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Valify V2 Robot Lawn Mower (concept body - under construction)

by raess, published

Valify V2 Robot Lawn Mower (concept body - under construction) by raess Feb 13, 2018
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Summary

So after printing some parts for Valify I realized, first of all, it looked like any lawnmower out there. So I had to go back to the drawing board and start from scratch. I wanted a unique look that looked fresh and futuristic. I also took some experience from the previous one and made improvements. This is Valify V2.

Chassis and body are now separated. Body are is only a "nice" cover on top of the actually robot.

Some parts are still not ready

  1. Solarpanel holder for lid
  2. Frontspoiler

Parts thats are user spefic are not included, this includes

  1. Wheels
  2. Motor mounts

Features I’m looking for:
1.No perimeter wire.
2.Different driving styles (diagonal cut, pattern cut etc..)
3.3D mapping. Creates a 3D map of the the garden.
4.Know exactly where the robot is in the garden.
5.Automatic raising of mower blades if they moves too Heavy (if to low height is set.)
6.Using a camera to recognize grasses and colors.

So with this wish list I came up with the following hardware specs for this build
Jetson TX2 Development Kit
Scanse Sweep
Intel® RealSense™ Camera ZR300
2x DC Planetary Geared Motor 24 Volt med Hall IC 30-33 RPM 8mm
2x Vapex Li-Po Battery 6S 22.2V 4000mAh 25C XT60
SparkFun 9DoF
RoboClaw 2x45A ST
Emlid Reach — RTK GNSS modules
(Mower motors for the blades I have not decided yet.)

Status
2018-02-21
-Working on Nose, Solar panel holder and some minor modification on some parts to minimize the need of support.

Updated parts: hjulhus hö, hjulhus vä. Replacement part hjulhus hö_1.1 and hjulhus vä_1.1. Update to minimize the need of support. saving 20h in total print time and around 500g filament (in my setup)

2018-02-23
Updated parts hjulhus hö_1.1 and hjulhus vä_1.1. Added radius on corners to avoid to tension when printing.

2018-02-27
Updated parts hjulhus hö_1.1 and hjulhus vä_1.1. Added a hatch for easier motor mounting. Hatch not yet uploaded. Also some minor bug fixes on support beams.


All models changes on a daily basis on my end and will not be uploaded directly.
This project is a Work-In-Progress.
Please download if you wish, but erors and bugs on bodies may be present.

I keep my ears or eyes open for useful feedback :-)

and please follow my build blog http://valify.se

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olala, Today all parts for the drive system is completed.
Some parts will be welded together and then the assembly will begin next week!

read more here: http://valify.se/2018/04/24/project-update/

Update to the build:
First big body cover printed. The part came out great. Running PrimaSelect PETG Solidwhite at 240C. This print was printed with 0.6mm nozzle instead of the original 0.4mm. layers looks nice and even! This part was printed at 2 shells at 10% infill and print time landed on around 15h.
read more here: http://valify.se/2018/04/24/project-update/

In the last couple of days I have been working with the front nose for the robot. The front nose will have an integrated Intel Realsense ZR300 Camera. I want to integrate it to the nose because I want a seamless body. The Intel Realsense ZR300 is mounted in a aluminum housing originally and to be able to integrate it to the nose I need to disassemble the camera. The ZR300 have a stereoscopic depth-sensing camera integrated with robust motion-tracking capability, designed for long-range depth perception and position awareness, this development kit brings computer vision, position tracking, and object recognition to your prototype.

My first Nose Design came out pretty nice. I 3D printed the nose and was happy camper until i realized I had forgotten the USB port. As its turns out my design was to tight for the USB to fit.
http://valify.se/2018/04/19/design-of-front-nose/

3D Printed mounting brackets for the front wheels. I have acquired some cheap and simple testing wheels which will be used before I spend time and effort designing my own with proper bearings. My final wheels will also be more ball-like, so they want stuck as easy in terrain. Before doing the design I also want to test some different heights for the front wheels, with the first test wheels the robot will have a zero degree vertical angle
http://valify.se/2018/04/15/saturdays-night-fun/

So this weekended I have been working on finishing the design of the drive system. I have updated the initial design of the 2-pulley gearing into a 4-pulley gearing. The main reason for the update is to have the ability the to achieve a lower wheel surface speed. The brackets are also designed with adjustable offsets, so each component can be adjusted to tighten the belt, or allowing a easy change off pulley sizes without redoing brackets.
http://valify.se/2018/04/07/drive-system-design-completion/
Hopefully this week, CNC milling of motor brackets begins.
In the meantime I keep the printer busy with printing pulleys.

Sizes printed today is XL 10T, 50T and a 55T. Took a few test prints before I could find the sweet spot for the settings for a maximum belt grip.

The appearance grows part by part. The Wheels made a huge difference on the size and the contours of the body.
Latest post on the robot build at http://valify.se/category/robot-lawnmower/

Today I did a quick assembly so I could test the drive system before CNC milling the last parts. Very quite drive (the noise is coming from my Raise3D printer running in the background)
https://www.youtube.com/watch?v=tMZNToO2TvU

I will 3D print a larger pulley for the shaft reducing the RPM even more.
Visit http://valify.se for more info of the project.

Today I received the touchscreen for the robot. Did a quick and dirty prototype of the mouting bracket and printed it.
Here is how how it looks mounted on the robot. (Did not have 90-degree HDMI connectors at home, thats why is lifted when powered on).

http://valify.se/2018/03/26/capacitive-touchscreen-running/
http://valify.se

My 3D Printer had no tasks in the pipeline for tonight, So I 3D printed the mounting bracket I designed a couple of days ago. The mount was 3D printed with PrimaSelect PETG, 3 shells and 10% infill. Due to the different surfaces I needed to print with support. The mount came out great and everything fit perfectly. The Scanse Sweep was mounted with 4x 2.5M screws on the bracket and there are two different ports at different orientations which may be used to interface the serial port to USB using a FTDI serial to USB converter. Scanse Sweep plugs into a USB hub which is in turn connected to the onboard Jetson.

Read full post here: http://valify.se/2018/03/24/scanse-sweep-3d-printed-mounting-bracket/

Continued to work with brushless motors, VESC and ROS. The Differential drive works.

just order a tachometer so I can measure the RPM. For low RPM the motors are working quite good. No problem with torque, as i wrote earlier I can't even hold them. So I need to measure how low RPM the motors can handle before calculating gearing further. I will order encoders for absolute rotor positions improving low RPM start and torque. The encoder I am looking at is the AS5047P (which seems to be hard to get) I also looking at the AS5048A which can support 16384 positions per revolution.

Read full post here: http://valify.se/2018/03/24/brushless-motors-vesc-and-ros-second-test/

CNC milling first parts for the new drive system. This files have not been uploaded yet since they are a work in progress.
Read more here : http://valify.se/2018/03/16/3d-printing-prototype-motor-brackets/

Almost all parts for the lower chassis is complete
Read more here: http://valify.se/2018/03/15/part-8-fresh-from-the-printer/

Hi, I'm loving the real unique design of this! is this all the parts needed for an assembly? I'd love to give it a go

Thanks mck14206934! Yes all parts are there except:
Solarpanel holder for lid
Frontspoiler
Wheels
Motor mounts.

This is still a work in progress so I am still making changes. Holes etc. I will start to test print it myself next week. You can follow the project here: http://valify.se

/Best regards
Robin

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