.
7~8: The supports and PCB diagrams mentioned above have been placed in the project. Carbon fiber or PCB with 2.3mm thickness.
9: Silicone rubber gasket, for waterproofing. This won't save you money. You have to find someone from Taobao to cut it accurately, otherwise water will enter. The parts that cannot move are welded shut with glue, but the box contains PCBs and batteries, so they need to be opened and cannot be welded shut directly. Because it saves money and takes off from the water, we can just take off from where we are.
10: 11.1V (or 12V) power battery. Be sure to buy the one with high current, and pay attention to whether it has a protection circuit. If not, you have to buy a BB ring.
11: SMA connector. Used to install WiFi antenna (water surface) or SMA all-copper RG58 signal extension cable (underwater). Leading activities is currently the most reliable method. I personally tested that if I dive even a little bit, I will lose pictures and control. Another advantage of bringing a line is that it can be pulled back when the water flow is too large or the image transmission control is lost, causing the ROV to lose control~
12: Hole for passing the motor wires. After installation is completed, weld it directly with waterproof glue.
13: LED PCB, used for lighting.
14: Place where the ROV main control PCB is placed. I am using the standard version and cannot export the .stp file so it is not drawn.
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