Robot Mower Advanced

*** UNDER DEVELOPMENT anyone that wants to participate totes can

Robot Mower Advanced

An advanced robotic lawn mower platform with SLAM mapping, computer vision, path planning, and remote control capabilities. This open-source project provides a comprehensive solution for building and operating an autonomous lawn mower with sophisticated features typically found in high-end commercial systems.

Features

SLAM Mapping: Creates and maintains a map of your lawn using sensor fusion
- Integrates data from GPS, IMU, wheel encoders, and cameras
- Performs real-time graph optimization to improve accuracy
- Stores and loads maps for persistent operation
Computer Vision: Detects obstacles, boundaries, and lawn health
- Object detection using Hailo NPU (if available) or CPU-based inference
- Boundary detection to identify lawn edges and obstacles
- Lawn health monitoring with regular aerial photos
Advanced Path Planning: Efficient mowing patterns based on lawn shape
- Multiple cutting patterns: parallel, spiral, zigzag, perimeter-first, adaptive
- Dynamic obstacle avoidance with safety margins
- Edge detection and following for clean boundaries
Remote Control: Web interface for monitoring and control
- Real-time status monitoring and visualization
- Manual override and joystick control
- Custom zone definition and management
- Live camera feed with obstacle highlighting
Smart Scheduling: Weather-aware mowing schedule
- Integration with weather forecast data (optional)
- Configurable time slots and zone preferences
- Battery-aware scheduling to ensure complete coverage
Safety Features: Comprehensive obstacle detection and avoidance
- Multiple ultrasonic sensors for 360° coverage
- Emergency stop on obstacle detection
- Tilt and bump sensors for safety
- Children and pet detection with extra safety margins
Extensible Framework: Modular design for easy customization
- Configurable hardware support for different sensors and motors
- Plugin architecture for custom extensions
- Comprehensive logging and debugging tools

System Architecture

The Robot Mower Advanced system consists of two main components that work together:

Raspberry Pi Controller: This is the "brain" installed on the mower itself
- It handles real-time control, reads all sensors, and makes decisions
- Runs the core SLAM (mapping) and navigation algorithms
- Controls the motors and interfaces with all hardware
- Can operate independently when Wi-Fi is not available
Control Panel Server: This runs on a separate computer in your house
- Provides a web interface you can access from any device
- Stores data like maps, usage statistics, and settings
- Handles scheduling and planning of mowing sessions
- Acts as the central point for you to monitor and control the mower

These components talk to each other over your home Wi-Fi network. Even if the Wi-Fi connection is lost, your mower will continue operating safely.

                  ┌───────────────────┐         ┌───────────────────┐
                  │   Raspberry Pi    │         │   Ubuntu Server   │
                  │   (on Mower)      │◄────────►   (Control Panel) │
                  └───────────────────┘         └───────────────────┘
                           ▲                             ▲
                           │                             │
                           ▼                             ▼
┌───────────────────────────────────────┐   ┌───────────────────────────────┐
│ • Motors & Motion Control             │   │ • Web Interface               │
│ • Sensors (Ultrasonic, GPS, IMU)      │   │ • Data Storage & Analysis     │
│ • Camera & Computer Vision            │   │ • User Authentication         │
│ • SLAM & Path Planning                │   │ • Scheduling & Zone Management │
│ • Safety Monitoring                   │   │ • Weather Integration         │
└───────────────────────────────────────┘   └───────────────────────────────┘

Hardware Requirements

For detailed hardware requirements, component selection, and specific model recommendations, see our Detailed Hardware List.

For step-by-step hardware assembly instructions, wiring diagrams, and component installation guides, refer to the Comprehensive Hardware Guide.

Beginner's Guide: Getting Started

If you're new to Linux or Raspberry Pi projects, here's a simple breakdown of what you'll need to do:

Purchase the Required Hardware: Use our Hardware Guide to buy all the necessary components.
Assemble the Hardware: Follow the Hardware Assembly Instructions to build the mower.
Set Up the Raspberry Pi: You'll install a special operating system and our software on it.
Set Up the Control Panel: You'll install our software on a computer in your home that will act as the control center.
Configure and Test: You'll adjust settings and test each component before the first use.

This may seem complex, but we'll walk you through each step in detail below!

Installation

Raspberry Pi Installation

This section explains how to install the software on your Raspberry Pi (the mower's "brain").

Step 1: Prepare Your Raspberry Pi

First, we need to set up the Raspberry Pi with its operating system and enable all the features we'll need.

# These instructions assume you've already:
# 1. Downloaded and installed Raspberry Pi OS (64-bit recommended) to an SD card
# 2. Inserted the SD card into your Raspberry Pi and powered it on
# 3. Completed the initial setup (set password, connected to Wi-Fi, etc.)

# Open a terminal and update your system (this downloads the latest software)
sudo apt update && sudo apt upgrade -y
# What this does: 'apt' is the package manager, 'update' refreshes the list of available packages,
# 'upgrade' installs newer versions, and '-y' automatically answers "yes" to prompts

# Now enable the special interfaces we need for sensors and camera
sudo raspi-config
# This opens a configuration tool. Using the arrow keys and Enter:
# Navigate to "Interface Options"
# Enable: Camera, I2C, SPI
# Select "Finish" and reboot if prompted

Step 2: Download Our Software

Next, we'll download the software from GitHub to your Raspberry Pi.

# Install Git (the tool that downloads code repositories)
sudo apt install -y git

# Download (clone) our software repository
git clone https://github.com/khryptorgraphics/robot-mower-advanced.git
# This creates a new folder called 'robot-mower-advanced' with all our code

# Enter the project directory
cd robot-mower-advanced

Step 3: Run the Installation Script

We've created an automated script that will install everything for you.

# Make the installation script executable
chmod +x scripts/install_raspberry_pi.sh
# This changes the file permission to allow execution

# Run the installation script
sudo ./scripts/install_raspberry_pi.sh
# The script will ask you questions during installation - follow the prompts
# It will install all necessary software packages and set up the system

Step 4: What the Installation Script Does

Our installation script performs several important tasks for you:

Core System Installation (core_install.sh):
- Installs Python and required system packages
- Sets up the project environment
- Creates necessary directories
Dependencies Installation (dependencies.sh):
- Installs libraries for hardware interfaces
- Sets up Python packages for sensors, motors, etc.
- Configures system permissions
Hailo Setup (hailo_setup.sh, optional):
- Installs Hailo NPU drivers if you have this hardware
- Configures the vision acceleration system
SLAM and Path Planning Setup (slam_path_planning.sh):
- Installs mapping and navigation libraries
- Configures the localization system
Service Setup (service_setup.sh):
- Creates system services for automatic startup
- Sets up proper permissions
- Configures the system to start the mower software at boot

Step 5: Configure Your System

After installation, you'll need to customize settings for your specific hardware.

# Edit the configuration file to match your hardware
nano config/local_config.yaml
# This opens a text editor with the configuration file

# Inside this file, adjust settings like:
# - GPIO pin numbers (to match your wiring)
# - Motor parameters (to match your motors)
# - Sensor calibration values

# Press Ctrl+O to save, then Enter, then Ctrl+X to exit

Step 6: Test Your Setup

Before putting your mower on the lawn, test that all components work correctly.

# Test sensors and motors
cd ~/robot-mower-advanced
python3 utils/test_sensors.py
# Follow the on-screen instructions to test each component

Step 7: Start the System

Finally, you can start the system either manually or set it to run automatically at boot.

# Start manually for testing
cd ~/robot-mower-advanced
./start.sh

# OR enable automatic startup
sudo systemctl enable robot-mower.service
sudo systemctl start robot-mower.service
# This registers the service to start automatically when the Pi boots

Ubuntu Server Installation

This section explains how to install the Control Panel software on a separate computer running Ubuntu.

Step 1: Prepare Your Ubuntu Server

# Update your system
sudo apt update && sudo apt upgrade -y

# Install required packages
sudo apt install -y git python3-pip python3-venv nginx
# What this installs:
# - git: to download our code
# - python3-pip and python3-venv: for Python packages
# - nginx: web server for the control panel

# Configure the firewall to allow web access
sudo ufw allow 7799/tcp
sudo ufw enable
# This opens port 7799 which the web interface will use

Step 2: Download Our Software

# Download our software
git clone https://github.com/khryptorgraphics/robot-mower-advanced.git
cd robot-mower-advanced

Step 3: Run the Installation Script

# Make the script executable
chmod +x scripts/install_ubuntu_server.sh

# Run the installation script
sudo ./scripts/install_ubuntu_server.sh
# Follow the prompts to complete installation

Step 4: What the Installation Script Does

Our Ubuntu server installation script includes several modules:

Core Installation (core_install.sh):
- Sets up Python environment
- Installs required packages
- Creates necessary directories
Web App Setup (web_app_template.sh):
- Installs Flask web framework
- Sets up the back-end API system
- Configures web application structure
HTML Templates (html_templates.sh):
- Installs web interface files
- Sets up the dashboard, control panels, etc.
Config Manager (config_manager.sh):
- Creates configuration files
- Sets up default settings
Service Setup (service_setup.sh):
- Configures Nginx web server
- Creates system service for automatic startup
- Sets proper permissions

Step 5: Configure the Control Panel

After installation, you'll need to customize the Control Panel settings.

# Edit the configuration file
nano config/local_config.yaml

# Adjust settings like:
# - The mower's IP address (so the control panel can find it)
# - Authentication settings
# - Web interface preferences

Step 6: Start the Control Panel

# Start the service
sudo systemctl start robot-mower-web.service

# Set it to start automatically at boot
sudo systemctl enable robot-mower-web.service

Step 7: Access the Web Interface

Open a web browser on any device on your network
Navigate to http://[your-server-ip]:7799
Log in with the default credentials:
- Username: admin
- Password: admin
Important: Change the default password immediately!

Connecting the Systems

Once both the Raspberry Pi and Ubuntu Server are set up, you need to connect them.

Make sure both are on the same network:
- The Raspberry Pi and Ubuntu Server should be connected to the same home network
- Preferably use a wired ethernet connection for the server, and Wi-Fi for the Pi
Configure the connection in the web interface:
- Log in to the web interface
- Go to Settings > Connection
- Enter the Raspberry Pi's IP address
- Test the connection
- Save settings
Test the full system:
- On the web dashboard, you should see the mower status
- Try sending a simple command (like "Stop") to verify communication

Understanding Configuration Files

All settings are stored in YAML format files in the config/ directory. YAML is a human-readable format that uses indentation to structure data.