BlueROV2 - Updated R4 acrylicBLUEROV2-R4-RP
The BlueROV2 is the world’s most affordable high-performance ROV. With a 6-thruster vectored configuration, open-source electronics and software, and plenty of expandability, it’s the perfect ROV for inspections, research, and adventuring. What will you see?
Please note! This R3 revision includes the following updates:
- WetLink penetrators
- Default 18 Hole End Cap
- Revised Power Sense Module
- Revised Battery Cable
- Machined Buoyancy Foam vs Subsea Buoyancy Foam Blocks
- 2x Additional Ballast Weights
Photo credit: Jeff Milisen
Live HD Camera and LightingAt the front of the ROV is a high-definition (1080p, 30fps) wide-angle low-light camera optimized for use on the ROV. It’s mounted to a tilt mechanism so that the pilot can control the camera tilt to look up or down, even when the ROV is level. The ROV can be configured with two or four dimmable Lumen Lights, providing up to 6,000 lumens to illuminate the ocean depths.
Vectored Thruster Configuration and the Heavy ConfigurationThe ROV uses the patented T200 Thrusters in a vectored configuration, providing a high thrust-to-weight ratio and the ability to move precisely in any direction. The ROV comes with six thrusters but is expandable to eight thrusters with the Heavy Configuration Retrofit Kit, providing full six-degree-of-freedom control and feedback stability. Adjustable gain levels allow the pilot to have precision control at extremely low speeds and high power to overcome currents and carry heavy loads.
Depth RatingThe BlueROV2 is rated to a depth of 100 meters (330 ft). That rating is limited by a number of factors, including the crush depth of the 4” acrylic watertight enclosure tube, with some safety factors.
Modular Frame Design and ExpandabilityDesigned like a working-class or research class ROV, the BlueROV2 has an open frame that carries the electronics and battery enclosures, thrusters, buoyancy foam, and ballast weights. This simple design is robust and expandable, making it easy to attach accessories such as an ROV gripper or scanning sonar. We have a payload skid available that extends the frame further and allows you to attach much larger payloads. We’ve seen people use this for scientific instruments, pressure washer attachments, additional battery enclosures, and more.
The BlueROV2 is designed to be expanded and modified, and many of our users have made more dramatic modifications to suit their particular applications. Replacing the standard frame with a custom frame, you can create just about any underwater robot you can imagine!
Photo credit: Abyss Solutions
Open Source Control Software and User Interface SoftwareThe BlueROV2 is controlled by a drone flight controller running the open-source ArduSub subsea vehicle control firmware. As part of the ArduPilot project, it brings to the ROV a vast number of features, capabilities, and an extensive user community. At the surface, the pilot controls the ROV through a laptop computer and gamepad controller. The open-source QGroundControl application acts as the user interface, providing the live video stream, sensor feedback and information, and the ability to change settings and configuration.
Getting Started with the BlueROV2The BlueROV2 is designed for both entry-level and advanced ROV users. It comes with everything you need to get in the water except for a few components:
- Laptop – We recommend a medium to high-end model with Windows 10, Mac, or Linux operating systems. There are also some compatible tablets, including the Windows Surface tablets. iOS and Android are not officially supported at this time.
- Gamepad Controller – We recommend the Xbox One controller or the Logitech F310 or F710 controllers.
- Battery – We recommend our 14.8v, 18Ah lithium-ion battery for the best battery life, but we can’t ship it to all locations! There are a number of other compatible batteries that can be used as well. We’d recommend getting a few for extended operation.
- Battery Charger – We have a recommended charger as well, but any lithium-ion battery charger that can handle your battery will work!
BlueROV2 with integrated Ping360.
Available Options, Add-ons, and AccessoriesFirst of all, there are a few configurable options that you’ll have to choose from:
- The Fathom Tether length can be selected from 25 meters all the way up to 300 meters. The length you go depends on how deep and how far you want to go. For lengths over 100 meters, we’d recommend the Fathom Spool to make it easier to manage.
- The lights are available in 2-light and 4-light configurations. If you plan to do a lot of work in poor lighting conditions or at night, you might want the 4-light configuration.
- The Newton Gripper allows you to manipulate and retrieve objects underwater
- The Fathom Spool makes it easier to transport and use the tether cable
- The Heavy Configuration Retrofit Kit adds two thrusters and more buoyancy for additional stability and payload carrying capacity.
- The Ping360 Scanning Sonar makes it easier to navigate in low visibility water conditions and locate underwater objects.
- The Water Linked Underwater GPS Kit provides a system for map-based positioning and navigation.
If you’re looking to customize your ROV even further and add additional sensors, we recommend the following resources:
- ArduSub.com has the documentation and developer guide for ArduSub, the software that controls the ROV.
- The BlueROV2 section of BlueRobotics forums has many users who have made significant modifications and can provide guidance and ideas.
- Our BlueROV2 Payload Skid product provides additional room on the ROV.
Major Components After Assembly
The BlueROV2 comes partially assembled with the electronics and WTEs tested. Assembly takes approximately 6-8 hours with hand tools. After assembly, the major components will be as follows:
- 1 x BlueROV2 (as configured)
- 1 x Fathom ROV Tether (as configured)
- 1 x Fathom-X Tether Interface (FXTI)
What’s Not Included
There are some items necessary for the operation that is not included with the kit.
- A gamepad controller. We recommend this XBox One Controller (finer control) or this Logitech Gamepad (more affordable).
- A laptop or a Windows 10 tablet with 8GB of RAM or higher. The topside control software, QGroundControl, works on Mac, Windows 10 (i5 processor), and Linux.
- A 4S battery for the BlueROV2. Here are our recommendations:
- Blue Robotics Lithium-ion Battery (14.8V, 18 Ah)
- Turnigy Li-po (14.8V, 10Ah) (Hobby King)
- HobbyStar Li-po (14.8V, 10Ah) (Amazon)
- A battery charger, such as our Lithium Battery Charger.
The following lists the included sub-assemblies and other components of the kit.
- 1 x BlueROV2 Frame
- 7 x 8-18 thread, 5/8” long, thread-forming screw
- 9 x Ballast Weight (200g, 7 oz)
- 1 x Enclosure Clamp (3” Series) Set (black anodized aluminum w/ rubber strips)
- 1 x Cast Acrylic Tube – 8.75″, 222mm (3″ Series)
- 1 x Aluminum End Cap (3” Series)
- 1 x Aluminum End Cap with 4 Holes (3” Series) w/ 1 M10 Cable Penetrator Blank and 1 Enclosure Vent and Plug installed (anodized aluminum 6061)
- 2 x O-Ring Flange (3'' Series)
- 1 x XT90 to 5.5 mm bullet connector adapter
- 4 x M4x14 socket head cap screw (316 stainless steel)
- 4 x M3x12 socket head cap screws (316 stainless steel)
- 3 x T200 Thrusters w/ Clockwise Propeller installed
- 3 x T200 Thrusters w/ Counter-Clockwise Propeller installed
- 6 x Cable Penetrator Nut
- 6 x 013 O-ring
- 16 x M3x16 socket head cap screw (316 stainless steel)
- 8 x M3x12 socket head cap screw (316 stainless steel)
- 30 x 5 1/2” zip ties (nylon)
- 4 x BlueROV2 Fairings (blue polycarbonate)
- 4 x Subsea Buoyancy Foam (1.9 x 3.4 x 4.9 in the block, R-3318 urethane foam)
- 16 x #4 size, 3/4” long pan head self-tapping screw (316 stainless steel)
- 1 x Fathom ROV Tether R2 (ROV-ready) (25-300m)
- 1 x Tether Cable Thimble with 5Heavy Duty Zip Ties
- 1 x Silicone Grease – 10g Tube
- 1 x O-Ring Pick
- 1 x 2.5 mm hex driver
- 1 x #2 Phillips head screwdriver
- 1 x Penetrator Wrench
- 1 x Hex Key Set (1.5mm, 2.0mm, 3.0mm)
- 1 x MicroSD to SD Adapter
- 1 x Hand Operated Vacuum Pump with fittings for testing 2 enclosures
- 1-2 x Lumen Subsea Light (Pre-Connected Sets)(Optional)
SOS Leak Sensor
- 1 x SOS Leak Sensor (installed)
Fathom-X Tether Interface
- 1 x Fathom-X Tether Interface (FXTI)
- 1 x 3 ft (1m) USB-A to USB-B cable
- 3 x Cable Penetrator Blank
- 3 x 013 O-ring
- 3 x Cable Penetrator Nut
|Length||457 mm||18 in|
|Width||338 mm||13.3 in|
|Height||254 mm||10 in|
|Weight in Air (with ballast and 18Ah battery)||11-12 kg||24-27 lb|
|Weight in Air (without ballast or battery)||9-10 kg||20-22 lb|
|Net Buoyancy (with ballast)||TBD
|Net Buoyancy (without ballast)||TBD||TBD
|Payload Capacity (configuration dependent)||TBD
|Cable Penetrator Holes||18 x 10 mm||18 x 0.4 in|
|Construction||HDPE frame, aluminum flanges/end cap, and acrylic tubes|
|Main Tube (Electronics Enclosure)||Blue Robotics 4 inch series w/ aluminum end caps|
|Battery Tube||Blue Robotics 3 inch series w/ aluminum end caps|
|Buoyancy Foam||R-3318 Urethane Foam rated to 244 meters|
|Ballast Weight||9 x 200 g stainless steel weights|
|Maximum Rated Depth||100 m||330 ft|
|Maximum Tested Depth (so far)||130 m||425 ft|
|Maximum Forward Speed||1.5 m/s||3 knots|
|Thrusters||Blue Robotics T200|
|ESC||Blue Robotics Basic 30A ESC|
|Thruster Configuration||6 thrusters|
|Forward Bollard Thrust (45°)||9 kgf||19.8 lbf|
|Vertical Bollard Thrust||7 kgf||15.4 lbf|
|Lateral Bollard Thrust (45°)||9 kgf||19.8 lbf|
|Battery Life (Normal Use)||~2 hours w/ 18AH Lithium-ion Battery|
|Battery Life (Light Use)||~4 hours w/ 18AH Lithium-ion Battery|
|The batteries can be changed in about 30 seconds.|
|Brightness||1500 lumens, each with dimming control|
|Light Beam Angle||135 degrees, with adjustable tilt|
|Diameter||7.6 mm||0.30 in|
|Length||25-300 m||80-980 ft|
|Working Strength||45 kgf||100 lbf|
|Breaking Strength||160 kgf||350 lbf|
|Strength Member||Kevlar with waterblock|
|Buoyancy in Freshwater||Neutral|
|Buoyancy in Saltwater||Slightly Positive|
|Conductors||4 twisted pairs, 26 AWG|
|Gyroscope||3-DOF Gyroscope (on the PixHawk)|
|Accelerometer||3-DOF Accelerometer (on the PixHawk)|
|Compass||3-DOF Magnetometer (on the PixHawk)|
|Internal pressure||Internal barometer (on the PixHawk)|
|Pressure/Depth and Temperature Sensor (external)||Blue Robotics Bar30|
|Current and Voltage Sensing||Blue Robotics Power Sense Module|
|Leak Sensor||Blue Robotics SOS Leak Sensor|
|Tilt Range||+/- 90-degree camera tilt (180 total range)|
|Tilt Servo||Hitec HS-5055MG|
|Field of View (Underwater)||110 degrees (horizontal)|
|Light Sensitivity||0.01 lux|
|Tether Interface Board||Fathom-X Tether Interface Board|
|Control Board||Pixhawk 1|
|Windows||Windows 10 64bit|
|macOS||10.20 or later|
|Ubuntu||Latest LTS (20.04) or later|
|Minimum Recommended Hardware|
|Processor||i5 processor or better|
|Storage||A solid-state drive (SSD)|