Download - Operators manual - Rov-1.euUnderwater remotely operated vehicle for inspections GNOM SUPER Operators manual VFTECH s.r.o. Vapenicka 24, 971 01 Prievidza, Slovakia Tel/Fax +421 46 54264

Underwater remotely

operated vehicle for inspections

GNOM SUPER

Operators manual

VFTECH s.r.o. Vapenicka 24, 971 01 Prievidza, Slovakia

Tel/Fax +421 46 54264 56 [email protected] [email protected]

http:// : WWW.ROV-1.EU

2016

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TABLE OF CONTENTS

Warning !!! Voltage on cable 180VDC!

Do not touch the cable in a water during operation!

If any damages happen on a shield of cable it must be repaired or

changed !

Attention! AC power maximum 240V !

1. Description 3

1.1 Purpose 3

1.2 Design 4

1.3 Technical specifications 6

2. User’s manual for operation with GNOM 7

3. Keys and Buttons at the control panel 11

4. Screen modes 15

5. Installation of additional equipment 16

6. Calibration 17

7. Maintenance operation 18

8. Safety requirements 19

9. Warranty statement 20

10. Examples of linking modules 21

11. Appendix 24

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1. DESCRIPTION

1.1 PURPOSE

LIST OF ABBREVIATIONS:

Underwater module

Surface control module

Protection polypropylene frame

Hand reel

Coaxial cable

Joystick

Digital video recorder

Computer

Monitor

Waterproof case

Grabber

Underwater spear gun with laser

sector sonar

USBL positioning system

Remotely operated underwater vehicle GNOM is intended for inspection of underwater wrecks

and other objects by video camera.

The modern computer and telecommunication technologies are used in the device, and made it

easy in handling, compact, light and inexpensive.

These solutions allowed to use thin (only 6 mm diameter) and flexible communication cable for

transmission data, power and video signals to/from vehicle. The special Kevlar threads have been

used to improve the cable's tensile strength. Because of this fact, the device keeps the highest

degree of stabilization what is very important for inspections. The vehicle has a good

maneuverability and can easily turn on the spot.

High-effective electric motors with magnetic couplings and hi-tech electronics are used in the

vehicle, provide the fast speed of the GNOM with low power consumption.

One of the most important features of this device is a possibility to operate it from PC and via

Lan/Internet.

The GNOM, in essence, an underwater helicopter with the video-camera which moves in any

direction according to the operator's instructions.

For update info please visit our web site www.vftech.sk

1.2 DESING

ROV GNOM Super basic complete set

– ROV GNOM Super – protection polypropylene frame – Hand reel with tether – surface control/power box with joystick – LCD monitor 15“ – 2x waterproof cases

- Joystick

ROV GNOM Super full complete set + options

– ROV GNOM Super,

– joystick, –LCD monitor 15",

sonar, - USBL positioning system

Main features

Color High Resolution video 6 thrusters, adjustable speed Slow/fast mode, tilting vehicle mode LEDs lights Flexible thin cable Device is fitted out with the depth gauge, autodepth mode Heading (compass), Videotext overlays with graphics On screen menus Easy game joystick control Digital data channel PC interface, Lan/Internet web video/control (option) All packed in 2 cases, hand carried

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1. DESCRIPTION

basic complete set

protection polypropylene frame

surface control/power box with joystick

full complete set + options

– Control box waterproof case integrated, – hand reel with sleep ring,

LCD monitor 15", – grabber, - underwater speargun with laser

USBL positioning system

Color High Resolution video-camera with tilt servo and digital zoom thrusters, adjustable speed

Slow/fast mode, tilting vehicle mode

Device is fitted out with the depth gauge, autodepth mode Heading (compass), autoheading Videotext overlays with graphics

Easy game joystick control Digital data channel PC interface, Lan/Internet web video/control (option) All packed in 2 cases, hand carried

4

hand reel with sleep ring,

underwater speargun with laser, - sector

camera with tilt servo and digital zoom

The underwater vehicle contains three aluminium cylinders

cylinder and the back cylinder

cylinders. In the front part there is a fastening

a fastening for back camera.

Composit video-signal from cameras

LCD monitor input or another video device.

View from individual cameras is switched using the controller

4 horizontal thrusters with

installed in the upper part of the protective frame

6-thrusters ROV version has tilt function and

up and down to 45o - 60o, what increase the field of vision. In the back part of thursters there

are axes with screw propellers

The 4x14 LED lights are on each side of the vehicle, in the front of horizontal thruster

Brightness is adjusted from the control panel.

All the electrical part ( the power supply's converter, process unit, electronic compass) a camera are put into main aluminium hull. On the left in back part of vehicle, the depthis installed. In the bottom of the module connector is positioned to connect the communication tether.

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1. DESCRIPTION

The underwater vehicle contains three aluminium cylinders – the front cylinder

the back cylinder . The vertical thrusters and

cylinders. In the front part there is a fastening for main camera. In t

for back camera.

signal from cameras – 720 TV lines and sensitivity 0,1 lux is transmitted to the

monitor input or another video device.

View from individual cameras is switched using the controller.

with LED in the front part are fixed on main cylinder. Plastic buoy

installed in the upper part of the protective frame facilitate his buoyancy on water.

thrusters ROV version has tilt function and provides vehicle‘s inclination in vertical direction

, what increase the field of vision. In the back part of thursters there

are axes with screw propellers .

The 4x14 LED lights are on each side of the vehicle, in the front of horizontal thruster

Brightness is adjusted from the control panel.

All the electrical part ( the power supply's converter, process unit, electronic compass) camera are put into main aluminium hull. On the left in back part of vehicle, the depth

the bottom of the module connector is positioned to connect the communication

5

the front cylinder , the main

are located between

for main camera. In the back part there is

720 TV lines and sensitivity 0,1 lux is transmitted to the

are fixed on main cylinder. Plastic buoy

facilitate his buoyancy on water.

inclination in vertical direction

, what increase the field of vision. In the back part of thursters there

The 4x14 LED lights are on each side of the vehicle, in the front of horizontal thrusters.

All the electrical part ( the power supply's converter, process unit, electronic compass) camera are put into main aluminium hull. On the left in back part of vehicle, the depth sensor

the bottom of the module connector is positioned to connect the communication

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1. DESCRIPTION

Thrusters are DC motors which are put into the aluminium halls . The rotation transmision to

the screw propeller is realized with aid of magnetic coupling disks.

One disk is fastened at the motor's shaft in the body, and the other one – at the screw

propeller's shaft inside the cone-shaped head , which is filled up with water. The cone-

shaped head may be removed by operator for cleaning ( see manual).

The vehicle is connected with the operators console via thin cable, which transmits power

voltage, operation instructions, data and video signal from the vehicle.

The cable with diameter 6mm is stregthened by Kevlar threads (breaking effort is 90kg) and by

additional polyehylene shield. The cable length is max up to 250m. To compensate the weight of

vehicle and give neutral buoyancy to it, the float made of foam polysyren is used, and it is put

in front part of vehicle. Similar floats can be put on the cable to change the neutral buoyancy to

little positive buoyancy. Maximum operating depth of vehicle is 200m.

Using the control pads and joystick the operator can move GNOM forward-backward, turn to the right – left, up – down; adjust the thruster speed and the lights brightness. All data is displayed on the monitor in "TV-text" mode. By pressing one of the buttons on the joystick the operator can pass to the menu of tuning up some vehicle's functions – calibrating of the depth sensor and the compass as well as some other functions.

Control Panel "Sony PS" is connected to the control and power module installed in a

waterproof case in which also 15 "monitor is built. The power supply operates from 100 to

230 VAC or 12 VDC.

1.3 TECHNICAL SPECIFICATION

Speed: horizontal motion, up to 1,5 m/s vertical motion, up to 0.5 m/s

(above numbers depend on a length of pooling cable) Max operating depth 150 m Power voltage 100-230VAC or 12 VDC Operating temperature range from -5…+45°C Operating environment humidity, up to 100% Weight of the vehicle 6 kg Full weight of the system 25 kg Dimensions of vehicle 330x180x160mm Cable:

diameter 6 mm length up to 250m

Options: Rear camera with LEDs (color or b/w with IR lights) Additional lights Laser pointers Grabber Slip ring cable reel LCD 8-15" built in case Sector sonar Micron, Tritech

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2. USER’S MANUAL FOR OPERATION

2.1 Deployment

1. Before using, please, check up all parts of vehicle especially propellers, cable and dome. Clean it if it is necessary. Check propellers rotation by finger.

2. Plug in 3-sockets connector to reel, power and video cables to monitor.

At use of the built in monitor before its connection it is necessary to weaken a clamp! Also AC power cable (if you work from 100-230VAC).

Do not rotate thrusters on air!

Do not switch lights on a full power on air!

Be very careful with cable, do not:

- stand on it

- press it

- twist it.

voltage on a cable is 180VDC! If any damages happen you must repair or change the cable.

2.1.1 - You can not connect to the GNOM and other devices (accessory) to the mains

with the following problems:

• Wrong - incorrect wire connections L and N conductors in the appropriate slot.

• without protective earthing conductor.

Note. Checking the correct wiring connections (phase conductor - L) inspects the

operator. (E.g. by phase tester)

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2.1.2 Checking the RCD

Carry out before any underwater operation at the new location as follows:

• If the requirements of paragraph 2.1.1 are met and connect to the power supply only

power module

• Switch on mains voltage button on the control panel

• After 5 seconds press the "TEST" button on the residual current device. It would

immediately lead to a safe shutdown of module

• Switch off the mains voltage button on the control panel. Switch on the current

circuit breaker

• Again switch on the power supply button on the control panel. Residual current

device must remain switched on.

Set switch 230V ON (UP position).

3. After power ON you see message WELCOME. GNOM is ready for operation.

If you use GNOM in a sea than should do GNOM heavier. For that you need to

open plastic pipes which are under the GNOM and fit pieces of metal (the best is

lead).

USER’S MANUAL FOR O

4.



Put the vehicle into the water. To start operation press key

or or

All control functions are displayed on a console draw (see below).

# To move vehicle Forward/Back

.

# Slow mode (SLOW). Press

(25%, 50%, 75%, 100%).

You can adjust speed gradually (128 grades)

direction and speed are indicated on an overlay.

# To move vehicle Up/Down use

# Jump mode - Also press ②

Allows to push vehicle slightly for a distance 30

chose the jump direction press arrows (

the jump power use

# Simultaneously press ③ +

lights ( LOOP : 0%100%, 100%simultaneously 100% brightness turns on. ( Simultaneously press ③+

ANALOG MODE

left joystick

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USER’S MANUAL FOR OPERATION

Operation.



Put the vehicle into the water. To start operation press key

on a joystick

All control functions are displayed on a console draw (see below).

Forward/Back and turn Right/Left use

Press and adjust power gradually

You can adjust speed gradually (128 grades) pressing the joystick. The

direction and speed are indicated on an overlay.

use

② to adjust the Jump mode.

llows to push vehicle slightly for a distance 30 – 50 cm them stop. To

chose the jump direction press arrows (Left/Right, Up/Down). To adjust

.

+ to change the intensity of the front

100%, 100%. If press ③+ + simultaneously 100% brightness turns on.

adjust rear lighters – if it is mounted )

HOME

right joystick

right joystick

left joystick

left joystick

R 1

R 1 R 2

R 2

9

PERATION

and adjust power gradually

joystick


# Control the GRABBER (if this is part of device) by keys

# Control the GRABBER TURN : by keys

GRABBER TURN by keys

# To tilt cam Up/Down press

simultaneously camera goes to the median position.

# By keys ③ + switch

# By key switch - active forward/back camera

# Autodepth mode. Press key

need To change the depth use left joystick. Autodepth mode and depth

are indicated on an overlay.

# Autoheading controls ON/OFF from the joystick to left – ON, to right OFF ). You should select forward speed then switch ON autoheading. Autoheading mode holds the speed and direction.

# Press key ④ to select SCREEN MODES :

Mode1 or Mode2 or Mode3 (see below)

SELECT

SELECT

left joystick

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the GRABBER (if this is part of device) by keys /

TURN : by keys ② switch “ HAND MODE “

/ pads. If press +

simultaneously camera goes to the median position.

switch-on/switch off laser

active forward/back camera

Press key ① to fix the vehicle at the depth you

pth use left joystick. Autodepth mode and depth

controls ON/OFF from the key (version: left ON, to right OFF ). You should select forward speed

then switch ON autoheading. Autoheading mode holds the speed and

select SCREEN MODES :

(see below)

R 1 R 2

L 1 L 2 L 1 L 2

Start

left joystick

10


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USER’S MANUAL FOR OPERATION

# You can choose the menu language (Russian/English)

5. Finishing the operation

To finish the operation switch power OFF then disconnect cables and pull

into the reel.

Try to avoid nods and twisting of the cable.

After operation please clean propellers and shafts of motors and wash the vehicle in fresh

water.

Special Functions

Sleeping mode (Power Saving Mode)

In order to save power and lengthen the using life of batteries, a power saving system is designed in

the wireless joystick. The joystick turns into sleeping mode (power saving mode) under the

following conditions:

A. If there is no operation within 30 seconds since the connection between the controller and the

receiver, the controller will turn into sleeping mode (power saving mode).

B. There is operation since the connection between the controller and receiver. If there is no

operation for 5 minutes, the controller will turn into sleeping mode (power saving mode).

Press【 or or 】button can stop this sleeping mode

(power saving mode).

ANALOG HOME MODE

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3. KEYS AND BUTTONS AT THE CONTROL PANEL

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Alternative without a computer

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Alternative with computer

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Alternative with external computer

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4. SCREEN MODES / OVERELAYS

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5. Installation of additional equipment

- Installing the manipulator

When transporting the system, the manipulator is mounted in transport position. For installation of the

manipulator into the working position proceed as follows:

Loosen the two screws on the collar of fastening arm frame (see Appendix).

Move out the manipulator (grabber) forward. Set so that the join of the manipulator coincides with border of

fastening collar.

In the working position the arm of manipulator should be visible by tilting the camera about angle 30 °.

Tighten the screws on the clamp.

join

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6. CALIBRATION

To enter this mode you should be in start mode (message WELCOME is indicated). To calibrate depth sensor

and compass you should press key ③ and hold it for 7-8 sec only while message WELCOME is indicated.

Message "Calibration mode" appears. To select function you should use left arrows. To enter functions you

should use right key ②

- “Set current depth as 0”. To calibrate depth sensor you should set 0m when GNOM is on a surface. To finish calibration press the confirmation key (right key ②). We recommend to set depth 0 in 5 minutes after power ON.

- “Compass Calibration”. Preinstalled. Please, use only in a case of incorrect work. To calibrate compass you should do:

Calibration procedure:

1. Put the GNOM on flat surface far from metal things to North directions

2. Press circle (right key ②) to start calibration

3. Slowly turn the GNOM, clockwise, around own axis and not less than two turns

4. Press circle (right key ②) to finish calibration

- “Joystick for left-handler”. Do not use.

- “Camera color adjust” . Do not use.

- “Max vertical power”. Set up maximal power of vertical thrusters in %.

- “Max horizontal power” Set up maximal power of horizontal thrusters in %.

- “Max straight jump power” . Set up length of straight jump

- “Date/Time Setup” . Set up date and time.

- “Video systems” . Select PAL or NTSC.

- “Перейти на Русский”. Select language (Russian or English).

- “- Bereg Vx.xxx -” and “- Bort Vx.xxx -” indicates version of software.

- To return from calibration menu set the cursor to word Exit and press Enter (right key ②).

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7. MAITENANCE OPERATION To maintain the vehicle it is necessary:

to clean the propellers from alge, sand and mud to rinse the vehicle in the fresh water after using in the sea to inspect the cable after the operation. In case of any damages the cable must be

repaired or changed to check the magnetic disk coupling regularly Use silicon oil spray for lubrication shafts of props every time after diving. Oil must

penetrate inside of conus heads of motors. See appendix position 96, 147, 217 of thrusters assembly.

Avoid nods and twisting of cable.

Within the certificate of warranty the bond (joint) mainenance manual is included. Use it only in case of emergency, if standard maintenance is insufficient. Before this service consult technical problems in our company on email addresses:

[email protected] or [email protected] Attention: In case of non-professional action and damage of any part, the consecutive service in our company will be charged.

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8. SAFETY REQUIREMENT

1. Device belongs to CLASS 1 . For this reason the power adapter must have connection to protective earth.

2. Swith-on and swith-off the machine by main 230V switch, which is placed over the power cord to the external control unit.

3. Do not use the system with the damaged cable. 4. Do not touch underwater vehicle and the cable if you are in water and the power is

turned ON. 5. Keep the control module and the cable reel dry. 6. When recharging the battery disconnect the vehicle and the cable reel.

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9. WARRANTY STATEMENT VFTECH warrants that at the time of shipment all products shall be free from defects in material and

workmanship and suitable for the purpose specified in the product literature.

The unit/system warranty commences immediately from the date of customer acceptance and runs

for a period of 1 year. Customer acceptance will always be deemed to have occurred within 72

hours of delivery.

Note: Any customer acceptance testing (if applicable) must be performed at either VFTECH

premises or at one of their approved distributors unless mutually agreed in writing prior to despatch.

Conditions:

These include, but are not limited to, the following:

1. The warranty is only deemed to be valid if the equipment was sold through VFTECH or one of its approved

distributors.

2. The equipment must have been installed and commissioned in strict accordance with approved technical

standards and specifications and for the purpose that the system was designed.

3. The warranty is not transferable, except or as applies to Purchaser first then to client.

4. VFTECH must be notified immediately (in writing) of any suspected defect and if advised by VFTECH , the

equipment subject to the defect shall be returned by the customer to VFTECH , via a suitable mode of

transportation and shall be freight paid.

5. The warranty does not apply to defects that have been caused by failure to follow the recommended

installation or maintenance procedures. Or defects resulting from normal wear & tear, incorrect operation,

fire, water ingress, lightning damage or fluctuations in vehicles supply voltages, or from any other

circumstances that may arise after delivery that is without the control of VFTECH. (Note: The warranty does

not apply in the event where a defect has been caused by isolation incompatibilities.)

6. The warranty does not cover the transportation of personnel and per diem allowances relating to any

repair or replacement.

7. The warranty does not cover any direct, indirect, punitive, special consequential damages or any damages

whatsoever arising out of or connected with misuse of this product.

8. Any equipment or parts returned under warranty provisions will be returned to the customer freight

prepaid by VFTECH

9. The warranty shall become invalid if the customer attempts to repair or modify the equipment without

appropriate written authority being first received from VFTECH .

10. VFTECH retains the sole right to accept or reject any warranty claim.

11. Each product is carefully examined and checked before it is shipped. It should therefore be visually and operationally checked as soon as it is received. If it is damaged in anyway, a claim should be filed with the courier and VFTECH notified of the damage. Note: VFTECH reserve the right to change specifications at any time without notice and without any obligation to incorporate new features in instruments previously sold.

Note: If the instrument is not covered by warranty, or if it is determined that the fault is

caused by misuse, repair will be billed to the customer, and an estimate submitted for

customer approval before the commencement of repairs.

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10. EXAMPLES OF LINKING MODULES

Option: - PC integrated in control unit - sector sonar - USBL positioing system

Basic set

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Option: - PC external - sector sonar - USBL positioing system

Option: - PC integrated in control unit - sector sonar

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Option: - PC external - sector sonar

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9. APPENDIX

APPENDIX

10 pages

Power supply~230V, 50-60 Hz

power cable: max 20 м.3G х 1.0 mm?

L, N, PE - wires L, N, PE - wires

power cable: max 5 m.3G х 0.75 mm?

plug

L

N

PE

L

N

F1L

N

RF Filter RCBO

TEST

~230V 50-60 HzMain board

+180V

control

video

F2

connection cableJoystick

Power, video and control cable +180V,

Monitor

Hand reel

RCBO - Residual Current Circuit Breaker with Overcurrent Protection 16А/10мА

F1 - fuse 3A/250V

F2 - fuse 2A/250V ROV

Tether, up to 200 m.

Video out (RCA) 1

Video out (RCA) 2

Connection diagramm

+180V

AC\DC

additional monitor or record device

Input power – max. 125W

wirelles

11. ANNEX

PROBLEMS SOLUTION

Alight LED on control

unit

Check that control unit is connected to a power supply

Check that control unit is switch on

If previous conditions are met but LED is still alight, check network fuse of control unit

Underwater unit does

not respond to

JOYSTICK

Check that control unit is switch on – LED must illuminate

Check that joystick is switch on

Check batteries in joystick


not swim directly

Check horizontal thrusters – propellers have turn easy– check by finger

In case that some propeller turns hard, clean slide bearing of coupling axis of propeller

and check setting of coupling


not respond correctly to

Joystick

You have probably switch on function MAKRO on joystick ( some of models). Resolve

problem in according to the procedure in chapter JOYSTICK DESCRIPTION

The screen displays

incorrect value of

navigation depth

Make calibration of depth sensor in according to this manual

Underwater module

does not respond to

joystick

Joystick is in sleep mode (power saving).

See chapter USER’S MANUAL FOR OPERATION

The monitor screen is

black. There is no picture

Check the connection between the monitor and the control unit. See images in the

manual.

When connection is OK, check setting of the monitor – THE CHOICE OF INPUT SIGNALS –

see the manual for the monitor

11. ANNEX SERVICE COUPON

Coupon No.1 Date of sale SERIAL NUMBER

DATE OF INSPECTION TRUE FALSE DESCRIPTION OF REPARATION

HORIZONTAL THRUSTER L

HORIZONTAL THRUSTER R

VERTICAL THRUSTER F

VERTICAL THRUSTER B

LIGHTS

SERVO

COMPASS

DEPTH SENSOR

JOYSTICK

CONTROL UNIT

MOTOR COUPLING

STAMP AND SIGNATURE

Coupon N.2 Date of sale SERIAL NUMBER




VERTICAL THRUSTER F

VERTICAL THRUSTER B

LIGHTS

SERVO

COMPASS

DEPTH SENSOR

JOYSTICK

CONTROL UNIT

MOTOR COUPLING

STAMP AND SIGNATURE





VERTICAL THRUSTER F

VERTICAL THRUSTER B

LIGHTS

SERVO

COMPASS

DEPTH SENSOR

JOYSTICK

CONTROL UNIT

MOTOR COUPLING

STAMP AND SIGNATURE





VERTICAL THRUSTER F

VERTICAL THRUSTER B

LIGHTS

SERVO

COMPASS

DEPTH SENSOR

JOYSTICK

CONTROL UNIT

MOTOR COUPLING

STAMP AND SIGNATURE

11. ANNEX

Year of purchase:

TABLE № 1. Registration of working time

Start and end date of

executed works

Place of works

Underwater unit working

time (hours)

Operator name and

signature

11. ANNEX

Table No. 2 Statistics of damaged and replaced fuses in control unit

Date / time of fuse

seasoning and her

replacements

Type and parameter

of network fuse

Type and parameter of

power cable fuse +180V

Operator name and work

position

Signature

1.

2.

3.

4.

5.

Table No. 3 Inspection of coaxial cable intact

Date Type of cable Result Name Signature

1.

2.

3.

4.

5.

Table No. 4 Inspection of grounding cable clamp resistance

Date Type of cable Result Name Signature

1.

2.

3.

4.

5.

11. ANNEX Protocol of perform warranty repairs

Client

Address

Client’s agent name

Name of employee taking complaint

Date of taking complaint

Date of product sale

Type of product + serial number

Description of defect by client

Description of defect by service operator

Used material

Legitimate complaint Yes No

If no legitimate - reason

Date of repaired good expedition to client

Download - Operators manual - Rov-1.euUnderwater remotely operated vehicle for inspections GNOM SUPER Operators manual VFTECH s.r.o. Vapenicka 24, 971 01 Prievidza, Slovakia Tel/Fax +421 46 54264

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