Compass |
The SP3003D Digital Compass was donated to us by Sparton Electronics.
It's compact and has been potted to protect it from the elements.
It communicates with the Gateway Rabbit via its serial port.
|
Depth
Sensor |
A Honeywell 40PC pressure
sensor is used to measure the vehicle’s depth. It can measure
up to 15 PSI. Its output ranges from 0.5V to 4.5V, which is conditioned
and measured by one of the F2812’s ADC channels. The sensor
is mounted inside the electronics enclosure on the interconnect board.
A vinyl tube attached to the 40PC runs to a compression fitting in
the lid, allowing the outside water to reach the 40PC’s transducer.
|
|
Four TAOS TSLR257 light to voltage converters are mounted towards the front of the vehicle through the lid. response. These sensors will help in detecting the red light sources. The new design allows for a directionality algorithm in the microcontroller that allows for the left and right outputs and the top and bottom outputs to be compared in order to guide the vehicle in the direction of the source.
Output from each TSL12S is fed through a comparator to produce an
"on/off" signal. The light sensor rabbit measures this
frequency to determine if the signal is one of the special frequencies
(3 kHz or 5kHz).
|
Cameras
|
Scout has both forward and downward pointing cameras. Each is a CVC6991 1/3" CCD color submersible camera made by Lorex. At 4.75"
long and 1" diameter, they're very compact. They're waterproof
to depths of 100 feet.
The Pluto has one video input. Fortunately, Scout never needs to use
both cameras at the same time. Circuitry on the interconnect board
allows the signals from the two cameras to be multiplexed so that
only one passes to the Pluto. The image on the left is an example of the cameras locating a bin along the pipeline.
|
Hydrophones |
Four Reson’s TC4013 hydrophones are being used on the 2007 vehicle. Each hydrophone consists of a piezo-electric ceramic, packaged in a small unique housing. The TC4013 is omnidirectional in both vertical and horizontal planes.
The four hydrophones allow Scout to triangulate
the position of the pinger. |
