This project was started 2 years ago. The purpose was to make remote control vehicle as small as possible in order to have possibility to penetrate inside sunken ships and other underwater objects. The general problem is to minimize power in order to use the cable as thin ad flexible as possible. We choosed coaxial RF cable near 2 mm in diameter and designed electronics which provides remote communication between on table block and underwater module, transmission of videosignal, control commands and power through that cable. It consists of microcomputer AVR Mega 103 which receives data and instructions from on table control block, decodes it and makes control of brushes thrusters using PWM. The data are transmitted via HF modem in both directions what allows to use that chanal in future for transmission of measurement data from sensors such as depth, compass and others. Videosignal from camera sends with FM in a band 38…60MHz. We used ultrabright LEDs which have very high efficiency and low power (I=30mA, V=3V for each). On table power block transforms power 220/110VAC to 110-175VDC. This value comes to underwater module with some losses depends on Ohm resistance of cable. GNOM has DC/DC converter which transforms input voltage to stable 28VDC which used for thrusters and further transforms to 12VDC and 5VDC for supply videocamera, electronics and LEDs. Total power consumption is 75Watt what allows to provide horizontal speed 1m/s and vertical speed near 0.5m/s. On table block has own microcomputer AVR Mega 103 which receives analog and digital signals from typical game joystick connected to that block. AVR forms control commands which transmit to underwater module using HF modem. On table block has an interface with PC what allows to make GNOM's movement control from PC and to receive and process data from sensors.
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