| Package name | Description | Scripts | Dependency |
|---|---|---|---|
| eimo_msgs | Control, Depth, Angle. | depth_ms5837.py mouse_multi.py witsensor.py request_voltage.py |
ms5837 pyspacemouse libhidapi-dev |
| pac9685 | Light, Propeller. | pigpio simple_pid |
|
| scl_passthrough | Passthrough for Moons step servo Motor; Provide Depth, Voltage. | diving.py srv: serial_passthrough.py |
serial |
| witprotocol | Provide Angle. | serial |
| Roslaunch Name | Description | ~/.bashrc | Machine |
|---|---|---|---|
| eimo.launch | robot will wait for control | source /opt/ros/noetic/setup.bash source /home/ubuntu/eimo_remote/devel/setup.sh export ROS_MASTER_URI=http://192.168.31.16:11311 export ROS_IP=192.168.31.16 |
remote |
| mouse.launch (include eimo.launch) |
robot will be controlled Attention: Copy eimo.sh to /home/ubuntu/eimo.sh; Be sure roscore is running |
source /opt/ros/noetic/setup.bash source /home/zngz/eimo_ws/devel/setup.sh export ROS_MASTER_URI=http://192.168.31.16:11311 export ROS_IP=192.168.31.236 |
local |
#cat /etc/systemd/system/pigpiod.service
[Unit]
Description=Daemon required to control GPIO pins via pigpio
After=remote-fs.target
After=syslog.target
After=network.target
After=systemd-user-sessions.service
[Service]
Type=forking
User=root
UMask=007
ExecStart=/usr/local/bin/pigpiod
ExecStop=/bin/systemctl kill pigpiod
[Install]
WantedBy=multi-user.target# cat /etc/systemd/system/roscore.service
[Unit]
Description=start roscore
After=remote-fs.target
After=syslog.target
After=network.target
After=systemd-user-sessions.service
[Service]
Type=idle
User=ubuntu
UMask=007
ExecStart=/home/ubuntu/roscore.sh
Restart=on-abort
[Install]
WantedBy=multi-user.target
The robot has a total mass of 5.5 kg(no counterweight), is cylindrical, has an overall size outer diameter of 216 mm, and a total height of 300 mm (excluding reserved plugs). That is, it can realize the simple functional actions of floating and sinking, forward and backward, and left and right rotation in transformer oil, and can also stabilize the height (depth) and maintain the forward direction to sail in the oil, and can also sail on the water surface. The robot cannot communicate wireless underwater, but can maintain a certain communication quality in oil, so it can realize basic observation and image sampling in oil. The robot has undergone multiple reconstructions and developments in the laboratory, and field inspections and tests by the company. At present, the functions are being gradually improved and optimized, and the control method is becoming more and more humanized and technologically modernized.
1
<--------------------->
/- -\
3 /-- --\ 3.1
/-- --\
/- -\
/-- --\
-- --
^ ^
| |
| |
1 | | 1
| |
| |
v v
-- --
\- --/
\-- -/
\-- --/
5 \- --/ 5
\- -/
<--------------------->
3.5
# robot: 5.466kg
# total: 6.445kg
# counterweight: 0.979kg
# details: 1, 3.1, 1, 5, 3.5, 5, 1, 3
# 22*40+6*5+19*0.64+2.8*6+4.0*10=979.0g
# 40g: 1+3+1+5+3+5+1+3=22; 22*40=880
# 5g: (0.1+0.5)*10=6; 6*5=30
# M4: 0.64; 19*0.64=12.16
# M4x22 2.8; 2.8*6=16.8
# M4x40 4.0; 4.0*10=40
+-----------+ +-----------+
|Three-phase| | Motor |
| Motor x 2 | +-----^-----+
+-----^-----+ |
24V SCL+24V
| |
+--------------+ +-----------+ |
| | | ESC x 2 <------------------------------PWM+Ground--------------------------+
| | +-----------+ +-------|-------+ |
| Battery | ^ | Step Motor | +-----------+ |
| | | | Driver <--232+Ground----> 232<->TTL | |
| | | +----24V------> | +-----^-----+ |
+---^------|---+ 24V | |---------+ | | |
| | | | +------> Limiter | GPIO| TTL+5V |
| 24V | | 5V | | | | |
| | | | | +---------------+ | |
| +-v--------+ +-|-----------------+ +---------------v----+ |
| | | | | | | +-------+
| | Relay | --24V->| |----------5V--------->| Raspi <-I2C-->PCA9685|
| | | | 24 24->5 | | | 3.3V +-^-----+
| +----------+ | | +-----+ | | |
| | Break Board |----------5V--------->| FAN | | | |
| +-------------------+ +-----+-^----------^-+ | |
| | | | | | |
| | +---------------5V----------------------------------------+ |
| | | TTL I2C+3.3V |
| 24V | | | |
| | | +--------+ +---v----+ |
| | +---------------5V------------->| JY61 | | MS5837 | |
+--------+ +----v-----+ +--------+ +--------+ |
| Charge | |Light x 2 <-----------------------------PWM+Ground---------------------------+
+--------+ +----------+
