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 : 41 kg (90 lbs)

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

The next developments are:

What a budget!


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 12 components

  • Synoptic navigation

    Ulysse3 days ago 0 comments

    A drawing consists of segments (to be plotted or not). Each segment is defined by start and stop coordinates (latitude and longitude).
    The "Navigation" activity consists of driving the rover from segment to segment. It is executed every 1/4 of a second.

  • On the spot

    Ulysse06/13/2017 at 19:22 0 comments

    The beginnings are instructive! The navigation software works very well, the accuracy is good. On the image the robot begins to draw the letter "P" ( Height 20 meters, Pablo can also write text ). But the tool for plotting is not powerful enough. I have to find something better!

    Also, the sand must not be too wet otherwise the tracks disappear.

  • Test of the rotary rake

    Ulysse06/07/2017 at 19:01 0 comments

    Here is the first test of the rotary rake (It must not touch the grass), low speed. It is possible to change the speed of rotation. All settings (speed and height) will be set at the beach.

  • Rotating springs

    Ulysse06/01/2017 at 06:33 0 comments

    The rotating springs should well draw the sand, I hope. A new test on the beach very soon.

  • Making the rake

    Ulysse05/26/2017 at 08:36 0 comments

    This is the main tool, and it is not easy to do. It must print a beautiful trace on the sand.

    It is made of springs that rotate with a motor.

    The springs are cut and screwed onto a threaded rod

    Now find a motor to run ...

    The motor comes from a drill. It is pushed into a pipe.

  • Motors driver

    Ulysse05/04/2017 at 13:04 0 comments

    Of course to control the motors it requires a controller, like a Sabertooth 2x32 amps motor driver.

    Here is the wiring inside Pablo:

    The USB mode uses the same controls as a serial mode.

    The dialogue with the module allows the monitoring of the battery voltage, the temperature and the speed of the motors

    Do not forget the emergency stop of course ! This is very useful, and mandatory.

  • Remote

    Ulysse04/26/2017 at 16:12 0 comments

    The easiest way to remote control Pablo is to use a smartphone. MIT App Inventor allows you to create an application for Android without a line of code.
    On the screen of this Android app we find the controls: forward, back, right, left, half turn, stop, raise, lower ... The orders are transmitted by Bluetooth.
    There is a link between Pablo and the smartphone that sends a control string every 5 seconds via a virtual serial port. Pablo's software regularly interrogates a timer that stops the machine if this string is not received, for example if the link is broken.
    It's just a way to direct the rover, because in this mode you can no longer call it a robot, just a big remote controlled toy. But It's useful to get Pablo from the parking to the beach and come back.

  • Measure the accuracy

    Ulysse04/22/2017 at 16:59 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.

    Result : straight ahead !

View all 13 project logs

Enjoy this project?



Erin RobotGrrl wrote 05/04/2017 at 18:35 point

How much does your robot weigh? Nice to see another beach based robot in the world (check out our project #Robot Missions)

  Are you sure? yes | no

Ulysse wrote 05/04/2017 at 19:21 point

Thank you Erin. 

The weight is 41 kg (90 lbs). It will soon be equipped with a second battery to reach 24 volts so the weight will increase, and autonomy too (several hours).

Your project "Robot Missions" is well documented, a model for me.

  Are you sure? yes | no

Ulysse wrote 05/05/2017 at 07:07 point

Thank you Erin. 
The weight is 41 kg (90 lbs). It will soon be equipped with a second battery to reach 24 volts so the weight will increase, and autonomy too (several hours). Your project "Robot Missions" is well documented, a model for me.

  Are you sure? yes | no

Ulysse wrote 04/27/2017 at 06:15 point

Hey .... ( thinking ... )  New objective in view !

  Are you sure? yes | no

Jon Lorusso wrote 04/26/2017 at 19:37 point

This is very cool.  You need to add one additional feature.  The bot should have a drone hidden inside its enclosure.  When the drawing is near completion, the drone should pop out, fly overhead, take a picture, and then return safely to the bot (and go back inside the enclosure). (only half joking)

  Are you sure? yes | no

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