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Pablo Odysseus

Pablo 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 ... Imagine the face of the first person walking towards the beach at a very early hour and then seeing the image drawn in the sand.
Then the drawings 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.
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.

Odysseus can already draw texts and figures. However it still needs to improve accuracy with more sensitive sensors.

About Pablo...
The technique is not the most important.

The first idea is to convey a message, to share an emotion. It's an instrument, a brush, and the sand is the canvas.

Pablo is coming along nicely, I would like to tell you the odyssey.

France, 14 Juillet 2017


But we also must talk about technical, so let's go...

General Specs :

  • Weight : 41 kg (90 lbs)
  • Dimension: width 50 cm x length 60 cm x height 60 cm
  • Frame Material : Aluminium
  • Software : MS VS2015 C# ( no ROS, all by hand )

The next developments are:

Use of a Kinect or Zed camera for map depth and avoid obstacles


Architecture_03.png

Wiring diagram

Portable Network Graphics (PNG) - 931.73 kB - 10/16/2017 at 18:31

eye
Preview
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PABLO_005.skp

3D Sketchup format of Pablo

SSEYO Koan Play File - 6.92 MB - 07/18/2017 at 06:28

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BOM.xlsx

B.O.M and wiring

application/vnd.openxmlformats-officedocument.spreadsheetml.sheet - 2.10 MB - 07/16/2017 at 16:35

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compass_03.ino

Compass file for Arduino Micro

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

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Odometre_4.ino

Odometer file for Arduino Micro

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

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View all 6 files

View all 13 components

  • High tides, but ...

    Ulysse11/06/2017 at 13:21 0 comments

    High tides are there. Beaches are discovered. Unfortunately I can not move Pablo because the car engine is broken. See you in a few days ...

  • i'm drawing in the rain

    Ulysse09/25/2017 at 16:55 0 comments

    Although it rained a lot, I went to the beach last weekend. I wanted to try all the new functions of Pablo. But « Houston, we've had a problem ». The UHF link antenna with the base has been broken and the compass connector was also out of order. Pablo could not operate without a compass. But I remoted it with my smartphone to check the other functions like the computer, the autonomy, the rake ...


    I am doing the repairs and then I go back to the beach as soon as possible to make a real drawing !

  • September news

    Ulysse09/01/2017 at 08:21 2 comments

    Pablo V2 finally arrived !

    How to thank Hackaday ? Now Pablo is equipped with :

    • a more powerful card ( lattepanda )
    • a RTK GNSS receiver for more accuracy

    Nice look !

    I have to reassemble the tool and go back to the beach

  • Increase autonomy

    Ulysse08/03/2017 at 16:26 0 comments

    There is enough room for a larger battery to increase the autonomy.

    The previous : 60 Amps / hour

    The new battery : 80 Amps / hour

    I have four batteries of the same type ( thanks to a friend who helped me ), now Pablo can draw for hours and hours. But it weighs 10 kg more !

  • Wireless Access Pont and New HCI

    Ulysse07/12/2017 at 20:06 0 comments

    Pablo is now equipped with a small wireless access point. It is easier to connect a smartphone to control the rover with VNC (Virtual Network Computing) and the communication distance is better than Bluetooth.

    The HCI (Human-computer interaction) is also lighter for use on a small screen :


  • New simple rake

    Ulysse07/01/2017 at 18:17 0 comments

    Because sometimes the simplest is best. No electric motor, less consumption.

    The teeth are equipped with steel wire


    The part equipped with claws leaves a clear trace, precisely the aim sought. We also keep the flexibility of the plastic blades, the teeth are well resting on the sand.

    I added three pounds of lead

    The tool is moved by an electric motor from a car door, a switch control the end of lift


  • Synoptic navigation

    Ulysse06/21/2017 at 15:44 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.

View all 15 project logs

  • 1
    Collecting items

    Collect the items using the B.O.M

    Big items are not the most expensive...For example the battery comes from an old car, the engines come from an old electric wheelchair. The aluminum structure comes from a waste collection center. Arduino modules are not expensive.  Some items ate more expensives like the Lattepanda computer, the RTK GPS receiver and the motor controller.

  • 2
    Download files

    All programs and source files are available :

    • Pablo, of course. C# MS VS2015
    • Mission, to plan the mission. C# MS VS2015
    • Files for Arduino : compass, odometer, output relays. INO files

    Here are the files ( but not an expert with github )

  • 3
    Odometer wiring

    There is no sensor in the motors, I do it myself.

    Sensors : they are available here

    Motors : from an old electric wheelchair.


    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 ( plastic )

    • Add two opticals sensors
    • Wire the sensors to the arduino micro module

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


    • The electrical signals are ...


    Calculation :

    10 turns of the wheel = 1316 counts

    1 turn = 131.6 counts

    Wheel diameter = 12.5"" = 31.75 cm

    The calculation of the distance is:

    double distance = odometer.counter * ((31.75 * Math.PI) / 131.6)

    Et voilà, Pablo is now equipped with an electronic odometer.

    I tested over a distance of 8 meters: the sensors indicate a distance of 8.03 meters. It is precise enough for Pablo.


View all 7 instructions

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Discussions

Oliver17 wrote 07/16/2017 at 19:01 point

Allez Pablo, tu as trop la classe, j'ai hâte de voir ces créations vue du ciel. ;)

  Are you sure? yes | no

Ulysse wrote 07/17/2017 at 08:59 point

Merci Oliver, rendez-vous à la rentrée

  Are you sure? yes | no

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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