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\title{Prototyping a robotic lawn mower}
\author{A project in IN5590 by Trym. E-mail: tsauren@ifi.uio.no }

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\begin{document}

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\makefinding{
\textbf{Semi-Auto-Mower}
}


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        \section{Introduction}
        This project centers on the design and development of a robotic automower prototype, with the aim of addressing limitations in existing models and enhancing their functionality. Despite their widespread use, why haven't robotic lawn mowers evolved further? The primary goals of this project were:
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            \item Creating an autonomous robotic mower.
            \item Gaining experience in CAD design and prototyping microelectronic systems.
        \end{itemize}

        \section{Tools and Materials}
        The robot prototype was designed using SolidWorks and Autodesk Fusion, with key components 3D-printed in PLA. Below are the major tools and parts:
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            \item DC motors for driving and cutting.
            \item Raspberry Pi for control.
            \item Switches for collision detection.
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            \item Bill of materials:
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        \begin{tabular}{|l|l|l|}
             \hline
             Part & Quantity & Acquired \\
             \hline
             DC motor (wheels)         & 2 & China       \\
             DC motor (cutter)         & 1 & China       \\
             Motor driver              & 2 & China       \\
             Chasis (rear)             & 1 & IfI (printed)      \\
             Chasis (front)            & 1 & IfI (printed)       \\
             Wheels (rear)             & 2 & IfI (printed)       \\
             Wheels (front)            & 2 & Unknown       \\
             Raspberry Pi              & 1 & Wales?       \\
             12V battery               & 1 & Unknown       \\
             Collision switches        & 6 & China       \\
             Buck-boost converter      & 1 & Unknown       \\
             Fuse                      & 2 & Unknown       \\
             Motor card stands         & 2 & IfI (printed)       \\
             Raspberry Pi stand        & 1 & IfI (printed)       \\
            \hline
        \end{tabular}\\[1cm]
        The software development includes:
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            \item Very easy python script(s) for programming.
            \item Algorithms for collision detection and efficient mowing patterns.
        \end{itemize}

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        \section{Conclusion and Future Work}
        The current prototype achieves basic autonomous mowing functionality, including driving and cutting. Key advancements:
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            \item Assembled and tested physical prototype.
            \item Demonstrated controlled navigation and operation, including front collision detection and handling.
        \end{itemize}
        Future work include:
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            \item Implementing advanced collision detection sensors, such as RGB/IIR sensors.
            \item Developing a more intelligent movement pattern - perhaps through learning.
            \item Adding a user-friendly interface for remote operation.
        \end{itemize}
    First working prototype:\\[1cm]
    \includegraphics[width=\linewidth]{./images/2.png}

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        \item CAD assembly:
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    \includegraphics[width=\linewidth]{./images/1assembled.PNG}
    \includegraphics[width=\linewidth]{./images/2assembled.PNG}
    \includegraphics[width=\linewidth]{./images/3assembled.PNG}
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        \item Initial sketch:
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    \includegraphics[width=\linewidth]{./images/figure.png}
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%         \item 3D printing details:
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%    \begin{tabular}{|l|l|l|l|l|}
%    \hline
%    Part                          & Material        & Quantity & Infill & Layer Height \\
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%    Wheels, shafts, robot shell, front mount & PLA & 7        & 20\%   & 0.2mm         \\
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%    \end{tabular}

}

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\end{document}
