Note: Use the WIKI for latest informationen!

Basic principle: The robot reaches the charging station via tracking the perimeter wire loop. When the robot reached the charging station, it will recharge. The robot will track the perimeter loop (clockwise) until it detects a voltage at its charging pins (charging voltage). Then it will stop for charging.

Charger
The charger is build into the charging station (or it is connected to it). The charger must be able to handle several aspects (here: Lithium-Ion, lead-acid battery is similar):
-Charge battery via roboter charging pins
-Limit charging voltage
-Limit charging current
If you are going to re-use your charging station, it will probably handle these aspects for your specific battery type.

Robot
Inside the robot, the battery voltage is monitored (see schematics below). This allows the robot to detect a low battery state so it knows when it will have to drive home to the charging station. Also, the charging voltage and current are monitored. This allows the robot to detect if it has reached the charging station and when the battery has been fully recharged.

charging station circuit:

robot charging circuit:

Circuit

See schematics

Charge plotting etc.
Via pfodApp (Android) you can get a plot of the charging process.

Charging station - Ideas

  Ambrogio "Ardumower" (drive into charging station)

  Ambrogio "Ardumower" (charging station - drive in and out)

   Ardumower Chassis tracking and docking