ClemensElflein/OpenMower
OpenMower
OpenMower est un contrôleur de tondeuse à gazon autonome et un système de firmware qui utilise un GPS RTK de haute précision pour naviguer les tondeuses robotisées sans avoir besoin de fils de délimitation physiques. Il fonctionne comme un planificateur de chemin basé sur GPS et un système de gestion matérielle qui convertit les machines manuelles en unités autonomes.
Le projet inclut une application de gestion distante pour surveiller et contrôler les tondeuses via une interface web ou mobile. Il intègre un système d'évitement d'obstacles et des couches de sécurité qui exécutent des arrêts d'urgence lorsque l'appareil est soulevé ou entre en collision.
Le système gère le matériel robotique via une abstraction au niveau du firmware des moteurs et des capteurs. Il gère la planification de chemin autonome via un contrôle de navigation par machine à états et incorpore une surveillance environnementale pour mettre en pause les opérations pendant la pluie ou par mauvais temps.
Features
- Robotics And Autonomous Systems - Provides a complete autonomous system to convert manual mowers into high-precision GPS-guided robots.
- Lawn Mower Controllers - Provides the core embedded firmware that manages motor functions and hardware abstraction for autonomous mowing devices.
- RTK GPS Navigation - Uses high-accuracy RTK GPS positioning to steer robotic hardware along precise mapped paths.
- Real-Time Path Steering - Steers the device across mapped areas by comparing real-time satellite coordinates against boundary waypoints.
- Autonomous Lawn Mowing - Converts robotic mowers into autonomous machines using high-precision GPS to eliminate physical perimeter wires.
- Path Planning Algorithms - Implements path planning algorithms to guide the robot across a specific area efficiently.
- Robotics and Control - Provides a control system for robotic automation, kinematics, and hardware abstraction.
- RTK GPS Navigation Controllers - Uses high-precision RTK GPS to navigate robotic mowers without the need for physical boundary wires.
- GPS Path Planners - Implements a navigation system that calculates autonomous mowing paths and manages state machines for coverage.
- Hardware Abstraction Layers - Provides a dedicated hardware abstraction layer to decouple navigation logic from motor and sensor control.
- Hardware Component Control - Manages motor outputs and sensor inputs through firmware to abstract physical hardware functions.
- Path Navigation - Navigates the mower across mapped paths using GPS guidance to eliminate the need for boundary wires.
- Operational Mode Controllers - Manages movement logic by transitioning between operational modes such as mowing, docking, and obstacle avoidance.
- Ground Robot Obstacle Avoidance - Provides a safety layer that identifies objects in the path and executes emergency stops to prevent collisions.
- Obstacle Avoidance Systems - Detects physical obstacles and modifies the planned trajectory in real time to prevent collisions.
- Emergency Stop Systems - Executes immediate system shutdowns when safety sensors detect a lift or crash event.
- Remote Monitoring Applications - Offers a companion application for the remote monitoring and control of the autonomous mower.
- Lawn Mower Management Interfaces - Ships a remote interface for monitoring and controlling autonomous mowers via web or mobile applications.
- Navigation Safety Integrations - Implements safety interrupts that trigger emergency shutdowns upon detecting lift or impact events.
- Robot Telemetry Interfaces - Provides a remote API for sending control signals and receiving telemetry via a web or mobile application.
- Robotic Platforms - Open-source autonomous mower project with RTK-GPS capabilities.
