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Welcome to the '''Ardumower Wiki''', the wonderful world of DIY robotic mowers...
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__NOTOC__
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{| border=0
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|<span style="color:#cf7606; font-size:200%;">'''Ardumower'''&nbsp;</span><span style="color:#005288; font-size:200%;">'''WIKI - the construction manual for your [http://www.ardumower.de Ardumower]'''</span><br /><br />
 +
Here you get an overview of what is required to build an Ardumower and how an Ardumower works:
 +
 
 +
 
 +
[[Image:Ardumower_steps.jpg|300px]] &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
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[[Image:Ardumower_sensors.png|300px]]
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 +
 
 +
=Manuals, Basics, Tutorials=
 +
 
 +
'''PS: The english pages are more up do date'''
 +
 
 +
Here you can find detailed manuals for assembling the chassis, assembling the PCB, uploading the software etc.:
  
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=Ardumower topics=
 
 
{| class="wikitable" style="color:blue; background-color:#ffffcc;" cellpadding="10"
 
{| class="wikitable" style="color:blue; background-color:#ffffcc;" cellpadding="10"
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!Chassis
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!<b>English [[File: english.png | 50px]]</b>
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|[[Ardumower chassis]]
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!<b>Deutsch [[File: german.png | 50px]]</b>
 
|-
 
|-
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!Arduino, schematics, PCB etc.
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|
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|[[Ardumower PCB]]
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*Manuals
 +
**[[Chassis_(English) | Chassis 1.0 (obsolete) ]]
 +
**[[Chassis_2021 | Chassis 2021]]
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**[[Alfred Assembly | Alfred Assembly of Userpanel]]
 +
**[[PCB_1.2_(English) | PCB 1.2 (obsolete) ]]
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**[[PCB_1.3_(English) | PCB 1.3 (obsolete) ]]
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**[[PCB_1.4_(English) | PCB 1.4 ]]
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**[[Azurit_Firmware_(English) | Azurit Firmware (Default - incl. Download)]]
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**[[AzuritBer_Firmware_(English) | AzuritBer Firmware]]
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**[[Raindancer_Firmware_(English) | Raindancer Firmware]]
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**[[Ardumower Sunray | Sunray Firmware (RTK GPS) - experimental]]
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**[[Perimeter_sender_(English) | Perimeter sender/receiver and charging station (optional)]]
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*Tutorials
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**[[Maintenance_Repair_Tips | Maintenance & Repair Tips]]
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**[[How to find defective components | How to find defective components on PCB1.3]]
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**[[Arduino first steps | First steps with your Arduino]]
 +
**[[Arduino_code_techniques | Arduino code techniques (for advanced users)]]
 +
**[[PID_control | What is a PID controller?]]
 +
|
 +
*Anleitungen:
 +
**[[Chassis_(Deutsch) | Chassis 1.0 (veraltet) ]]
 +
**[[Chassis_2021 | Chassis 2021]]
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**[[PCB_1.2_(Deutsch) | PCB 1.2 (veraltet) ]]
 +
**[[PCB_1.3_(Deutsch) | PCB 1.3 (veraltet) ]]
 +
**[[PCB_1.4_(Deutsch) | PCB 1.4 ]]
 +
**[[Azurit_Firmware_(Deutsch) | Azurit Firmware (Standard - incl. Download)]]
 +
**[[AzuritBer_Firmware_(English) | AzuritBer Firmware]]
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**[[Raindancer_Firmware_(Deutsch) | Raindancer Firmware]]
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**[[Ardumower Sunray | Sunray Firmware (RTK GPS) - experimental]]
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**[[Schleifensender | Schleifensender/Empfänger und Ladestation (optional)]]
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*Tutorials:
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**[[Maintenance_Repair_Tips | Maintenance & Repair Tips]]
 +
**[[Wie findet man fehlerhafte Bauteile | Wie findet man fehlerhafte Bauteile am PCB1.3]]
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**[[Arduino_erste_Schritte| Erste Schritte mit dem Arduino]]
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**[[Arduino_Crash_Kurs | Arduino Crash Kurs (für Fortgeschrittene)]]
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**[[PID_Regelung | Was ist eine PID-Regelung?]]
 +
**[[Git | Git-Tutorial: Wie nutze ich Git zum einchecken von Änderungen etc.?]]
 +
|}
 +
 
 +
=Firmwares overview=
 +
Here you can compare the features of the individual firmwares (e.g. which firmware supports a perimeter wire, which firmware supports RTK etc.)
 +
 
 +
[[File:warning.png]] '''Warning: All software, hardware and motor components are designed and optimized as a whole, if you try to replace or exclude some component not as designed, you risk to damage your hardware with the designed software.'''
 +
 
 +
<small>
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 +
{| class="wikitable" style="color:blue; background-color:#ffffcc;" cellpadding="10"
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!<b></b>
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!<b>Azurit</b>
 +
!<b>AzuritBer</b>
 +
!<b>Raindancer</b>
 +
!<b>Sunray</b>
 +
 
 
|-
 
|-
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!Software architecture
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|
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|[http://www.grauonline.de/alexwww/ardumower/sim/mower.html Ardumower simulator]
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Uses <b>perimeter wire</b> for localization and finding docking station
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|[[Ardumower software design]]
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|
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&nbsp;&#10004;
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|
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&nbsp;&#10004;
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|
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&nbsp;&#10004;
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|
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|-
 
|-
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!Actuators
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|
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|[[Motor driver]]
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Uses <b>perimeter wire</b> for managing small passages
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|[[Relay]]
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|
 +
|
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|
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&nbsp;&#10004;
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|
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|-
 
|-
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!Sensors
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|
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|[[Perimeter wire]]
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<b>Number perimeter receiver coils</b>
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|[[Ultrasonic]]
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|
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|[[Hall sensor]]
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1
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|[[Lawn sensor]]
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|
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|[[Odometry]]
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1
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|[[IMU]]
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|
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|[[Rain sensor]]
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2
 +
|
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|-
 
|-
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!Energy
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|
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|[[Charging]]
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Uses <b>RFID tag</b> for localization and finding docking station
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|
 +
|
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&nbsp;&#10004;
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|
 +
|
 +
 
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|-
 
|-
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!Wireless
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|
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|[[Model R/C]]
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Uses <b>GPS RTK</b> for localization and finding docking station
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|[[Bluetooth]]
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|
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|[[GPS]]
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|
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|
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|
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&nbsp;&#10004;
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|-
 
|-
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!Other modules
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|
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|[[Realtime clock]]
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Supports <b>lane-by-lane mowing</b>
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|
 +
|
 +
&nbsp;&#10004;
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|
 +
|
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&nbsp;&#10004;
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|-
 
|-
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!Arduino programming
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|
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|[[Arduino crash course]]
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Supports <b>multiple distinct mowing areas</b>
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|[[Arduino code techniques]]
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|
 +
|
 +
3 with WiFi sender
 +
|
 +
|
 +
up to 10 GPS maps
 +
 
 +
 
 +
|-
 +
|
 +
Supports <b>IMU</b> for path tracking
 +
|
 +
optional
 +
|
 +
mandatory
 +
|
 +
|
 +
optional
 +
 
 +
 
 +
|-
 +
|
 +
Supports <b>odometry</b>
 +
|
 +
optional
 +
|
 +
mandatory
 +
|
 +
&nbsp;&#10004;
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|
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&nbsp;&#10004;
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|-
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|
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Supported <b>traction motor positions</b>
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|
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front, rear
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|
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front, rear
 +
|
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front, rear
 +
|
 +
front, rear
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 +
 
 +
|-
 +
|
 +
Supported <b>Arduino</b> boards
 +
|
 +
Arduino Mega / Arduino Due
 +
|
 +
Arduino Due only
 +
|
 +
Arduino Due
 +
|
 +
Arduino Due / Adafruit Grand Central M4
 +
 
 +
 
 +
|-
 +
|
 +
Supported <b>sensors</b> for obstacle detection and avoidance
 +
|
 +
ultrasonic, bumper
 +
|
 +
ultrasonic, bumper, AI vision (experimental)
 +
|
 +
ultrasonic, bumper
 +
|
 +
ultrasonic, bumper, GPS
 +
 
 +
 
 +
|-
 +
|
 +
<b>Docking</b> support
 +
|
 +
&nbsp;&#10004;
 +
|
 +
&nbsp;&#10004;
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|
 +
&nbsp;&#10004;
 +
|
 +
&nbsp;&#10004; (via GPS)
 +
 
 +
 
 +
|-
 +
|
 +
Serial <b>console</b> support
 +
|
 +
&nbsp;&#10004;
 +
|
 +
&nbsp;&#10004;
 +
|
 +
&nbsp;&#10004;
 +
|
 +
&nbsp;&#10004;
 +
 
 +
 
 +
|-
 +
|
 +
<b>Mower display</b> support
 +
|
 +
|
 +
tactile screen for easy use on Raspberry or OLED on PCB
 +
|
 +
|
 +
 
 +
 
 +
|-
 +
|
 +
<b>App</b> available
 +
|
 +
&nbsp;&#10004;
 +
|
 +
PiArdu with Raspberry Pi / VNC Viewer
 +
|
 +
|
 +
&nbsp;&#10004;
 +
 
 +
 
 +
 
 +
|-
 +
|
 +
Compatible with <b>home automation</b>
 +
|
 +
|
 +
over MQTT
 +
|
 +
|
 +
 
 +
 
 
|}
 
|}
  
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=Your Ardumower extensions=
+
</small>
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Describe your own robot mower extensions (optical, computer vision, IR landmarks, sound, navigation, or any other additions) and add them here!
+
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* Generating sounds using a [[Sound module]]
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* ...
+
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* ...
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* ...
+
  
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= Overview =
+
=More construction kits related to Ardumower / Weitere Projekte rund um den Ardumower=
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<gallery>
+
−
File: Ardumower_overview.png|Principle design (v0.9.3)
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File: Ardumower_topics_en.jpg|Parts mounted (v0.9.3)
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</gallery>
+
  
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= Videos =
+
Here are further lawn mower and robot projects for you / Hier gibt es weitere Rasenmäher- und Roboter-Projekte:
−
#[http://www.youtube.com/watch?v=TRpXDBNEubo&feature=youtu.be Introduction]
+
−
#[http://www.youtube.com/watch?v=5v975n5punU Ambrogio L50 (1) goes Ardumower]
+
−
#[https://www.youtube.com/watch?v=PSE3Z3txa4M Ambrogio L50 (2) goes Ardumower]
+
−
#[http://www.youtube.com/watch?v=zglWu2ykDmo Rotenbach SPM08-320 goes Ardumower]
+
−
#[http://www.youtube.com/watch?feature=player_embedded&v=RgdiXK1a2Ys Promotion]
+
−
More videos on [[File: Yt-brand-standard-logo-95x40.png|link=http://www.youtube.com/user/naneona/videos]]
+
  
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= Wiki help =
+
<div style="column-count:3">
−
* How to edit/add a page: [[Wiki help]]
+
 
−
* Use this page to try out any wiki code: [[test]]
+
* [[File: ACTKit.jpg | 150px]] &nbsp; [[ACT -Brushless Adapter (ACT -BLA)]]
 +
* [[File: ArduMowerCharginStation9.JPG | 150px]] &nbsp; [[Charging station | Ardumower Charging Station]]
 +
* [[File: Ardumower_cutter_blade2.jpg | 150px]] &nbsp; [[Mowing blades | Ardumower Mowing Blades]]
 +
* [[File: ardumower_bumper1.jpeg | 150px]] &nbsp; [[Ardumower Bumper | Ardumower Bumper  (micro switch-based)]]
 +
* [[File: Ardumower BumperDuino.jpg | 150px]] &nbsp; [[Bumper_sensor | BumperDuino  (pressure-based)]]
 +
* [[File: DIY_BL_Motordriver.jpg | 150px]] &nbsp; [[DIY Brushless Driver Board | DIY Brushless Driver Board]]
 +
* [[File: Ardumower free wheel sensor.jpg | 150px]] &nbsp; [[Free wheel sensor | Ardumower Free Wheel Sensor]]
 +
* [[File: Mowing_height.jpg | 150px]] &nbsp; [[3D-printed_extensions_and_replacements_(English) | 3D-printed extensions and replacements]]
 +
* [[File: Rad_adapter2.JPG| 150px]] &nbsp; [[Ardumower Chassis 'mountain mod']]
 +
* [[File: Ardumower_mini.jpg | 150px]] &nbsp; [[Ardumower Mini]]
 +
* [[File: Ardumower_gasoline_rc.png | 150px]] &nbsp; [[Ardumower Gasoline | Ardumower Gasoline (R/C conversion)]]
 +
* [[File: TrackedMowerCADBild.png | 150px]] &nbsp; [[Tracked Mower]]
 +
* [[File: Ardumower_sim.jpg | 150px]] &nbsp; [http://www.grauonline.de/alexwww/ardumower/sim/mower.html Ardumower simulator]
 +
* [[File: Control center motor1.png | 150px]] &nbsp; [[Control_Center_(Deutsch) | Ardumower Control Center]]
 +
* [[File: Gitbern.png | 150px]] &nbsp; [[AzuritBer_Firmware_(English) | AzuritBer Firmware (Azurit-based) ]]
 +
* [[File: raindancer_firmware.png | 150px]] &nbsp; [https://github.com/Ardumower/Raindancer Raindancer Firmware ]
 +
* [[File: Ardumower sunray app.jpg | 150px]] &nbsp; [[Ardumower Sunray | Sunray Firmware (RTK GPS) - experimental]]
 +
* [[File: lawn_detection.png | 150px]] &nbsp; [https://forum.ardumower.de/threads/camera-based-obstacle-lawn-detection-experimental.25095/ Camera-based lawn detection]
 +
* [[File: wifi_heatmap_signal_min.png | 150px]] &nbsp; [https://forum.ardumower.de/threads/advanced-topic-generate-wifi-gps-heatmaps-with-sunray-on-alfred-or-ardumower-with-connected-raspberry-pi.25078/ WiFi/RTK/etc. heatmap generation]
 +
* [[File: cassandra.png | 150px]] &nbsp; [https://forum.ardumower.de/threads/mein-projekt-cassandra-zur-steuerung-des-ardumowers.25120/ CaSSAndRA - Sunray Server+App]
 +
* [[File: Moonlightfw.png | 150px]] &nbsp; [https://forum.ardumower.de/threads/mein-ardumower-mit-moonlight-firmware.25088/ Moonlight firmware & amcmd]
 +
* [[File: Ros-mower.jpg | 150px]] &nbsp; [https://forum.ardumower.de/threads/rosmower-first-attempt-to-build-a-lawn-mower-with-ros.24338/ ROS Ardumower]
 +
* [[File: Ardumower_reel_mower.jpg | 150px]] &nbsp; [https://forum.ardumower.de/threads/spindelm%C3%A4her.22880 Ardumower cylinder mower]
 +
* [[Robot Mower Communications Standard | Robot Mower Communications Standard (draft)]]
 +
* [[Azurit pfodApp protocol | pfodApp Protocol]]
 +
* [[Sensor fusion]]
 +
* [[archimedean spiral]]
 +
* Generating sounds using a [[Sound module]]
  
−
= Further links =
+
</div>

Aktuelle Version vom 11. Juli 2023, 13:34 Uhr

Ardumower WIKI - the construction manual for your Ardumower

Here you get an overview of what is required to build an Ardumower and how an Ardumower works:


Ardumower steps.jpg           Ardumower sensors.png


Manuals, Basics, Tutorials

PS: The english pages are more up do date

Here you can find detailed manuals for assembling the chassis, assembling the PCB, uploading the software etc.:

English English.png Deutsch German.png

Firmwares overview

Here you can compare the features of the individual firmwares (e.g. which firmware supports a perimeter wire, which firmware supports RTK etc.)

Warning.png Warning: All software, hardware and motor components are designed and optimized as a whole, if you try to replace or exclude some component not as designed, you risk to damage your hardware with the designed software.

Azurit AzuritBer Raindancer Sunray

Uses perimeter wire for localization and finding docking station

 ✔

 ✔

 ✔


Uses perimeter wire for managing small passages

 ✔


Number perimeter receiver coils

1

1

2


Uses RFID tag for localization and finding docking station

 ✔


Uses GPS RTK for localization and finding docking station

 ✔


Supports lane-by-lane mowing

 ✔

 ✔


Supports multiple distinct mowing areas

3 with WiFi sender

up to 10 GPS maps


Supports IMU for path tracking

optional

mandatory

optional


Supports odometry

optional

mandatory

 ✔

 ✔


Supported traction motor positions

front, rear

front, rear

front, rear

front, rear


Supported Arduino boards

Arduino Mega / Arduino Due

Arduino Due only

Arduino Due

Arduino Due / Adafruit Grand Central M4


Supported sensors for obstacle detection and avoidance

ultrasonic, bumper

ultrasonic, bumper, AI vision (experimental)

ultrasonic, bumper

ultrasonic, bumper, GPS


Docking support

 ✔

 ✔

 ✔

 ✔ (via GPS)


Serial console support

 ✔

 ✔

 ✔

 ✔


Mower display support

tactile screen for easy use on Raspberry or OLED on PCB


App available

 ✔

PiArdu with Raspberry Pi / VNC Viewer

 ✔


Compatible with home automation

over MQTT


More construction kits related to Ardumower / Weitere Projekte rund um den Ardumower

Here are further lawn mower and robot projects for you / Hier gibt es weitere Rasenmäher- und Roboter-Projekte:

Von „https://wiki.ardumower.de/index.php?title=Hauptseite&oldid=10543“