Whirligig
@ February 13, 2010
- Actuators / output devices: Propeller, 600 RPM gear motor
- CPU: Picaxe 28x1, Arduino
- Power source: 7 12V 12Ah batteries
- Programming language: Picaxe basic, Arduino C++
- Sensors / input devices: Transducer, GPS
- Target environment: shore lines, Lakes
| Attachment | Size |
|---|---|
| whirligig.pdf | 2.66 MB |
The robot navigates according to GPS coordinates stored as waypoints on an onboard SD card. Logging GPS and water depths along its rout (every 10 sec.). The estimated runtime is 24 hour before it needs recharging of the 7 batteries.
As you can see from the attached PDF file (in Norwegian only, sorry) am I working on a second version of this robot. This time using solar panels and a catamaran hull for more flexibility on payload and stability.
This is a block diagram of the control system
The original plan was using an ardupilot, but I ended up with using a regular arduino and building my own navigation software.
Google sketchup of the design
Some images from the hull build
All the decks laid out showing the position of motor and instrumentation batteries
Testbed for instrumentation and navigation check.
Instrumentation mounted in top deck and lid.
Waterproof box enbeded in the lid. Holding SD cards for waypoint and log data, GPS and charging plugs.
My daughter doing water intrusion test :-)
I am currently building a Mark II version with a complete new hull. This version will be self-contained with power from solar cells and upload data and getting waypoints via a GPRS shield.
This version will also have a full-size computer onboard, the fit PC2.
@ Wed, 2011-06-01 03:52
It's just a great project.
It's just a great project. For your "lack of engineering skills" did you a very impressive job. Well done.
@ Thu, 2010-11-18 00:22
" Totally disregarding my
" Totally disregarding my lack of engineering skills, an over estimating my programming / electronic skills he commissioned me to build ‘Whirligig’."
It's wonderful what people can do when they want to do something, even if they don't know how to do it.
What you've shown is, despite not knowing where you're going, or really how to get there, you applied yourself and did it.
What you DIDN'T have was people telling you that you couldn't do it, or that the project was beyond your expertise - in fact, you had the opposite, and I think that was probably important.
@ Wed, 2010-11-17 23:03
Wow!! That's master piece of
Wow!! That's master piece of work! Really pro~ I hope I could work with people like you. This is a fun job and learned a lot too!
@ Thu, 2010-03-04 11:36
Amazing project.
@ Mon, 2010-02-15 16:03
Wow, nice boat! I would
@ Mon, 2010-02-15 17:18
Handling the GPS from a PC
The hull is completely watertight so water can flow over it if it is hit by a wave.
@ Sun, 2010-02-14 19:11
Makes sence!BTW thanks for
Makes sence!
BTW thanks for mentioning the Fit PC2. I was looking at mini computers for some ideas and this is a good one.
@ Sun, 2010-02-14 16:58
You mentioned wireless
You mentioned wireless communications using remote desktop. You could use a USB cellular stick for laptops to get a longer range depending on the cellular network at your house or at its final location.
@ Sun, 2010-02-14 18:23
Great tip, thank you.
That would be a great help during the debug fase.
On a mission i think normal GPRS communication with burst of data every hour would be enough.
@ Sun, 2010-02-14 10:40
I have no clue to why this