OpenMower: Open Source Robotic Lawn Mower With RTK GPS

April 7, 2022 by Dave Rowntree 44 Comments

Robotic mowers are becoming a common sight in some places, enabled by the cost of motors and the needed control electronics being much lower, thanks to the pace of modern engineering. But, in many cases, they still appear to be really rather dumb, little more than a jacked up bump-and-go with a spinning blade. [Clemens Elflein] has taken a cheap, dumb mower and given it a brain transplant based around a Raspberry Pi 4 paired up with a Raspberry Pi Pico for the real time control side of things. [Clemens] is calling this OpenMower, with the motivation to create an open source robot mower controller with support for GPS navigation, using RTK for extra precision.

The donor robot was a YardForce Classic 500, and after inspection of the control PCB, it looks like many other robot mower models are likely to use the same controller and thus be compatible with the openmower platform. A custom mainboard houses the Pi 4 and Pico, an ArduSimple RTK GPS module (giving a reported navigational accuracy of 1 cm,) as well as three BLDC motor drivers for the wheels and rotor. Everything is based on modules, plugging into the mainboard, reducing the complexity of the project significantly. For a cheap mower platform, the Yardforce unit has a good build quality, with connectors everywhere, making OpenMower a plug and play solution. Even the user interface on top of the mower was usable, with a custom PCB below presenting some push buttons at the appropriate positions.

Motor control is courtesy of the xESC project, which provides FOC motor control for low cost, interfacing with the host controller via a serial link. This is worth looking into in its own right! On the software side of things, [Clemens] is using ROS, which implements the low level robot control, path planning (using code taken from Slic3r) as well a kinematics constraints for object avoidance. The video below, shows how simple the machine is to operate — just drive it around the perimeter of lawn with a handheld controller, and show it where obstacles such as trees are, and then set it going. The mower is even capable of mowing multiple lawns, making the journey between them automatically!

Robotic mower projects are not new around here, here’s the mysterious TK with an interesting take, another using RTK GPS for good (or possibly bad) and quite probably the jankiest one we’ve seen in a while, which uses a LoRa base-station to transmit RTK corrections. We’d recommend keeping well away from that last one.

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Don’t Tune Your 3D Printer To Middle ‘C’ After All

April 3, 2022 by Dave Rowntree 22 Comments

Layer shift caused by the belt being way too loose.

3D printer belt tension seems like a simple thing to deal with — you set the tension and then check it’s good now and then. If it gets really loose, then the teeth can slip and you’ll get some shifts in the print, ruining it, but its an easy fix. But, we hear you ask, how do you determine what the correct tension is? Well, here’s [Lost in Tech] with a video showing some measurement techniques and analysis of a typical 3D printer, (video, embedded below) using nothing more special than a set of luggage scales. A simple theory suggested was that a tighter belt tension would result in increased radial load on the stepper motor bearings, which in turn, due to friction, would result in an increase in temperature of the motor. After setting a few tension values on one of the belts, it was noted that tension values at the upper end of the range, resulted in a measured increased in temperature of two degrees celcius, and a large increase in noise. This can’t be good for the motor.

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Texture Map GCode Directly In Blender With NozzleBoss

March 31, 2022 by Dave Rowntree 5 Comments

We’ve seen this funky dual disk polar printer already recently, but [Heinz Loepmeier] has been busy working on it, so here’s an update. The primary focus here is nozzleboss, a blender plugin which enables the surface textures of already sliced objects to be manipulated. The idea is to read in the gcode for the object, and convert it to an internal mesh representation that blender needs in order to function. From there the desired textures can be applied to the surfaces for subsequent stages to operate upon. One trick that nozzleboss can do is to create weight maps to tweak the extrusion flow rate or print velocity value according to the pixel value at the surface — such ‘velocity painting’ can produce some very subtle surface effects on previously featureless faces. Another trick is to use the same weight maps and simply map colours to blender text blocks which are injected into the gcode at export time. These gcode blocks can be used swap tool heads or extruders, enabling blending of multiple filament colours or types in the same object.

Some nice examples of such printing manipulation can be seen on [Heinz’s] instagram page for the project. So, going back to the hardware again, the first video embedded below shows the ‘dual disk polar printer’ fitted with a crazy five-extruders-into-one-nozzle mixing hotend setup, which should be capable of full CMYK colour mixing and some. The second video below shows an interesting by-product of the wide horizontal motion range of the machine, that the whole printing area can be shifted to a nozzle at the other end of the gantry. This enables a novel way to switch extruders, by just moving the whole bed and print under the nozzle of interest! One final observation — is that of the print surface — it does look rather like they’re printing direct onto a slab of marble, which I think is the first time we’ve seen that.

Interesting printer designs are being worked on a lot these days, here’s a really nice 5-axis prusa i3 hack, and if you want to stay in the cartesian world, but your desktop machine is just too small, then you can always supersize it.

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CNC Toolpath Visualisation With OpenCV

March 31, 2022 by Dave Rowntree 9 Comments

[Tony Liechty] has been having a few issues getting into CNC machining — starting with a simple router, he’s tripped over the usual beginners’ problems, you know, things like alignment of the design to the workpiece shape, axis clipping and workpiece/clamp collisions. He did the decent hacker thing, and turned to some other technologies to help out, and came up with a rather neat way of using machine vision with OpenCV to help preview the toolpath against an image of the workpiece in-situ (video, embedded below.)

ChArUco (a combined chessboard and ArUco marker pattern) boards taped to the machine rails were used to give OpenCV a reference of where points in space are with respect to the pattern field, enabling identification of pixel locations within the image of the rails. A homography transformation is then used to link the two side references to an image of the workpiece. This transformation allows the system to determine the physical location of any pixel from the workpiece image, which can then be overlaid with an image of the desired toolpath. Feedback from the user would then enable adjustment of the path, such as shifts, or rotates to be effected in order to counter any issue that can be seen. The reduction of ‘silly’ clamping, positioning and other such issues, means less time wasted and fewer materials in scrap bin, and that can only be a good thing.

[Tony] says this code and setup is just a demo of the concept, but such ‘rough’ code could well be the start of something great, we shall see. Checkout the realWorldGcodeSender GitHub if you want to play along at home!

We’ve seen a few uses of OpenCV for assisting with CNC applications, like this cool you draw it, i’ll cut it hack, and this method for using machine vision to zero-in a CNC mill onto the centre of a large hole.

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Peltier Cloud Chamber Produces Some Lovely Trails

March 27, 2022 by Dave Rowntree 6 Comments

[Advanced Tinkering] over on YouTube has some pretty unique content, on subjects of chemistry and physics that are a little more, interesting let’s say — anyone fancy distilling cesium? The subject of this build is the visualization of ionizing radiation tracks, with one of our old favorite physics demonstrators, the venerable cloud chamber. The build video (embedded below,) shows the basic construction and performance of a Peltier effect cooler setup. The system is used to create a layer of supersaturated (and cold) alcohol vapor in which the radiation source or other experiment can be immersed.

Peltier modules are a great solution for moving heat from one surface to another, but they are not terribly efficient at it, especially if you don’t keep the hot side temperature in check. Effectively they are a short-distance heat pump, so you need to dump the hot-side heat elsewhere. The method [Advanced Tinkering] chose here was to use a pair of off-the-shelf water cooling blocks, mounted into a 3D printed plate. The hot side dumps into a pair of fan-cooled radiators. Four double-layer Peltier modules are wired in parallel to a 60A power supply, which seems like a lot, but Peltier modules are hungry little things. A reasonable amount of power is needed to drive the cooling fans and water pump. The vapor source is a simple pad of liquid alcohol at the top of the stack, just above a metal screen which is held at a high voltage. The vertical electric field allows visualization of the charge of emitted particles, which will curve up or down depending on their polarity.

As can be seen from the second video linked below, some really nice cloud trails are produced, so it looks like they got the setup just right!

Do you need all this complexity to visualize simple radiation paths? No, you don’t, but just temper your expectations. Peltier-based builds are not uncommon, here’s another one, but some builders say they’re not very robust, so this build uses phase-change technology instead for some serious runtimes.

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DIY SLS 3D Printer Getting Ready To Print

March 25, 2022 by Dave Rowntree 12 Comments

Ten years ago the concept of having on our desks an affordable 3D printer knocking out high quality reproducible prints, with sub-mm accuracy, in a wide range of colours and material properties would be the would be just a dream. But now, it is reality. The machines that are now so ubiquitous for us hackers, are largely operating with the FDM principle of shooting molten plastic out of a moving nozzle, but they’re not the only game in town. A technique that has also being around for donkeys’ years is SLS or Selective Laser Sintering, but machines of this type are big, heavy and expensive. However, getting one of those in your own ‘shop now is looking a little less like a dream and more of a reality, with the SLS4All project by [Tomas Starek] over on hackaday.io.

[Tomas] has been busy over the past year, working on the design of his machine and is now almost done with the building and testing of the hardware side. SLS printing works by using a roller to transfer a layer of powdered material over the print surface, and then steering a medium-power laser beam over the surface in order to heat and bond the powder grains into a solid mass. Then, the bed is lowered a little, and the process repeats. Heating of the bed, powder and surrounding air is critical, as is moisture control, plus keeping that laser beam shape consistent over the full bed area is a bit tricky as well. These are all hurdles [Tomas] has to overcome, but the test machine is completed and is in a good place to start this process control optimisation fun. Continue reading “DIY SLS 3D Printer Getting Ready To Print” →

Quick Hacks: Using Staples When Recapping Motherboards

March 22, 2022 by Dave Rowntree 23 Comments

[Marcio Teixeira] needed to recap an old Apple Macintosh motherboard, and came across a simple hack to use common paper staples as a temporary heat shield (video, embedded below) during hot air rework. The problem with hot air rework is minimizing collateral damage; you’re wielding air at a temperature hot enough to melt solder, and it can be take quite a lot of experience to figure out how best to protect the more delicate parts from being damaged. Larger items take longer to heat due to their thermal mass but smaller parts can be very quickly damaged from excess heat, whilst trying to remove a nearby target.

The sharp edges of plastic connectors are particularly prone, and good protection is paramount. Sticky tapes made from polyimide (Kapton), PET, as well as metallic options (aluminium tape is useful) are often used to temporarily mask off areas in danger of getting such collateral overheat. But they can cause other problems. Kapton tape, whilst great at withstanding the heat, tends to distort and buckle up a little when under the blast of the rework pencil. Not to mention that some brands of tape leave a nasty sticky transfer residue all over the board when exposed to heat, which needs additional cleanup.

Maybe a box or two of staples might be worth adding to one’s bag of tricks, after all more options is always good. If you’re less interesting in hacking with a hot air work station and much more in hacking a hot air rework station, here you go, and whilst we’re on reworking duff computers, here’s what happens when a Hackaday writer tries his hand at fixing his son’s Xbox.

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