Pablo Odysseus

Pablo Odysseus is a autonomous Beach Art rover.
The point is to draw large drawings on the beach.

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I love the beach. I can stay for a long time to contemplate the waves, the sun, the ocean ...
I want to create a surprise for the morning walkers who discover on the beach very large drawings of animals, portraits, texts ...
The drawings are fading, they are effaced by the tide

Q: What's the point?
A: What is art used for?

Before departure, the mission of the rover is prepared in advance by placing the image to be drawn on a map.
Once on the spot, the robot aims to trace the path on the sand with the help of the map, a GNSS receiver and sensors like compass and odometer.

The rover don't need any hardware tags that define the work area, so it can work on large areas.
It is located on the ground knowing its geographical coordinates using its sensors.

The tool used to draw is still in development, Odysseus can already draw figures. However it still needs to improve accuracy with more sensitive sensors.

General Specs :

Weight : 20 kg

Dimension: width 50 cm x length 60 cm x height 60 cm

Frame Material : Aluminium

On the beach, to validate the sensors with a temporary tool.

Remote with smartphone


Digital Inputs and Outputs file for Arduino Mega

ino - 7.66 kB - 04/11/2017 at 19:14



Compass file for Arduino Micro

ino - 2.98 kB - 04/06/2017 at 19:52



Odometer file for Arduino Micro

ino - 4.35 kB - 04/06/2017 at 19:51



The 3D file of Pablo, stl format

Standard Tesselated Geometry - 6.15 MB - 04/04/2017 at 16:57



The 3D file of Pablo, sketchup format

SSEYO Koan Play File - 6.81 MB - 04/04/2017 at 16:55


View all 5 files

  • 1 × Laptop Asus EeePC ( OS WinXP + Visual Studio C# )
  • 1 × Lead battery 12 VDC Gel battery is better but very expensive
  • 1 × Sabertooth dual 32A motor driver using the USB port
  • 2 × Wheelchair motors
  • 2 × Arduino micro and 2 opto sensors This is the odometer
  • 1 × Arduino mega and relais card This is inputs / outputs
  • 1 × Arduino micro and compass BNO055 This is the compass
  • 1 × GNSS receiver Ublox NEO-M8N
  • 1 × Bluetooth dongle To communicate with smartphone
  • 1 × Wi-Fi dongle For internet access or communicate with other computers

  • Measure the accuracy

    Ulysse3 days ago 0 comments

    Watching my GPS, I notice that the position it gives wanders around. This is the deviation map after 30 minutes of waiting. It is not so bad especially to make drawings 100 meters wide.

    The module is Ublox NEO-M8N GPS

    Board features:

    • Ublox NEO-M8N
    • HMC5983 magnetometer (not used)
    • Patch antenna (GPS + GLONASS + BEIDOU + Galileo)
    • Power supply: 3.3V or 5V
    • Rechargeable battery for faster startup
    • Filter on power supply lines
    • EMI Shielding
    • USB micro connector
    • Default configuration: 9600Baud & 1 Hz (can be changed easily with the U-center software)
    • Dimensions: 80*80mm
    • Weight: 39g
    • Hole distance: 70mm

  • Assembling the input & output board

    Ulysse04/11/2017 at 19:06 0 comments

    There is always a need for inputs and outputs to read sensors or to control relays, indicators... I use old boards wired to an Arduino Mega.

    The output is DB-24RD, an old board used to control relays. I replace all 24V relays by 12V because of the 12V voltage of the battery and I place all the relays on supports.

    I also use a DB24PD opto-isolated board to read inputs.

    To interface with Pablo, I use an Arduino Mega (clone). I place the Mega board under the other boards.

    300 welding points later here is the result:

    To control this interface, a small program with a few simple words:

    INFO - get interface name

    RESET - all relays off

    GET - get inputs state

    ON_xx - relay xx ON

    OFF_xx - relay xx OFF

    I use this interface first to drive the tool's engine.

  • Assembling the compass

    Ulysse04/06/2017 at 19:47 0 comments

    The compass is a device used to determine direction of the magnetic "North".

    The Adafruit BNO055 breakout is wire to an Arduino micro and protected by a plastic cover.

    This is a short clip of an Arduino Micro connected to an Adafruit BNO055 breakout board to track orientation.

  • Building the odometer

    Ulysse04/05/2017 at 14:29 0 comments

    To equip engine with an odometer, it is necessary to ...

    • Disassemble the two motors of an electric wheelchair
    • For each, open the engine

    • Disassemble the electric brake

    • Add an axis to the shaft

    • Add a coding wheel

    • Add two opticals sensors

    • Wire the sensors to the arduino micro module

    • The electrical signals are ...

    The wiring of the Arduino Micro module and optical sensors is as follows:

    Et voilà

    Pablo is now equipped with an electronic odometer.

  • Prepare a plot

    Ulysse04/04/2017 at 17:16 0 comments

    To prepare a plot, I first select the shape to draw in the sand. I chose the DXF format as it is wide spread and it contains vectors. Later I can use another format.

    I then use an C# application to transform vectors in GPS coordinates. Just choose the scale, place the mouse on a map and just click.

    To be verified, coordinates are exported to a KML file that can be imported into Google maps. Pablo uses another file with more information to trace the shapes in the sand eg to raise and lower a tool like

    48,4450406781251 -2,08504594716869 False

    48,4450461265302 -2,08506101814332 True

    48,4450517909435 -2,08506631507817 True

    48,4450666555887 -2,08506418650572 True

    48,4451036193834 -2,08505440264829 True

    48,4451291246728 -2,08504492712652 True

    48,4451318136836 -2,08504202502935 True

    48,445129096546 -2,08503937794103 True

    48,4451265609555 -2,08503508080721 True

    48,4451263169431 -2,08502652944985 True


    This video describe the process :

    Pablo can be brought close to the fields, he must continue alone. The serious work can begin !

  • Schema

    Ulysse04/04/2017 at 07:20 0 comments

    The schema :

    All elements are connected by usb.

    We recognize the laptop, the motors controller, the motors, one Arduino micro and 2 opto sensors for odometry, one Arduino micro for the compass , the GNSS receiver, and usb dongles to communicate with smartphone and internet access.

View all 6 project logs

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