sowbot

Status: Largely fabricated/ constructed, ESP32 carrier needs some work

A fully open-hardware robot compute unit built around a stackable 10 cm × 10 cm module standard with two SBC connected via a single ethernet cable.

SBC A: Control & Safety

SBC A is the primary controller responsible for the robot’s physical integrity and movement.

Core Tasks: ROS 2 navigation stack, topological mapping, and EKF localization.

Hardware: Direct serial link to the ESP32 (Lizard firmware) for motor control and safety watchdogs, for deterministic real-time control.

Priority: Executes real-time path planning and emergency stop logic.

SBC B: Perception & AI

SBC B acts as a dedicated vision processor for compute-heavy tasks.

Core Tasks: Camera drivers, image pre-processing, and neural network inference (e.g., YOLO).

Output: Processes raw video into lightweight detection coordinates or semantic labels.

Priority: High-bandwidth data handling without impacting SBC A’s CPU stability.

Native CAN bus support enables robust field-level communication. Dual GNSS RTK receivers provide centimetre-scale positioning for navigation and task execution.

All schematics, PCB layouts, and firmware are released under open licences. The system is housed in a rugged, waterproof aluminium enclosure with M12 connectors, designed for long-term outdoor deployment.

Photo	Component	Description	Qty
	Yuzuki Avaota-A1 SBC	Octa-core 64‑bit ARM Cortex‑A55 (up to 1.8 GHz), 4 GB RAM, integrated AI accelerator. Open‑hardware platform.	2
	ESP32‑S3 Microcontroller	Real-time Lizard control node and general‑purpose peripheral I/O on custom open hardware PCB.	1
	BNO055 IMU	Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout – BNO055	1
	CAN Bus Breakout	CAN interface breakout for deterministic, vehicle‑grade communication.	1
	SparkFun GNSS RTK or alternate Septentrio Mosaic	High‑precision GNSS positioning with RTK support.	2
	36V → 12V & 5V Power Conversion & Isolation from motor noise	Custom‑fabricated power regulation and electrical isolation board.	1
	Waterproof Aluminum Enclosure	Sealed aluminum enclosure with M12 connectors for rugged deployments.	1

Open AgBot: The body

Status: Detailed BOM & concept but not yet assembled

The Open AgBot reference platform integrates high-performance motors, precise control, long-lasting batteries suitable for Low temp <0C charging and rugged suspension into a fully modular, open-hardware agricultural robot.

Modular chassis and standardised connections enable rapid expansion and reconfiguration, providing full control over electronics, software, and mechanics for a versatile, field-ready system.

Photo	Component	Description	Qty
	Odrive CAN Bus Drivers with (Open hardware version, in development)	High-performance motor control with real-time CAN communication for precise torque and speed regulation.	2
	800W Hub motor	14.5″ Geared hub motors 100N.m with 4096*10 encoder delivering good acceleration and traction.	4
	12V 80Ah Sodium-Ion Battery Packs	High-capacity energy modules providing long-duration power for fully autonomous operation.	6
	5″ Fatbike Suspension Forks	Shock-absorbing suspension for smooth navigation across rough terrain and dynamic environments.	4
	Modular Chassis Structure	Lightweight aluminium tube sections forming a flexible backbone for sensors, processors, and actuators (round tube typically ~40 mm OD, ~37 mm ID).	Many
	Chassis Connectors	Aluminium 90° crossover and modular pipe fittings used to join tubing at right angles for structural frames.	Many