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Innovative Autonomous Lawn Care System Powered by A.G.I.L.E Methodology

The A.G.I.L.E Team presents a cutting-edge project aimed at revolutionizing lawn care through intelligent autonomous equipment. Our system leverages advanced navigation technology, utilizing RF for boundary detection, and closed-loop motor control for precise movement. We will cover project objectives, literature review, and specifications. Previous work shows promise, though there are gaps we intend to fill by creating an efficient lawnmower that can detect and avoid obstacles, integrate easily with existing technology, and ensure user safety with innovative features.

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Innovative Autonomous Lawn Care System Powered by A.G.I.L.E Methodology

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Presentation Transcript

  1. Autonomously Guided Intelligent Lawn Equipment A.G.I.L.E Team Members: Brad Ramsey Derek Rodriguez Dane Wielgopolan Project Managers: Dr. Joel Schipper Dr. James Irwin ECE Department

  2. PRESENTATION OUTLINE • PROJECT OBJECTIVES • PREVIOUS WORK • PRELIMINARY LAB WORK • EQUIPMENT INFORMATION • PARTS LIST • SCHEDULE OF TASKS FOR NEXT SEMESTER

  3. PROJECT OBJECTIVES • Design a lawnmower navigation system • Detect the field boundaries using RF • Track vehicle’s position and orientation • Movement using closed loop motor control • Detect and avoid objects (static/dynamic) • Safety shutoff switch

  4. LITERATURE REVIEW • Find previous projects and their pros and cons • University of Florida project path ideal example • Series of 3 projects add up to ours • What can we do better?

  5. Florida Project One • Project name – LawnNibbler • Student researcher – Kevin Hakala • Operating Components • Electric weed trimming platform • RF Wire Boundary • (proof of concept) Local Positioning System • No results for completed mower published

  6. Florida Project Two • Project name – LawnShark • Student researcher – Rand Chandler and Katherine Meiszer • Operating Components • Electric Toro Lawnmower • Local Positioning System • Ultrasonic sensors (2) • No results for completed mower published

  7. Florida Project Three • Project name – Autonomous Lawn Care Applications • Student researcher – Michael Gregg • Operating Components • Proof of Concept platform (no mowing) • RF wire containment • Obstacle avoidance • Collision Detection • Random Movement Programming • No results for completed mower published

  8. What makes us different • Three cumulative projects compacted into one • Added Components for a better outcome • Wall following (physical and RF fence) • Efficient mowing pattern • Off unit computer processing • Unnecessary computer on mower • Utilize an existing computer • Easy to update software • Design and Create Electric RF “dog fence”

  9. GOALS • Obtain a chassis • Drive control system • Build sensors • Detect and avoid objects • Mower/PC communication • Efficient Algorithm

  10. SPECIFICATIONS • Max Speed: 2 ft/s • Response Time: <150ms • Mowing Coverage: 120 ft²/min @ 2 ft/s • 12v 7.2 Ah Batteries x2 • Heading Accuracy: ±1° of error (ideal)

  11. SYSTEM BLOCK DIAGRAM

  12. CHASSIS • Maneuverable • Symmetrical • Dual DC Motors • Differential turning • Dimensions: • Length: 12.5’’ • Width: 18.5’’ • Height: 7’’

  13. POWERTRAIN • Dual Pittman 12v DC motors • Gear ratio: 65.5:1 • Max RPM @no load: 4916 • Max shaft RPM @no load: 75 • Rotary encoder • 500 CPR • 2 channels • Wheels • 6” Diameter • Direct drive • Power • Dual 12v 7.2Ah Batteries

  14. MOTOR CONTROL • User input average speed • Speed averaged between wheels • Rotary encoder feedback • PI control • PWM • Control system modeled in Simulink

  15. SIMULINK MODELING • Single motor model • Microcontroller

  16. MICROCONTROLLER • MICROPAC 535 (EMAC) • 8051 architecture • 3 timers • 3 serial ports (up to 230.4K baud) • 10 external interrupts • 4 PWM I/O ports • 8 A/D • 24 digital I/O

  17. Ultrasonic sensors Coverage area maximized for front & sides OBJECT DETECTION

  18. ULTRASONIC SENSORS • Devantech SRF05 Ultrasonic Range Finder • Interfaced to microcontroller • Multiplexer used to save digital I/O pins • 1 digital input/2 digital outputs for all sensors

  19. DIGITAL COMPASS • R117-COMPASS • Interfaced to microcontroller

  20. SAFETY • Safety switch on mower • Remote shutdown • User shutdown in software • Lost connection to PC • Bump switches • Last line of defense • Uses 3 pushbutton switches • Bumper connected to buttons • Interfaced to digital input on µC • Triggers high priority interrupt • Kills mower blade

  21. Dog fence Transmitter Radio Frequency 8 kHz Sine Wave Dual receivers BOUNDARY DETECTION

  22. RF CONTAINMENT WIRE • Better known as an electric dog fence • Band pass receiving filter

  23. SOFTWARE • C/Assembly on EMAC • C++ On PC • EMAC will acquire data • Remote PC • Receive user settings • Process data • Implement algorithm

  24. SOFTWARE FLOW CHART

  25. BASIC ALGORITHM • North-South pattern • Uses dog fence • Minimal areas missed • Ideal for square field • Starts with border

  26. DATA SYNCHRONIZATION • Data synchronized between µC and PC • Serial to 802.11 converter • Any LAN connected PC can connect and run the software • Sets up a virtual com port on the LAN PC • Data rates up to 230400 Baud

  27. PARTS LIST • Mowjoe chassis (motors, frame, batteries) • C80515 EMAC 8051 based microcontroller • ES1AWB (RS-232 to Wi-Fi) • Windows based PC • Digital compass • Devantech R117 for prototype • Would like a more accurate one • Ultrasonic sensors X4 • Devantech SRF05 • RF sensors X2 • Dog fence components

  28. GANTTCHART

  29. GANTTCHART

  30. Joel says “Any Questions?”

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