What is it?

This website shows the overview of the construction of a self-driving lawn mower. A john Deere Z355E was used as a starting point. Many modifications (displayed below) were added to the mower to allow the mower to run smoothly as an autonomous machine.

How it Works

To set up the self-driving mower all the user has to do is drive the mower once in the desired path; after this, the use simply has to turn the mower on and click start. The mower itself during this time will collect GPS coordinates of the desired path, the speed of the handles, and the speed of the wheels. Using a computer algorithm, the mower will then be able to replicate this path to <1cm precision while looking for new obstacles with the multiple sensors that will be installed.

Main Additions:

• ELECTRONICS
  • Coordinate collection
    • ethernet shield (with SD adapter)
    • Arduino Mega 2560
    • ZED-F9P – Calibrated to be a base station
    • ZED-F9P – Calibrated to be a rover
    • Telemetry Radios (915MHz; 500 mW)
  • Power
    • 12V Battery
    • Distribution Bars with Molex Jumper Barriers
    • 5V voltage Converter and regulator
  • Control
    • 4 Relay Board (LC-201 from progressive automation)
    • PLC – (CPU; Relay Insert; Analog Input; 23VDC Output – CTR IN)
    • Two Actuators (PA-14 from progressive automation); 8″ extension; 150 lbs force
    • Two Actuators (Pa-14 from progressive automation); 8″ extension; 35 lbs force
    • Two Resistor Sensors
    • Two 1000 PPR encoders
• HARDWARE
  • Base Station
    • Junction Box
    • Elbow
    • Tubing
    • Extension USB chors
  • Framing
    • custom made metal bars for the encoders and actuators
    • Something Bar that holds all the electronics
    • fiber glass board (standard letter size)
    • standoffs
    • various screws and bolts
  • Wiring
    • various wire for various currents
    • single circuit switch