fenceless-robotic-lawnmower

TODO

• Upload mower firmware over gateway webportal;
• Change gateway IP range so WiFi controller is accesible over the "home" network;

Apps

• Base Now replaced by https://github.com/ldab/esp-gateway-long-range
• Mower

Concept

SPARTN and High Precision Position

flowchart LR
    A(Point Perfect) --  SPARTN --> B(Thingstream Broker)
    B <-- MQTT --> C(nora-w1)
    C -- SPARTN --> D(ZED-F9P)
    C -- keys --> D(ZED-F9P)
    D -- Position --> C

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WiFi Remote Control

Mission Planner

Use [Mission Planner](Mission Planner: https://ardupilot.org/planner/#) in order to rout the area to be covered:

File format is:

QGC WPL <VERSION>\r\n
<INDEX>\t<CURRENT WP>\t<COORD FRAME>\t<COMMAND>\t<PARAM1>\t<PARAM2>\t<PARAM3>\t<PARAM4>\t<PARAM5/X/LATITUDE>\t<PARAM6/Y/LONGITUDE>\t<PARAM7/Z/ALTITUDE>\t<AUTOCONTINUE>\r\n

https://mavlink.io/en/file_formats/

Hardware

Wheel motor

Speed

Commercial units goes 16-18 m/min (), and has 205mm diameter $speed / (π * D) = ~RPM$ therefore we need something between 24 and 28 RPM.

Torque

You can go crazy about the numbers Required Power and Torque, but I go like this:

$$Fr = 15Kg * 9.81m/s2 * 0.2 (N)$$ $$a = 18 / 60 (m/s2)$$ $$Fa = 15kg * a (N)$$ $$Tr = Fr * 0.1m (Nm)$$ $$Ta = Fa * 0.1m (Nm)$$ $$Tt = Ta + Tr$$

We have 2x motors so ~7.5Nm should be alright.

Blade motor

Blade seems to run at 3500RPM

Scrapbook:

• Board definition: https://github.com/platformio/platform-espressif32/blob/master/boards/esp32-s3-devkitc-1.json
• Circle distance between two points: https://en.wikipedia.org/wiki/Haversine_formula

Credits:

• Mars Rover: https://github.com/jakkra/Mars-Rover
• Badges by shields.io