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Wechseln zu: Navigation, Suche
(→‎Building, Downloading, Running (steps))
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Zeile 1: Zeile 1:
−
-> [[Deutsche Version]]
 
−
-> [[Russian Version]] (outdated)
 
 
__NOTOC__
 
__NOTOC__
 
{| border=0
 
{| border=0
−
  |<span style="color:#cf7606; font-size:200%;">'''Ardumower'''&nbsp;</span><span style="color:#005288; font-size:200%;">'''WIKI - the manual for your Ardumower'''</span><br /><br />
+
  |<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:Yt-brand-standard-logo-95x40.png|thumb|180px|http://www.youtube.com/user/naneona/videos]]
 
  
−
==Required parts: Ardumower==
+
[[Image:Ardumower_steps.jpg|300px]] &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
−
[[Image:Ardumower_overview.png|thumb|700px|Overview]]
+
[[Image:Ardumower_sensors.png|300px]]
  
−
All modules can be purchased as complete kits via the [https://www.marotronics.de/index.php?k=7 shop] [[File: shopping.png|link=https://www.marotronics.de/index.php?k=7]] .
 
  
−
What is needed for building your Ardumower:
+
=Manuals, Basics, Tutorials=
−
*[https://www.marotronics.de/Ardumower-Board-12-Prototyp-mit-Chassis-und-Motoren The Ardumower chassis including motors]
+
−
*Important modules to choose:
+
−
**Accessories Set (resistors, pin strips etc.)
+
−
**2 x Protector Board
+
−
**1 x Mega Board 2560 R3
+
−
**1 x INA169 Current Sensor Board
+
−
**2 x Dual motor driver MC33926
+
−
**3 x DC-DC LM2596 Step-Down Converter
+
−
**1 x Wireless Bluetooth module HC-05
+
−
**1 x Real Time Clock I2C DS1307
+
−
**1 x 24 Volt Charger for the Ardumower LithiumIon Battery
+
−
**2 x Motor driver protection PCB
+
  
−
*Optional modules:
+
'''PS: The english pages are more up do date'''
−
**BumperDuino (intelligent bumper sensor)
+
−
**Perimeter sender and receiver
+
−
**Charger Accessories Set (Lead Battery)
+
−
**Ultrasonic sensor HC-SR04 (up to 3 supported)
+
−
**Rain sensor
+
−
**IMU GY-80
+
−
**Undervoltage protection PCB
+
−
**GPS Module GY-GPS6MV2
+
−
**WIFI/Wlan Module ESP8266 ESP01
+
  
−
*1 x [http://www.asn-shop.de/Ardumower-Power-Pack-259V-45Ah Ardumower Power Pack]
+
Here you can find detailed manuals for assembling the chassis, assembling the PCB, uploading the software etc.:
−
*1 x [https://www.marotronics.de/3-Messer-3-Schrauben-passend-zB-fuer-AutomowerZ-von-HusqvarnaZ 3 mowing blades + 3 screws, e.g. suitable for Automower® from Husqvarna®]
+
  
−
==Required parts: Perimeter loop==
+
{| class="wikitable" style="color:blue; background-color:#ffffcc;" cellpadding="10"
−
A perimeter loop is optional but recommended.
+
!<b>English [[File: english.png | 50px]]</b>
−
* [https://www.marotronics.de/Perimeter-Sender-Board-Prototyp-mit-Platinen-Zubehoer Perimeter sender PCB]
+
!<b>Deutsch [[File: german.png | 50px]]</b>
−
** Important modules to choose:
+
|-
−
**1x Dual MC33926 Motor Driver Carrier
+
|
−
**1x INA169 Analog DC Current Sensor Breakout - 60V 2,5A / 5A Marotronics
+
*Manuals
−
**1 x DC-DC Spannungsregler LM2596 Step-Down Regler einstellbar
+
**[[Chassis_(English) | Chassis 1.0 (obsolete) ]]
−
**1 x Nano V3.0 ATmega328-AU Arduino kompatibel Mikrocontroller Board
+
**[[Chassis_2021 | Chassis 2021]]
−
**Perimeter receiver
+
**[[Alfred Assembly | Alfred Assembly of Userpanel]]
−
*Optional modules:
+
**[[PCB_1.2_(English) | PCB 1.2 (obsolete) ]]
−
**PCB case including 5 screws
+
**[[PCB_1.3_(English) | PCB 1.3 (obsolete) ]]
−
**Connecting terminals 3x (2x Perimeter loop, 1x Charger)  
+
**[[PCB_1.4_(English) | PCB 1.4 ]]
−
**Socket for case 2,5
+
**[[Azurit_Firmware_(English) | Azurit Firmware (Default - incl. Download)]]
−
*Additional accessories depending on needs:
+
**[[AzuritBer_Firmware_(English) | AzuritBer Firmware]]
−
**[https://www.marotronics.de/25-Rasennaegel-Heringe-fuer-Rasenroboter-zB-Robomow-STAFFELPREISE Lawn nails/herrings]
+
**[[Raindancer_Firmware_(English) | Raindancer Firmware]]
−
**[https://www.marotronics.de/100-m-Kabel-Einzelader-1-x1-mm-H05V-K-schwarz Perimeter cable]
+
**[[Ardumower Sunray | Sunray Firmware (RTK GPS) - experimental]]
−
* A charging station is in development and will follow soon.
+
**[[Perimeter_sender_(English) | Perimeter sender/receiver and charging station (optional)]]
 +
*Tutorials
 +
**[[Maintenance_Repair_Tips | Maintenance & Repair Tips]]
 +
**[[How to find defective components | How to find defective components on PCB1.3]]
 +
**[[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]]
 +
**[[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]]
 +
**[[Raindancer_Firmware_(Deutsch) | Raindancer Firmware]]
 +
**[[Ardumower Sunray | Sunray Firmware (RTK GPS) - experimental]]
 +
**[[Schleifensender | Schleifensender/Empfänger und Ladestation (optional)]]
 +
*Tutorials:
 +
**[[Maintenance_Repair_Tips | Maintenance & Repair Tips]]
 +
**[[Wie findet man fehlerhafte Bauteile | Wie findet man fehlerhafte Bauteile am PCB1.3]]
 +
**[[Arduino_erste_Schritte| Erste Schritte mit dem Arduino]]
 +
**[[Arduino_Crash_Kurs | Arduino Crash Kurs (für Fortgeschrittene)]]
 +
**[[PID_Regelung | Was ist eine PID-Regelung?]]
 +
**[[Git | Git-Tutorial: Wie nutze ich Git zum einchecken von Änderungen etc.?]]
 +
|}
  
−
==Building, Downloading, Running (steps)==
+
=Firmwares overview=
−
<gallery>
+
Here you can compare the features of the individual firmwares (e.g. which firmware supports a perimeter wire, which firmware supports RTK etc.)  
−
File: Ardumower-chassis.jpg| Build
+
 
−
File: Arduino_software.jpg| Download
+
[[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.'''
−
File: Ardumower_perimeter.jpg| Run!
+
 
−
</gallery>
+
<small>
−
Here are the steps for building your DIY Ardumower:
+
−
#[[Ardumower chassis| Assemble the chassis (motors, mower slice, blades etc.)]]
+
−
#[[Ardumower PCB| Assemble the PCB]]
+
−
#[[Motor driver| Connect motors, drivers]]
+
−
#[[Charging| Connect battery, charger]]
+
−
#[[Ardumower PCB| Download software, setup, flash Arduino, first test]] <b>NOTE</b>: If you have never worked with Arduino before, read our <b>[http://wiki.ardumower.de/index.php?title=Arduino_first_steps 'Arduino first steps' introduction]</b>.
+
−
#[[Bluetooth| Add & configure Bluetooth module]]
+
−
#[[Perimeter wire| Assemble Perimeter sender, add receiver]]
+
−
#[[IMU| Add & calibrate IMU (compass, acceleration sensor)]]
+
  
−
==Ardumower Reference==
 
 
{| class="wikitable" style="color:blue; background-color:#ffffcc;" cellpadding="10"
 
{| class="wikitable" style="color:blue; background-color:#ffffcc;" cellpadding="10"
−
!Chassis assembly
+
!<b></b>
−
|[[Ardumower chassis]]
+
!<b>Azurit</b>
 +
!<b>AzuritBer</b>
 +
!<b>Raindancer</b>
 +
!<b>Sunray</b>
 +
 
 
|-
 
|-
−
!Arduino code, schematics, PCB etc.
+
|
−
|[[Arduino first steps]]
+
Uses <b>perimeter wire</b> for localization and finding docking station
−
|[[Ardumower PCB|Ardumower PCB & code]]
+
|
−
|[[Troubleshooting]]
+
&nbsp;&#10004;
 +
|
 +
&nbsp;&#10004;
 +
|
 +
&nbsp;&#10004;
 +
|
 +
 
 +
 
 
|-
 
|-
−
!Actuators
+
|
−
|[[Motor driver|Motor, driver, protector, odometry]]
+
Uses <b>perimeter wire</b> for managing small passages
−
|[[Relay]]
+
|
 +
|
 +
|
 +
&nbsp;&#10004;
 +
|
 +
 
 +
 
 
|-
 
|-
−
!Sensors
+
|
−
|[[Bumper sensor]]
+
<b>Number perimeter receiver coils</b>
−
|[[Perimeter wire]]
+
|
−
|[[Ultrasonic]]
+
1
−
|[[IMU]]
+
|
−
|[[Rain sensor]]
+
1
−
|[[Dropsensor]]
+
|
 +
2
 +
|
 +
 
 +
 
 
|-
 
|-
−
!Energy
+
|
−
|[[Charging|Battery, charger, station]]
+
Uses <b>RFID tag</b> for localization and finding docking station
 +
|
 +
|
 +
&nbsp;&#10004;
 +
|
 +
|
 +
 
 +
 
 
|-
 
|-
−
!Wireless
+
|
−
|[[Model R/C]]
+
Uses <b>GPS RTK</b> for localization and finding docking station
−
|[[Bluetooth|Bluetooth & App]]
+
|
−
|[[GPS]]
+
|
 +
|
 +
|
 +
&nbsp;&#10004;
 +
 
 +
 
 
|-
 
|-
−
!Other modules
+
|
−
|[[Realtime clock]]
+
Supports <b>lane-by-lane mowing</b>
 +
|
 +
|
 +
&nbsp;&#10004;
 +
|
 +
|
 +
&nbsp;&#10004;
 +
 
 +
 
 +
 
 
|-
 
|-
−
!Software architecture, algorithms
+
|
−
|[[PID control]]
+
Supports <b>multiple distinct mowing areas</b>
−
|[http://www.grauonline.de/alexwww/ardumower/sim/mower.html Ardumower simulator]
+
|
−
|[[Ardumower software design]]
+
|
 +
3 with WiFi sender
 +
|
 +
|
 +
up to 10 GPS maps
 +
 
 +
 
 
|-
 
|-
−
!Arduino programming
+
|
−
|[[Arduino crash course]]
+
Supports <b>IMU</b> for path tracking
−
|[[Arduino code techniques]]
+
|
−
|[[Arduino Due]]
+
optional
 +
|
 +
mandatory
 +
|
 +
|
 +
optional
 +
 
 +
 
 +
|-
 +
|
 +
Supports <b>odometry</b>
 +
|
 +
optional
 +
|
 +
mandatory
 +
|
 +
&nbsp;&#10004;
 +
|
 +
&nbsp;&#10004;
 +
 
 +
 
 +
|-
 +
|
 +
Supported <b>traction motor positions</b>
 +
|
 +
front, rear
 +
|
 +
front, rear
 +
|
 +
front, rear
 +
|
 +
front, rear
 +
 
 +
 
 +
|-
 +
|
 +
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;
 +
|
 +
&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
 +
|
 +
|
 +
 
 +
 
 
|}
 
|}
  
−
==Your robot mower project / Dein Rasenroboter-Projekt==
+
</small>
−
Describe your own robot mower project on a new WIKI page / Beschreibe Dein eigenes Rasenroboter-Projekt auf einer neuen WIKI-Site:
+
 
−
* [[Ardumower Chassis 'mountain mod']]
+
=More construction kits related to Ardumower / Weitere Projekte rund um den Ardumower=
−
* [[Ardumower Mini]]
+
 
−
* [[Tracked Mower]]
+
Here are further lawn mower and robot projects for you / Hier gibt es weitere Rasenmäher- und Roboter-Projekte:
−
* ...
+
 
−
* ...
+
<div style="column-count:3">
  
−
==Your Ardumower extension / Deine Ardumower Erweiterung==
+
* [[File: ACTKit.jpg | 150px]] &nbsp; [[ACT -Brushless Adapter (ACT -BLA)]]
−
Describe your own robot mower extension or improvement (optical, computer vision, IR landmarks, sound, navigation, wireless, or any other addition) on a new WIKI page / Beschreibe Deine eigene Erweiterung oder Verbesserung des Ardumowers:
+
* [[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]]
 
* Generating sounds using a [[Sound module]]
−
* [[Ardumower future PCB]]
 
−
* ...
 
−
* ...
 
  
−
=Further links=
+
</div>
−
* [http://www.ardumower.de/index.php/de Ardumower Home / Forum]
+
−
* [https://www.marotronics.de/ Ardumower Shop]
+

Aktuelle Version vom 11. Juli 2023, 12:34 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“