Autonomous Lawn Mower

This project controls an autonomous lawn mower via a Raspberry Pi. The mower can be operated in two modes - automatic and manual. It communicates with a server to send its coordinates and captured images of obstacles. The mower can be controlled remotely through commands sent from the mobile application through the server.

Installation Requirements

Hardware:

• Raspberry Pi
• mbot ranger (configured to work with Raspberry Pi)
• PiCamera

Software:

• Python 3.9+, aiohttp, socketio, requests, picamera, and pyserial Python libraries.

Setup and Installation

• Clone this repository to your Raspberry Pi.
• Install the necessary Python libraries using pip:

pip install -r requirements.txt

• Configure your Raspberry Pi to connect with your lawn mower.
• Update config.py with your server URL.

Project Structure

The main components of this project are:

• command_handler.py: Listens for commands from the API and executes them using the Connector class.
• api_client.py: Handles communication with the API.
• connector.py: Manages the serial connection with the Arduino and sends/receives data.
• map.py: Manages a set of 2D points, performs geometric calculations, and transmits the points to the backend.
• odometry.py: Uses encoder data to calculate the position of the robot.
• Camera.py: Captures images using the robot's camera.
• mock_connector.py and mock_api_client.py: Mock classes for testing the system without a physical robot or an API.

Usage

To run the main program, execute the main.py script. This will start listening for commands from the API and handling them accordingly.

python3 main.py

If you want to run the system with mock components for testing, you can run the test.py script.

python3 test.py

The lawn mower will now connect to your server and can be controlled via the server.

The mower understands the following commands:

• forward: Move forward
• backward: Move backward
• left: Turn left
• right: Turn right
• start: Start mowing
• stop: Stop mowing

The mower can operate in two modes - auto and manual. In auto mode, the mower operates autonomously, making its own decisions based on the input from its sensors. In manual mode, the mower needs to be controlled via commands from the server.

API Endpoints

This project communicates with the server via the following endpoints:

• GET /ping: Check if the server is online.
• POST /sessions/start: Start a new mowing session.
• POST /sessions/stop: Stop the current mowing session.
• POST /coordinates/positions: Post the current position of the mower.
• POST /coordinates/boundaries: Post the boundary coordinates.
• POST /coordinates/obstacles: Post coordinates of obstacles and their images.