www.wiki.ardumower.de - Benutzerbeiträge [de]

Hall sensor

2014-09-12T18:13:43Z

Michael: Die Seite wurde neu angelegt: „== Hall-Sensor (Blademodulation) == caption The idea: The blade has the best performance with a certain minimum speed (e.g. 3300 ro…“

== Hall-Sensor (Blademodulation) ==

[[File:hallsensor.jpg|caption]]

The idea: The blade has the best performance with a certain minimum speed (e.g. 3300 rounds per minute/rpm).
If the blade is rotating at maximum voltage (independant if there's high or low grass), it's not saving battery power, and the robot is loud too.

Now, if you measure the rotations of the blades, you can control the voltage: on high grass (rotation decreases) voltage is increased, and on low grass (rotation increases) voltage is decreased.

So, you'll need a rotation sensor for the blades, e.g. using a Hall sensor (A1302 KUA-T) and a small magnet (Neodym magnet) added on the engine shaft.

<gallery>
File: motor_hallsensor.jpg
</gallery>

Click here [http://youtu.be/um5jXMPC6IM] for demo video

== Wiring ==

Hall Sensor A1302 +5V ---- +5V

Hall Sensor A1302 GND ---- GND

Hall Sensor A1302 Signal ---- Arduino Pin 18

Datei:Motor hallsensor.jpg

2014-09-12T18:10:22Z

Michael:

Datei:Hallsensor.jpg

2014-09-12T18:10:12Z

Michael:

Datei:Ublox neo 6m.jpg

2014-09-12T17:55:55Z

Michael:

Datei:Odometry plot.jpg

2014-09-12T17:42:33Z

Michael:

Datei:Odometry.png

2014-09-12T17:42:21Z

Michael:

Datei:Mower photo interrupter right.JPG

2014-09-12T17:42:06Z

Michael:

Datei:L50 odometry sensor.jpg

2014-09-12T17:41:53Z

Michael:

Datei:GY-NEO6MV2 schematics.jpg

2014-09-12T17:41:41Z

Michael:

Datei:Gpstracking.jpg

2014-09-12T17:41:17Z

Michael:

Datei:Gpsplotting.jpg

2014-09-12T17:41:05Z

Michael:

Datei:Gpsplot.jpg

2014-09-12T17:40:54Z

Michael:

Datei:Ardumower tracking pos sync.png

2014-09-12T17:40:43Z

Michael:

Datei:Ardumower sim.jpg

2014-09-12T17:40:32Z

Michael:

Datei:Ardumower odometry sensor.png

2014-09-12T17:40:22Z

Michael:

Datei:Ardumower odometry encoder.jpg

2014-09-12T17:40:12Z

Michael:

Datei:Ardumower odometry.png

2014-09-12T17:39:36Z

Michael:

Datei:Ardumower motor.jpg

2014-09-12T17:39:25Z

Michael:

Lawn sensor

2014-09-12T17:12:37Z

Michael: Die Seite wurde neu angelegt: „== Lawn Sensor == caption A lawn sensor should detect if the robot is still on lawn or not. In other words, it should find out if the m…“

== Lawn Sensor ==

[[File:capacity.png|caption]]

A lawn sensor should detect if the robot is still on lawn or not. In other words, it should find out if the media directly below the robot is still lawn or something else (air etc.). Therefore, a capacity sensor can be used as the media below the robot has influence on the capacity. No difference in capacity however is between lawn and flowers etc. - so you should have a distinct area around your lawn that is different to lawn (e.g. bark mulch).

== Principle operation ==

A lawn sensor could be a copper plate in a closed plastic tube. To find out if the plate has contact with lawn, the capacity of this sensor is measured. If the robot is on lawn (lawn is 'dielectric'), the measured capacity increases slightly (by a few pF).

<gallery>
File: l50_capmeter.jpg

File: lawn_sensor.jpg

File: capsense.gif
</gallery>

== Wiring: ==

'''''Front lawn sensor:'''''

Arduino Mega Pin 40 Receive Front -------------|

Arduino Mega Pin 41 Send Front --- 2 MOhm --+---| Lawn

'''''Back lawn sensor:'''''

Arduino Mega Pin 42 Receive Back -------------|

Arduino Mega Pin 43 Send Back --- 2 MOhm --+---| Lawn

== Detailed operation ==

Initially, the copper plate is discharged by pulling the send pin to low.
Then send pin is set to 'high' - via a resistor (2 Megaohm) the copper plate is charging slowly.
By constantly reading input receiver pin, the Arduino measures the time until it becomes 'high' (capacity measurement).
Because microcontrollers are fast and precise in time measurement, you can measure very low capacities with this.

Datei:Lawn sensor.jpg

2014-09-12T17:04:23Z

Michael:

Datei:L50 capmeter.jpg

2014-09-12T17:04:09Z

Michael:

Datei:Capsense.gif

2014-09-12T17:03:55Z

Michael:

Datei:Capacity.png

2014-09-12T17:03:40Z

Michael:

Realtime clock

2014-09-12T16:57:28Z

Michael: /* Realtime clock (RTC) */

== '''Realtime clock (RTC)''' ==

The robot requires a clock, so that it can start mowing automatically at certain time intervals (timer).

A realtime clock (RTC) returns current time (minute, hour) and date (day of week, day, month, year) - by the help of a battery the time continues to run even if the robot mower is switched off.

Example: DS1307

<gallery>
File: ds1307.jpg | ds1307

File: ds1307_schematics.jpg | ds1307_schematics
</gallery>

== '''Wiring''' ==

The RTC module is connected on the I2C bus of the Arduino Mega (in parallel with any other I2C modules).

DS1307 Module SDA — Arduino SDA Pin

DS1307 Module SCL — Arduino SCL Pin

DS1307 Module VCC (+5V) — Arduino VCC (+5V)

DS1307 Module GND — Arduino GND

== '''Note''' ==

If you experience communication problems when using multiple I2C modules on one I2C bus,
it is recommended to reduce the length of the cables.

== '''Timer''' ==

On the robot, several timers can be programmed (via Android pfodApp).
For each timer, you can define a time interval and the desired days.

== '''Example:''' ==

Timer 1: 08:00 - 13:00 Monday, Thuesday, Wednesday

Timer 2: 14:00 - 16:00 every day

Timer 3: off

Timer 4: off

Ultrasonic

2014-09-12T16:53:23Z

Michael: Die Seite wurde neu angelegt: „== Ultrasonic Sensor == An ultrasonic sensor is an excellent way to detect obstacles. Example: HC-SR04 Distance 2 to 450 cm Current 15 mA <gallery> File…“

== Ultrasonic Sensor ==

An ultrasonic sensor is an excellent way to detect obstacles.

Example: HC-SR04

Distance 2 to 450 cm

Current 15 mA

<gallery>
File: ultrasonic.jpg | HC-SR04

File: l50_ultrasonic.jpg | l50_ultrasonic
</gallery>

== Wiring ==

Ultrasonic Module Trigger — Arduino Digital Pin

Ultrasonic Module Echo — Arduino Digital Pin

Ultrasonic Module VCC (+5V) — Arduino VCC (+5V)

Ultrasonic Module GND — Arduino GND

An internal schematics of the sensor can be found here.[http://uglyduck.ath.cx/ep/archive/2014/01/Making_a_better_HC_SR04_Echo_Locator.html]

Datei:L50 ultrasonic.jpg

2014-09-12T16:49:29Z

Michael:

Datei:Ultrasonic.jpg

2014-09-12T16:49:11Z

Michael:

Realtime clock

2014-09-12T16:42:09Z

Michael: /* Realtime clock (RTC) */

== '''Realtime clock (RTC)''' ==

The robot requires a clock, so that it can start mowing automatically at certain time intervals (timer).

A realtime clock (RTC) returns current time (minute, hour) and date (day of week, day, month, year) - by the help of a battery the time continues to run even if the robot mower is switched off.

Example: DS1307

<gallery>
File: ds1307.jpg | ds1307
</gallery>
<gallery>
File: ds1307_schematics.jpg | ds1307_schematics
</gallery>

== '''Wiring''' ==

The RTC module is connected on the I2C bus of the Arduino Mega (in parallel with any other I2C modules).

DS1307 Module SDA — Arduino SDA Pin

DS1307 Module SCL — Arduino SCL Pin

DS1307 Module VCC (+5V) — Arduino VCC (+5V)

DS1307 Module GND — Arduino GND

== '''Note''' ==

If you experience communication problems when using multiple I2C modules on one I2C bus,
it is recommended to reduce the length of the cables.

== '''Timer''' ==

On the robot, several timers can be programmed (via Android pfodApp).
For each timer, you can define a time interval and the desired days.

== '''Example:''' ==

Timer 1: 08:00 - 13:00 Monday, Thuesday, Wednesday

Timer 2: 14:00 - 16:00 every day

Timer 3: off

Timer 4: off

Realtime clock

2014-09-12T16:38:49Z

Michael: Die Seite wurde neu angelegt: „ == '''Realtime clock (RTC)''' == The robot requires a clock, so that it can start mowing automatically at certain time intervals (timer). A realtime clock…“

== '''Realtime clock (RTC)''' ==

The robot requires a clock, so that it can start mowing automatically at certain time intervals (timer).

A realtime clock (RTC) returns current time (minute, hour) and date (day of week, day, month, year) - by the help of a battery the time continues to run even if the robot mower is switched off.

Example: DS1307

<gallery>
File: ds1307.jpg | ds1307
</gallery>
<gallery>
File: ds1307_schematics.jpg | ds1307_schematics
</gallery>

'''Wiring'''
The RTC module is connected on the I2C bus of the Arduino Mega (in parallel with any other I2C modules).

DS1307 Module SDA — Arduino SDA Pin
DS1307 Module SCL — Arduino SCL Pin
DS1307 Module VCC (+5V) — Arduino VCC (+5V)
DS1307 Module GND — Arduino GND

'''Note'''
If you experience communication problems when using multiple I2C modules on one I2C bus, it is recommended to reduce the length of the cables.

'''Timer'''
On the robot, several timers can be programmed (via Android pfodApp). For each timer, you can define a time interval and the desired days.

'''Example:'''

Timer 1: 08:00 - 13:00 Monday, Thuesday, Wednesday
Timer 2: 14:00 - 16:00 every day
Timer 3: off
Timer 4: off

Datei:Ds1307 schematics.jpg

2014-09-12T16:15:26Z

Michael:

Datei:Ds1307.jpg

2014-09-12T16:15:03Z

Michael: