Trident "tilt lock"


#1

I was wondering if it may be possible to incorporate into the Cockpit app a way to lock the pitch of Trident to 45 degree up or down? It would be great to have this capability for doing inspection work either above or below. The “tilt lock” function would allow you to still control the yaw and directional movement.


#2

Wouldn’t this be risky ? You take the risk run with full power iinto the ground !


#3

I was envisioning using the software and onboard IMU to hold the vehicle pitch at a given angle steadily so that you could line up a shot either above or below you. The amount of thrust you apply during this time is totally controllable.


#4

Maybe another way to do discovery is to add a GoPro camera at the desired angle?


#5

You’d be sucking down battery. You’re asking for active pitch control and the thruster and ballast config isn’t really set up for it. It would be better to either have a motorized camera payload or add ballast weight forward the CG such that static pose sits at the desired angle. Though, the added ballast would need to be compensated aft or you’d just be ditching the rov into the mud.


#6

Good points made on hurdles to overcome with this idea. My next idea is to mount a 360 cam on the front. Looking at the insta360 one x now and it shows promising results.


#7

I just wanted to post some initial results using the Insta360 One x camera. Feel free to click an drag the screen as the video plays to see different views. Open this is Google Chrome for best results.


#8

That’s pretty cool, what’s the depth rating of the camera? Balance on the Trident looks nice, did you have to add ballast or float? Neat set up.

I was thinking that a weight could be added to the aft of the Trident and perhaps a small balancing float toward the front to hold the Trident vertically in the water, perhaps reversed for a downward view. The advantage of a 90 degree tilt would be it would still be easily controllable, forward and reverse would become up/down but much faster and up and down forward/reverse but much slower. Could be useful for inspecting boat hulls or detailed bottom scanning.

I think slight angles could be achieved by relocating the saltwater ballast weights fore or aft, overall bouyancy would be unaffected, will report back when I try it out.


#9

Thanks! The case is rated for 30 meters (60min). With the amount of airspace in the case, I had to add a large washer and a few nuts to the front end of the Trident. I also positioned the saltwater weights further forward.

That is a good point about repositioning the saltwater weights to provide tilted up or down viewing possibilities. I had similar thoughts while I was experimenting to get the buoyancy right with the 360 camera. I’ll do some testing with moving those as well.


#10

I got a chance today to test out moving the saltwater weights aft as much as I could. There is only one more set of mounting holes about 3cm aft so it didn’t do a whole lot but helped for looking up. I have been playing around with buoyancy a bit. For inspecting boat hulls for instance, you aren’t too deep. I have noticed the deeper you go with Trident the less buoyant it becomes which is not making sense to me. I’m a scuba diver and I know that the air in your BC becomes compressed as you go deeper so you go down faster the deeper you go. I would think that Trident’s buoyancy would be similar at the surface to at depth because there isn’t anything to compress? Doesn’t seem the case though so I have added a bit of weight at the 0-10’ depth to make it easier to look under boats.

I’m thinking now of fabricating two aluminum plates that will allow me to mount the ballast weights as far back as it takes to get the inspection video angles I’m after. I could drill and tap holes at increments to fine tune it. The plates could also be reversed to get the downward angle if needed. I would imagine that having more of a 45 degree to 65 degree downward angle would be better for mapping purposes.


#11

I had thought about doing the same to allow more mounting points, perhaps also making some sort of plate to attach things to the topside of the Trident as well (like a shark fin for April Fool’s!). UHMW plastic may work also, not sure of its bouyancy compared to aluminum


#12

From what I recall, UHMWPE is slightly buoyant.