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MSS Defender

Operator's Manual, 1.00.00

VideoRay Interface Overview

There are four applications that are required to operate the VideoRay vehicle control software. These
are stored in the ~/Flighthack folder.

Start the thruster controls using vr_engage.py
Start the camera controls using vr_engage_camera.py
Start the video window

Video is automatically in record mode when the video window is started.
When stopping video, you must enter CTRL-C in the text window to close the file properly.

Start the manipulator controls (optional) using vr_engage_manip_rotating.py

Each application may be started in any sequence, but following a consistent sequence such as above
is recommended.

Содержание Defender MSS

Страница 1: ...MSS Defender Operator s Manual...

Страница 2: ...tice This material is copyright protected No material may be reproduced or transmitted in any form or by any means for any purpose without expressed written consent of VideoRay LLC Copyright 2019 Vide...

Страница 3: ...Power Module Communications Module AHRS Module Thruster Module Camera Module LED Light Module ROV Accessories Specifications Tether Specifications System Voltage Advisory Equipment Guide ROV Submersi...

Страница 4: ...ions Summary Accessories Included Accessories Optional Accessories Sonar Blueprint Subsea Oculus M750d Manipulator Inuktun Rotating Manipulator DVL Nortek DVL 500 300m GPS VideoRay ROV GPS GlobalSat U...

Страница 5: ...rials List ROV Project Management Maintenance Guide User Maintenance Policy Configuration Calibration Compass Calibration Module Replacement Power Module Communications Module AHRS Module Thruster Mod...

Страница 6: ...in the appropriate procedures before attempting to operate or maintain the equipment The Do Not icon is used to indicate that an action or activity should NOT be performed The Note icon is used to hi...

Страница 7: ...tstown PA 19464 USA Email info videoray com General Information and Sales support videoray com Technical Support Telephone 1 610 458 3000 Office 1 610 458 3010 Fax Disclaimer This document is deemed a...

Страница 8: ...ttp www videoray com learn more training advanced maintenance training html Operational Strategies and Tactics Support If you need help understanding how to apply your system to a specific project con...

Страница 9: ...Accessory Support Statement...

Страница 10: ...e platform in order to mount the payload The overall system represents the difference between a pickup truck and purpose built construction vehicles with equal differences in performance for specific...

Страница 11: ...MSS Defender Operator s Manual 1 00 00 MSS Vehicle Configurations MSS vehicle configurations include the Defender the Pro 5 Vehicles are shown approximately to scale...

Страница 12: ...rations Dive Operations Post Dive Operations Safety First Operating electrical devices in and near the water can be dangerous There is always a risk of drowning or electrocution in such an environment...

Страница 13: ...g such topics as vessel operations first aid survival and other relevant topics Introduction to the System Components Unpack the system and familiarize yourself with the components ROV The ROV or Remo...

Страница 14: ...ation Pre Dive Preparations Select a safe and preferably level area to set up the User Control Console See the On site Operations section of the Project Management Guide for more information about sit...

Страница 15: ...propeller is not fouled or loose or binding on the float block Make the Connections It is best to start making connections at the ROV and working your way to connecting the system to the power source...

Страница 16: ...tether connectors clean and protected for the best performance and reliability 4 Connect the hand controller to one of the USB ports on the User Control Console 5 Plug the User Control Console power...

Страница 17: ...til the yellow Alarm light turns on This may take up to 10 seconds Release the button when the yellow Alarm light turns on 3 Press and hold the Reset button to reset the LIM The yellow Alarm light sho...

Страница 18: ...utton the camera should tilt up smoothly through its entire range 2 Press and hold the Camera Tilt Down button the camera should tilt down smoothly through its entire range 3 Press and hold the Camera...

Страница 19: ...depth control knob to dive the ROV Tilt the camera down as you dive so you can see towards the bottom Rotate the depth control knob to bring the ROV back to the surface Tilt the camera up as you surf...

Страница 20: ...or but there are still many things to learn and skills to master Continue learning about the system by reviewing the additional sections of this documentation and most importantly practice practice pr...

Страница 21: ...d specifications are subject to change without notice Specifications for the ROV Modules Specifications for the VideoRay M5 Modules are provided on the following pages Power Module Specifications Dept...

Страница 22: ...change without notice Communications Module Specifications Depth Rating 2 000 meters 6 500 feet Mechanical Dimensions 25 5 cm x 15 2 cm x 5 3 cm 6 12 inches x 6 0 inches x 2 1 inches not including cab...

Страница 23: ...ed Depth Sensor 100 Bar with 400 Bar optional IMU Features 0 2 degree Static Roll Pitch 0 5 degree Dynamic Roll Pitch 1 0 degree Yaw 18 degree h Gyro Bias Stability M5 AHRS Module features and specifi...

Страница 24: ...res and specifications are subject to change without notice Camera Module Specifications Depth Rating 2 000 meters 6 500 feet Mechanical Dimensions 15 4 cm x 8 cm diameter 6 1 inches x 3 1 inches diam...

Страница 25: ...le Female Connector Stackable Power Input 48 VDC at 76 Watt Communications RS 485 Galvanically Isolated Control Sensor Feedback Input Voltage Input Current Total Internal Temperature Features 3 000 K...

Страница 26: ...er Connector Pin Configuration Tether pin numbering in the connector is shown above When looking at the mating surface of the connector Pin 1 is the offset pin socket For male connectors pins 2 8 proc...

Страница 27: ...are breaking strength The tether should not be subjected to a working strength greater than one half of the breaking strength The ROV and tether are equipped with a strain relief cable and connectors...

Страница 28: ...4 V DC The MSS Mission Specialist Series uses 400 V DC with plans to use higher voltages in the future Systems with voltages higher than 48 V DC include a LIM Line Insulation Monitor protection module...

Страница 29: ...nderstanding the features and capabilities of the MSS equipment is essential to get the most value out of using the system The sections within this Equipment Guide provide details about each of the co...

Страница 30: ...Hand Controller Tether...

Страница 31: ...deliver the vehicle to its intended destination and accomplish the tasks whether that be recording video taking measurements of various parameters or navigation and remote sensing such as sonar or las...

Страница 32: ...in the water column to a deeper depth ROV Attitude and Motion Reference Surge Forward and Reverse motion of the ROV forward is positive Heave Up and Down motion of the ROV up is positive Sway Left to...

Страница 33: ...dules sensors and accessories 8 Pin Male Tether Connector Pin Function 1 Interlock GND 2 Interlock Sense 3 Tether V 4 M100 EOP 5 Tether V 6 M100 EOP 7 RS 485 A 8 RS 485 B 5 Pin Female High Power Thrus...

Страница 34: ...for the 24 Volt circuit and 120 Watts for the 12 Volt circuit Power Module Arrangement The Defender vehicle power module is configured as follows Power Module Location Group ID Node ID Application ID...

Страница 35: ...C ETH_RXP 2 NC ETH_RXP 3 24 V DC 24 V DC 4 M100 EOP ETH_TXP 5 GND GND 6 M100 EOP ETH_TXP 7 RS 485 A RS 485 A 8 RS 485 B RS 485 B 9 12 V DC 12 V DC Power is rated at 300 Watts each for the 24 and 12 Vo...

Страница 36: ...ude and Heading Reference System The AHRS is also sometimes referred to as an Inertial Measurement Unit or IMU It provides feedback on the vehicle s orientation Measurements include magnetic heading a...

Страница 37: ...sy to replace in the field Thruster Propeller The propellers are designed to be used on counter rotating thruster arrangements to eliminate torque roll or yaw Propellers are identified by their pitch...

Страница 38: ...ected in series Pin Function Wire AWG Color 1 48 V DC 20 Red 2 GND 22 Green 3 48 V DC 20 Black 4 RS 485 A 24 Gray 5 RS 485 B 24 White Thruster Arrangement The Defender vehicle is a Defender frame that...

Страница 39: ...arboard 129 10 4 Left Disable 400 Vertical Aft 129 20 5 Left Enable 400 Camera Module The camera module provides a live video feed from the vehicle to the surface Cable Pinout Pin Function 1 ETH_RXP 2...

Страница 40: ...ED Light Module The LED Light Module provides variable levels of illumination and beam pattern control Cable Pinout The LED Light connector uses a male female stackable connector allowing the LED ligh...

Страница 41: ...rlock Sense 3 Tether V 4 M100 EOP 5 Tether V 6 M100 EOP 7 RS 485 A 8 RS 485 B Pin numbering starts at 1 for the offset pin and is clockwise on the male connector and counter clockwise on the female co...

Страница 42: ...TXP 5 Ground 6 ETH_TXP 7 RS 485 A 8 RS 485 B 9 12 V DC Pin numbering is clockwise starting at 1 in the upper left when looking at the face of the male connector with the row of 5 pins on top ROV Conne...

Страница 43: ...vided from the land based grid a generator or a battery with an inverter optional The typical power requirements for operating from a generator or inverter are 3 000 Watts continuous minimum The syste...

Страница 44: ...ce that includes a GFCI the VideoRay supplied GFCI is not needed and can be removed from the power cord LIM Line Insulation Monitor The LIM protects the operator and persons in the water nearby from s...

Страница 45: ...he ROV power circuit of an open tether connector See the User Control Console Switches and Connections section for more information about these components and their locations and see the Pre Dive Prep...

Страница 46: ...ct the User Control Console to the tether for power communications video and accessory support Monitor Power Provides 12 Volts DC Used to provide power to the monitor Monitor Signal Display Port Femal...

Страница 47: ...the User Control Console for Ethernet based accessories Display Port Display Port Female Provides an HD video signal This can be used to connect the computer to an external monitor Additional Specifi...

Страница 48: ...put 12 VDC Native Resolution 1920 X 1080 Brightness High Bright 1000 nits Features Wide Viewing Cone 10 Point PCAP Touch Front Full Range Diming Pot Monitor specifications are subject to change withou...

Страница 49: ...troller The hand controller functions are described in more detail in the following pages of this guide Hand Controller Compatibility Any Microsoft Windows compatible game controller can be used with...

Страница 50: ...horizontal thrusters in air for an extended period of time Doing so may cause overheating and damage to the components Forward Reverse Control Lateral Control The joystick is used to control the later...

Страница 51: ...t to slide the ROV to its left Displace the Joystick to the right to slide the ROV to its right The greater the displacement from the center position the faster it will move or turn in that direction...

Страница 52: ...e to the components The Depth Control Knob has a center detent so that by feel you can tell when the knob is centered Pitch Up The Pitch Up button increases the vertical angle of the vehicle in the up...

Страница 53: ...tch Roll Reset button restores the vehicle to a level attitude Button Locations and Labels Pitch Reset Use Press the Pitch Roll Reset button to restore the vehicle to a level attitude You can press th...

Страница 54: ...sity Use Rotate the Lights Intensity knob counter clockwise to dim the Lights and clockwise to increase the intensity of the lights Do not leave the lights on for an extended period of time Doing so m...

Страница 55: ...eases the vertical angle of the front camera in the downward direction Button Locations and Labels Tilt Down Use Press and hold the Tilt Down button to tilt the front camera down Release the button wh...

Страница 56: ...The Camera Focus Out button adjusts the focus of the front camera for far objects Button Location and Label Focus Out Use Press and hold the Camera Focus Out button to adjust the camera focus for far...

Страница 57: ...cation and Label Use Press the Video Record button to start recording a video from the active camera Press the Video Record button again to stop recording a video from the active camera When the recor...

Страница 58: ...manipulator Button Locations and Labels Manipulator Close Use Press and hold the Manipulator Close button to close the jaws of the manipulator Release the button when the manipulator jaws close the de...

Страница 59: ...e rear of the manipulator Rotate the Manipulator Rotate knob counterclockwise to rotate the manipulator jaws counterclockwise when viewed from the rear of the manipulator Center the Manipulator Rotate...

Страница 60: ...Sonar Mode...

Страница 61: ...Camera Lights Mode...

Страница 62: ...Manipulator Mode...

Страница 63: ...Raw Input...

Страница 64: ......

Страница 65: ...ductors best power transmission capacity followed by Neutral and then Performance Negative and Performance tether have the smallest diameter least drag while Neutral tether has the largest diameter Th...

Страница 66: ...e mm 8 51 0 38 11 18 0 50 8 18 0 50 inches 0 335 0 015 0 440 0 020 0 322 0 020 New tether was introduced in 2018 These tethers include a braided Kevlar around the conductors are slightly different dia...

Страница 67: ...used to avoid separation of the tether connectors and loss of the ROV The maximum usable tether length is limited by the ability of the tether to transmit power and data signals The maximum usable te...

Страница 68: ...et end of the strain relief cable through the loop end of the tether webbing 3 Pull the eye socket end of the strain relief cable to secure the connection 4 Align the pins and insert the male ROV whip...

Страница 69: ...oad is carried by the strain relief and there is no load on the tether connection When working in an area where there is a chance the tether can become snagged on a protruding object the connection ca...

Страница 70: ...o tether connections The ROV strain relief cable may already be attached to the tether If so it should be removed Failure to connect the strain relief properly may result in loss of the vehicle 1 Ensu...

Страница 71: ...Using the incorrect carabiners may cause the strain relief to fail under loading 3 Connect one of the carabiners to one loop end of the tether to tether strain relief cord...

Страница 72: ...4 Connect the carabiner to the tether strain relief webbing and secure the carabiner locking nut 5 Repeat steps 3 and 4 using the second carabiner and strain relief webbing from the second tether...

Страница 73: ...in relief and there is no load on the tether connection When working in an area where there is a chance the tether can become snagged on a protruding object the connection can be wrapped with tape to...

Страница 74: ...of the tether to the ROV 2 Secure the tether strain relief to the ROV 3 Connect the male end of the tether to the User Control Console 4 Connect the keyboard to a USB port on the User Control Console...

Страница 75: ...monitor to make it easier to see the displays when working in bright light See the label on the sun shade for installation instructions Tool Kit A basic tool kit is provided in order to perform routi...

Страница 76: ...it to be extended straight forward or downward at a 30 degree angle The vehicle pitch control can be used to orient the manipulator at additional angles for optimal ability to grasp an object Inuktun...

Страница 77: ...mbined with the compass the ROV s direction and position can be also calculated The position update rate is much faster than with USBL acoustic systems and can be used to provide feedback for autonomo...

Страница 78: ...ation of the the vessel or area where the pilot is working VideoRay ROV GPS is located on the vehicle to determine the position of the ROV while on the surface of the water VideoRay VideoRay ROV GPS T...

Страница 79: ...age With the SiRF CGEE Client Generated Extended Ephemeris technology has the capability of predicting satellite positions for up to 3 days in advance and will deliver a CGEE start time of less than 1...

Страница 80: ...tremely accurate and rapid boat position and speed updates In addition unlike other position only antennas the Point 1 provides heading for accurate boat direction at any speed and for radar chart ove...

Страница 81: ...e latitude and longitude Blueprint Subsea BluePrint Subsea SeaTrac Piloting ROV s to waypoints tracking the progress of AUV s and monitoring Divers is made simple the interactive and customisable disp...

Страница 82: ...what you might want to add to your operations kit General Logistical Support Basic operations support items including tables and chairs foul weather gear food water etc Power sources including genera...

Страница 83: ...V 2 Configuration and diagnostic software installed on the User Control Console used to configure and test each ROV module 3 Module Firmware installed on each module to allow the module to perform its...

Страница 84: ...Greensea s EOD Workspace is the topside control software for the MSS To start VideoRay EOD Workspace double click on the Defender icon on the desktop For more information about Greensea s VideoRay EOD...

Страница 85: ...g vr_engage py Start the camera controls using vr_engage_camera py Start the video window Video is automatically in record mode when the video window is started When stopping video you must enter CTRL...

Страница 86: ...ray_topside_ ubuntu reference run In the instructions below configName is defender and pro5 use only one at a time and do not use the quotes 1 Log in to the download site 2 Navigate to the greensea fo...

Страница 87: ......

Страница 88: ...inputs This approach allows vehicles to be configured with great flexibility Examples include A vehicle can be configured with one LED light or with multiple LED lights Multiple LED lights can be cont...

Страница 89: ...reset command v verbose Output verbose diagnostics r reset Reset device upon completion UNLOCK Allow programming of the bootloader input_file Filename The file name of the firmware update file includ...

Страница 90: ...st max explicit id The maximum Node ID to include in the list OPTION Alternate Argument s Description Default help Display this help information version Display the Version Number c com Com_Port_Name...

Страница 91: ...t to use dev ttyUSB0 arguments Node_ID Group_ID The Node_ID 1 254 and the Group_ID 1 254 to program into the module Examples To use vr_enum on modules connected to the communications module you need t...

Страница 92: ...SN c vrport3 4 LED Module Use the correct Node ID vr_debug_putty py 11 Some of the options use two dashes not a long dash Command vr_create_virtport_all sh The vr_create_virtport_all sh command is use...

Страница 93: ...e virtual ports type vr_create_virtport_all sh 6 Now when you enumerate the modules using vr_enum the camera and any other non RS 485 devices should show up in the list You can also see the virtual po...

Страница 94: ...ty charts available from several sources This information is provided for convenience Providing this information does not explicitly or implicitly extend the warranty to cover the use of VideoRay prod...

Страница 95: ...e mission 5 Conclude the mission 6 Compile and deliver project reports Of course how critical a successful outcome is deemed and how much lead time and how many resources are available will dictate ho...

Страница 96: ...his section will describe the maintenance requirements and procedures for periodic or common maintenance requirements It will not be detailed enough to be considered a component level repair manual bu...

Страница 97: ...rranty Note that cleaning components is a required condition for continued warranty protection and that failure to exercise reasonable care during these procedures may result in warranty claims being...

Страница 98: ...terdeck xsens mag_mapper tgz The user name is quarterdeck and the password is quarterdeck use all lower case After logging in navigate to the xsens folder and download mag_mapper tgz The AHRS firmware...

Страница 99: ...on Tracker option selected and click on the Next and then the Scan buttons 10 Wait up to 30 seconds for the Magnetic Field Mapper software to find the AHRS Module If the software reports that it does...

Страница 100: ...rcle to rotate about the ROV s inverted pitch axis e Hold the ROV nose up and spin around in a circle to rotate about the ROV s roll axis f Hold the ROV nose down and spin around in a circle to rotate...

Страница 101: ...om 1 0 The blue graph should have much less variation and average value close to 1 0 16 Click the Write to selected devices button 17 Click the Exit button to close the Magnetic Field Mapper software...

Страница 102: ...careful to thread the remaining connected cables through the frame 7 Remove the cables from the old Power Module and install them in the same locations on the replacement Power Module 8 Thread the ca...

Страница 103: ...ed earlier Do not over tighten these screws 10 Reinstall the module cables on the Communications Module using the same port locations as the cables were originally installed 11 Replace the DVL 12 Repl...

Страница 104: ...ware configuration procedures Hardware Replacement To remove and replace an AHRS follow these steps 1 Power down the system 2 Remove the top float block by removing the four screws holding the float b...

Страница 105: ...am the replacement thruster once installed in the vehicle 10 Install the replacement thruster in the same location as the one being replaced and thread the cable and connector through the same routing...

Страница 106: ...reverse is Enabled or Disabled configuration parameter 2 2 Maximum Thruster Power configuration parameter 17 3 Motor or Application ID configuration parameter 31 To change the values follow these step...

Страница 107: ...Replacement To remove and replace an LED Light follow these steps 1 Power down the system 2 Remove the top float block by removing the four screws holding the float block to the frame 3 Note the posi...

Страница 108: ...ed by the Enter key again to verify the replacement LED Light is registered with its Node ID 8 Enter diagnostic mode of the replacement LED Light type vr_debug_putty py NodeID followed by the Enter ke...

Страница 109: ......

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