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Clemens Elflein edited this page Apr 12, 2022 · 8 revisions

Welcome to the OpenMower wiki!

Warning

Please note that this project currently is in a very early stage! So don't go buying stuff right away! You will need to solder your own boards, since I'm not able to sell any hardware anywhere.

Please make sure that you're actually allowed to build this device in your area. There may be laws / patents prohibiting you of doing so!

Also I'm not liable for any damage you do to yourself, your equipment or anyone or anything else.

Please just be responsible and if you're not sure what you're doing, please don't do anything!

BTW the warranty of your brand new mower will obviously be void as soon as you mod it in any way, so be aware.

Overview

This graph gives you an idea how this build is going to go:

graph LR;
    id1[How to Start]-->id2[Get a mower in store];
    id2-->id14[Disassemble Mower];
    id14-->id15[Remove old Mainboard];
    
    id2-->id22[Upgrade the charging station];
    id1-->id23[Get a CC/CV module];
    id23-->id22;
    
    id1-->id3[Get a naked Mainboard PCB];
    
    id1-->id4[Get 3 naked xESC2 mini PCBs];
    id1-->id11[Gett all Parts from Github xESC2 mini BOM];
    id1-->id5[Get 2 ArduSimple RTK GPS board];
    id1-->id6[Get 2 Raspberry Pi 4];
    id1-->id7[Get a Raspberry Pico];
    id1-->id9;
    id6-->id21[One for the mower];
    id8-->id10[Assemble Mainboard];
      
    id4-->id12[Solder xESC2 mini PCBs];
    id11-->id12;
    id12-->id13[Flash xESC2 mini Boards];
    id7-->id10;
    id13-->id10;
    
    
    id15-->id16[Marriage of all mower parts];
    id10-->id18;
    id5-->id17[One for the mower];
    id17-->id16;
    id18[Flash Mainboard]-->id16;
   
    id19[Install ROS on Raspberry]-->id20[install OpenMower ROS package];
    id21-->id19;
    id20-->id10;
    

    id5-->id24[One for the RTK Base];
    id6-->id25[One for the RTK Base];
    id24-->id26[Assemble RTK Base];
    id25-->id26[Assemble RTK Base];
      
    id9[Get all Parts from Github Mainboard PCB BOM]-->id8;
    id3-->id8[Solder Mainboard PCB];
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Bill Of Materials

In order to build an OpenMower based robot, you basically need three components: The Robot, a docking station and the RTK GPS base.

The Robot

For the robot, you will need:

  • 1x Robot Mower: I'm using the YardForce Classic 500, which unfortunately is available in the EU only. Currently, it's the only tested model.
  • 1x OpenMower Mainboard: You can't buy this right now, but the design files are available here.
    • 1x Raspberry Pi 4
    • 1x Raspberry Pi Pico
    • The hardware you need to solder onto the board. A BOM will be in the PCB project.
  • 3x xESC ESCs: You can't buy this right now, but the design files are available on GitHub.
    • The hardware you need to solder onto the board. A BOM will be in the PCB project.
  • 1x ArduSimple RTK GPS board (you'll need another one for the Base later, so read until the end before ordering)
  • Optional Stuff
    • 1x Mower Interface Board: In order to interface the buttons on the mower. Not yet supported by software, you can add it later.
    • 1x USB angle connector: If you want to use the mower's USB port. This is a good idea for connecting a Gamepad etc. I'm using this one.
    • 1x Speaker + DFPlayer module: If you want to have sound output. Not yet supported by software, you can add it later. I'm using this one

Docking Station

For the docking station you will need:

  • A CC/CV module for LiPo charging. I have used this one here.
  • Optional: Docking station PCB. Basically does nothing but holds the module in place.

RTK Base

  • 1x ArduSimple RTK GPS board
  • 1x Raspberry Pi. I am using the Pi4 4 GB for this, you should be fine with any other model, tough. The base station really does not need much computing power.

FAQ

  • How much does it cost? Approx 350 for the mower + 400 for RTK GPS + 100 (yeah, semiconductor shortage..) for a Raspberry Pi + 200 for custom hardware.
  • Is there a step-by-step instruction? Not yet. I'm working on it. The second mower is already ordered.
  • Is there a modding kit I can buy? No, I'm currently not selling any hardware. The project is just too immature for this.
  • Can I build one? Yes, but you need technical + soldering skills. It is not an easy task.
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