title: Ð¡Ð¸ÑÑÐµÐ¼Ð° Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ ÑÐ¾Ð±Ð¾ÑÐ°- Ð³Ð°Ð·Ð¾Ð½Ð¾ÐºÐ¾ÑÐ¸Ð»ÐºÐ¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Robotic lawnmower orientation system
Creators: name: ÐÐ°ÑÑÑÐ¸Ð½Ð°, ÐÐ¸Ð´Ð¸Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð°Ñ Ð³Ð°Ð·Ð¾Ð½Ð¾ÐºÐ¾ÑÐ¸Ð»ÐºÐ°
Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¹ ÐºÐ¾Ð»ÐµÑÐ½ÑÐ¹ ÑÐ¾Ð±Ð¾Ñ
ÑÐ¸ÑÑÐµÐ¼Ð° Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸
Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ñ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ
Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ
Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð½Ð° arduino
robotic lawn mower
mobile wheel robot
navigation system
orientation on the fixed terrain
optimization of movement algorithms
programming on arduino

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«Ð¡Ð¸ÑÑÐµÐ¼Ð° Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ ÑÐ¾Ð±Ð¾ÑÐ°-Ð³Ð°Ð·Ð¾Ð½Ð¾ÐºÐ¾ÑÐ¸Ð»ÐºÐ¸Â».Â Â Â Â Â Â Â Â Â  ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ ÐºÐ¾Ð»ÐµÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°-Ð³Ð°Ð·Ð¾Ð½Ð¾ÐºÐ¾ÑÐ¸Ð»ÐºÐ¸ Ñ ÑÐ»ÐµÐºÑÑÐ¸ÑÐµÑÐºÐ¸Ð¼ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð¼. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ: ÐÐ±Ð·Ð¾Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»ÐµÐ¹ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÑ Ð³Ð°Ð·Ð¾Ð½Ð¾ÐºÐ¾ÑÐ¸Ð»Ð¾Ðº. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ½Ð¾Ð¹ ÑÐ°ÑÑÐ¸ Ð¿ÑÐ¾ÑÐ¾ÑÐ¸Ð¿Ð° ÑÐ¾Ð±Ð¾ÑÐ°-Ð³Ð°Ð·Ð¾Ð½Ð¾ÐºÐ¾ÑÐ¸Ð»ÐºÐ¸. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ. ÐÐ¾Ð´Ð±Ð¾Ñ Ð½ÐµÐ¾Ð±ÑÐ¾Ð´Ð¸Ð¼ÑÑ Ð¼Ð¾Ð´ÑÐ»ÐµÐ¹ Ð´Ð»Ñ Ð¾ÑÑÑÐµÑÑÐ²Ð»ÐµÐ½Ð¸Ñ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ Ð¸ Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¸ Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð´Ð»Ñ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾ Ð²ÑÐ±ÑÐ°Ð½Ð½Ð¾Ð¹ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸. ÐÑÐ¸Ð²ÐµÐ´ÐµÐ½ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÐ¾Ð±Ð¾ÑÐ¾Ð²-Ð³Ð°Ð·Ð¾Ð½Ð¾ÐºÐ¾ÑÐ¸Ð»Ð¾Ðº, Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð½ÑÑ Ð½Ð° ÑÑÐ½ÐºÐµ, Ð¸ Ð½ÐµÐºÐ¾ÑÐ¾ÑÑÑ Ð´ÑÑÐ³Ð¸Ñ ÐºÐ¾Ð»ÐµÑÐ½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Ñ ÑÐµÐ»ÑÑ Ð²ÑÑÐ²Ð»ÐµÐ½Ð¸Ñ Ð´Ð¾ÑÑÐ¾Ð¸Ð½ÑÑÐ² Ð¸ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¾Ð² ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸. ÐÑÐ»Ð¸ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¾ÑÐºÑÑÑÐ¾Ð¼ Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ Ð¿Ð¾ GPS, GNSS Ð¸ Ð¿Ð¾ Ð¼ÐµÑÐºÐ°Ð¼ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð¼ÐµÑÐ°Ð»Ð»Ð¾Ð¸ÑÐºÐ°ÑÐµÐ»Ñ. ÐÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ð° Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð´Ð²ÑÑ Ð¼Ð¾Ð´ÑÐ»ÐµÐ¹ GPS, Ð¾Ð´Ð¸Ð½ Ð¸Ð· ÐºÐ¾ÑÐ¾ÑÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð±Ð°Ð·Ð¾Ð²Ð¾Ð¹ ÑÑÐ°Ð½ÑÐ¸ÐµÐ¹ Ñ Ð¸Ð·Ð²ÐµÑÑÐ½ÑÐ¼Ð¸ ÑÐ¸ÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐ¼Ð¸ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÐ°Ð¼Ð¸. Ð¢Ð°ÐºÐ¶Ðµ Ð´Ð»Ñ Ð±Ð¾Ð»ÐµÐµ ÑÐ¾ÑÐ½Ð¾Ð¹ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð¸ Ð¾ÑÐ²Ð°ÑÐ° Ð²ÑÐµÐ¹ Ð¿Ð»Ð¾ÑÐ°Ð´Ð¸ Ð¾Ð±ÑÐ°Ð±Ð°ÑÑÐ²Ð°ÐµÐ¼Ð¾Ð³Ð¾ Ð¿Ð¾Ð»Ñ Ð² ÑÐ¾Ð±Ð¾ÑÐµ-Ð³Ð°Ð·Ð¾Ð½Ð¾ÐºÐ¾ÑÐ¸Ð»ÐºÐµ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑÑÑÑ ÑÐ»ÑÑÑÐ°Ð·Ð²ÑÐºÐ¾Ð²ÑÐµ Ð´Ð°ÑÑÐ¸ÐºÐ¸, Ð´Ð°ÑÑÐ¸ÐºÐ¸ ÑÑÐ¾Ð»ÐºÐ½Ð¾Ð²ÐµÐ½Ð¸Ñ Ð¸ ÑÐ½ÐºÐ¾Ð´ÐµÑÑ. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð° Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÑ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ Ð³Ð¸ÑÐ¾ÑÐºÐ¾Ð¿Ð° Ð¸ ÐºÐ¾Ð¼Ð¿Ð°ÑÐ°. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð±ÑÐ»Ð° Ð¿Ð¾Ð»ÑÑÐµÐ½Ð° CAD-Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°-Ð³Ð°Ð·Ð¾Ð½Ð¾ÐºÐ¾ÑÐ¸Ð»ÐºÐ¸ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð´Ð»Ñ ÐµÐ³Ð¾ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ.
description: The subject of the graduate qualification work is âRobotic lawnmower orientation systemâ. The given work is devoted to the development of a terrain orientation system for a wheeled robot lawn mower with an electric drive. The development set the following goals: 1. Overview of existing models of robotic lawn mowers. 2. Development of the hardware of the robot lawn mower prototype. 3. Development of an orientation system. 4. Selection of the necessary modules for monitoring and transmitting information about the position of the robot in space. 5. Development of algorithms for moving along the chosen trajectory. The analysis of lawnmower robots on the market and some other wheeled robots is given in order to identify the advantages and disadvantages of existing methods for solving the problem. Open area orientation systems by GPS, GNSS and metal tags using metal detector were considered. As a result, an orientation system was developed using two GPS modules, one of which is a base station with known fixed coordinates. Also, for more accurate orientation and coverage of the entire area of ââââthe cultivated field, the robot lawnmower uses ultrasonic sensors, a compass and encoders. The possibility of using a gyroscope and a compass was considered.As a result, a CAD model of the developed lawnmower robot was obtained and algorithms were developed for its orientation.