Professional Documents
Culture Documents
Automatic Lawn Mower Project Report PDF
Automatic Lawn Mower Project Report PDF
AND
TECHNOLOGY
Page 1
ACKNOWLEDGEMENT
First we would like to offer our special thanks to our guide, Mr. Gagandeep Singh
for the help and guidance given throughout the preparation and conduction of this
project.
We would like to thank our families who has always support us over the years.
Their encouragement and love were really important for us in completing this
project successfully.
Last but not least, we would express my appreciation to all our friends who
supported us whether direct or in directly on this project. Their help was so
meaningful and supportive.
Page 2
ABSTRACT
An automatic lawn mower is a device or robot that help human to cut grass
automatically. Due to rapid development, many robots have turn into an
autonomous robot. In this project, an automatic lawn mower is developed with
several features such as detection of lifting, rain falls, day and night. The
movement or the path of the automatic lawn mower is based on a path planning
technique. Sensors are used to provide feedback from outside world. For this lawn
mower, Arduino UNO microcontroller is utilized as the microcontroller. Every
action of the lawn mower is monitored by the microcontroller with the help of the
sensor. Furthermore, CATIA as CAD software was used to design the structure of
the lawn mower.
Page 3
Table of Contents
Acknowledgement 2
Abstract 3
Index 4
List of Tables 7
List of Figures 8
1. INTRODUCTION
1.1 Background 11
1.2 Problem Statement 13
1.3 Objective of Project 13
1.4 Expectation from the Device 13
1.5 Outline of Project 14
2. LITERATURE REVIEW
2.1 Introduction 16
2.2 Background Research 16
2.3 Existing Technology 18
2.4 Disadvantages of existing technology 21
2.5 Motor and Battery Selection 22
2.6 Components 23
2.6.1 DC Motor 23
Page 4
2.6.2 Ultrasonic Sensor 24
2.6.3 Arduino UNO 25
2.6.4 Cutter 26
2.6.5 Battery 27
2.6.6 Wheels 28
2.7 Path Planning 29
2.7.1 Path Recording 29
2.7.2 Offline Programming 29
2.7.3 Joint Trajectory Programming 30
2.8 Computer Aided Software 30
2.8.1 CATIA 30
2.8.2 Arduino 1.0.5 IDE 31
2.9 Different Designs 33
2.10 Working of Device 34
3 Methodology
3.1 Introduction 38
3.2 Hardware Implementatation 38
3.2.1 DC Motor 40
3.2.2 Motor Controller 42
3.2.3 Sensor 44
3.2.4 Battery 44
3.2.5 Wheels 45
3.3 Software Implementation 46
Page 5
3.3.1 Modeling in CATIA 46
3.3.2 Programming and Algorithm 47
3.4 Summary 49
4 Results
4.1 Introduction 52
4.2 3D Model 52
4.3 Performance Factors 59
5 Project Management
5.1 Introduction 63
5.2 Bill of Material 63
6 Conclusion and Recommendations
6.1 Conclusion 66
6.2 Recommendations 66
6.3 Advantages 67
References 68
Sketch 70
Page 6
List of Tables
Page 7
List of Figures
S.No Figure Page No
Page 8
3.10 Arduino UNO 48
3.11 Circuit 49
4.1 Front View 52
4.2 Top View 53
4.3 Bottom View 54
4.4 Side View 55
4.5 Explode View 56
4.6 Assembly 56
4.7 Base Plate Dimensions 57
4.8 Front Wheel Dimensions 58
4.9 Back Wheel Dimensions 58
4.10 Path of Lawnmower 1 60
4.11 Graph 1 of grass cut 60
4.12 Path of Lawnmower 2 61
4.13 Graph 2 of grass cut 61
Page 9
Chapter 1
INTRODUCTION
Page 10
1.1 Background
A lawn mower is a machine that uses one or more revolving blades to cut a lawn to
an even height. The blades may be powered either by hand; pushing the mower
forward to operate the mechanical blade(s), or may have an electric motor or
an internal combustion engine to spin their blades. There are several types of
mowers, each suited to a particular scale and purpose. The smallest types are
pushed by a human user and are suitable for small residential lawns and gardens.
Riding mowers are larger than push mowers and are suitable for large lawns. The
largest multi-gang mowers are mounted to tractors and are designed for large
expanses of grass such as golf courses and municipal parks. But with advancement
in technology and things being converted to mobile and automatic these days,
transition from traditional hand-guided or ride-on mowers to automatic electric
mowers is beginning to take place. In 2012, the growth of robotic lawn mower
sales was 15 times that of the traditional styles. It is predicted that if this growth
continues at this rate, automatic lawn mowers may even surpass the sales of
traditional lawn mowers in some places.
Automatic lawn mower is a machine that cut grass automatically. It can be stated
as a machine or robot that helps people to do cutting grass work. The automatic
lawn mower will do the cutting grass task with a preset setting by the user. Unlike
other robotic lawn mowers on the market, this design requires no perimeter wires
to maintain the robot within the lawn. Through an array of sensors, this robot will
not only stay on the lawn, it will avoid and detect objects and humans.
The concept of lawn mower started during the 19th century whereby the design of
grass cutter pulls by an animal such as cow or buffalo. This animal will pull the
grass cutter and the grass cutter will does its work cutting the grass along the way
the animal walk. Due to animal cannot work for a very long period, human start to
Page 11
reduce the usage of animal and building a machine. So various types of lawn
mower have been built over the course of time. Mostly theses have been manually
operated but corresponding to the advancing of technology, latest lawn mowers
work automatically. Sensor such as rain sensor, light sensor, ultrasonic sensor and
infrared sensor has widely been used nowadays to enable the lawn mower to be
more intelligent and work efficiently.
Automated lawn mowers have been made available to the general public for over
30 years but its widespread or public use on the other hand has been limited mainly
Due to the current costs of such devices. Existing technology sell at around £899
(INR 70000) or more (Lawn Mower Reviews, 2011) and considering the fact that
the manual versions of these devices, the standard lawn mowers, sell at around £86
(INR 5000) (Lawn Mower Reviews, 2011). Although the cost of labor would need
to be added to that of the equipment, the latter is still a current viable and
affordable option for most consumers will benefit from.
The reason for robotic lawn mowers are an interesting area of research and work
because there are numerous real-world benefits of having a machine that
autonomously cuts grass, these include:
Aid elderly users or those with disabilities who are unable to fulfill this task
themselves.
For users with a busy schedule and rarely find time to mow, etc.
Working range is increased due to absence of main supply wires.
It reduces human effort.
It is a device that can fit into just about everyone's lifestyle, therefore having a
device that costs less, whilst accomplishing the same task as the higher end models
is a great advantage in order to compete with the current market.
Page 12
1.2 Problem Statement
How can we develop an economic and friendly user automatic lawn mower?
Page 13
1.5 Outline of Project
This report consists of six chapters. The first chapter introduces the project. The
background of the project is discussed. Besides that, it contains the objective and
scope of the project. Problem statement and outline of the project also mentioned
in this chapter.
Chapter Two, discusses the literature review and the related works. Some
components like sensors, micro controller etc is discussed in this chapter.
Methodology will be discussed in the Chapter Three. In this chapter, it will discuss
about the method on hardware implementation of this project. It will show how a
lawn mower will be fabricated out and also how to design the circuit connection of
the component used.
Chapter Four discusses on the result of this project. It will show the performance of
the lawn mower. Several data collection from analyzing the performance was
located in this chapter.
Chapter Five discusses on the project management. In this section, the time line of
the project flow and the budget that needed for this project was listed out.
Last but not least, recommendation and conclusion is presented in the last chapter.
In this chapter several recommendation were pointed out in order for further
development of this project.
Page 14
Chapter 2
LITERATURE REVIEW
Page 15
2.1 Introduction
This chapter studies various fields that are used for development of an automatic
lawn mower. Components such as power motor, ultrasonic sensor, battery used in
this project are discussed. These include software such as CATIA and Arduino
1.0.5 IDE which are used for design and programming. Several techniques for
robot routing are also presented in this chapter.
Page 17
2.3 Existing Technology
Existing automated lawn mowers each have a distinct working principle, for
instance the Robomow from Friendly Robotics requires the user to perform a
onetime set up where the garden perimeter is set. The perimeter is set using a
battery powered wire that is laid around the outer edges of the garden and any area
where the robot is not to cover. Special sensors inside Robomow enable the wires
Page 18
to be recognized and the robot is therefore kept within the designated area. The
Robot travels on the garden in a systematic criss-cross pattern, several times from
side to side to ensure that the entire area is covered and that the grass is cut from
different angles.
Other technologies work around a similar principal as the Robomow, in the sense
that it requires a perimeter wire to limit its cutting area. A difference between them
may be added features and the cutting pattern, for instance the LawnBott of the
Page 19
Husqvarna have a random operating principle in the sense that they do not follow
any specific cutting pattern.
Another type of cutting pattern involves matrix cutting. The lawn-mower search
pattern, one of the most widely used search patterns because of its simplicity and
guarantee of path continuity and smoothness. The pattern consists of two major
movements:
(1) Straight path
(2) Semicircle path.
The pitch refers to the spacing between two consecutive straight paths.
Page 20
The two movements of the lawn-mower search have different purposes. While the
objective of straight path is to search/explore the area, the semicircle path is to
connect straight paths. Therefore, the overall path is planned such that
• Straight paths reduce as much uncertainty as possible
• Semicircle paths satisfy the turning constraint of the vehicle.
Fig 2.4: Pattern with straight path and semi circular curves
The size and shape of the garden – as wires have to be placed in the
Page 21
garden area to be covered by the robot; the cost of the entire system may be
considerably higher depending on the size. In the case of many plants being
in the middle of the garden area, the setup can become cumbersome.
Damage or faults – the wires are set on the grass and although the company
mentions the fact that they would typically be covered by grass and become
unnoticeable in a matter of 2 to 3 weeks and the wires are prone to damage.
The damage can be from any origin for example, pets can dig up and
damage the wire, over time due to weather it can wear off, amongst others.
A fault on the wire can provide incorrect information to the device and as
consequence the device will not work as expected.
2.6 Components
2.6.1 DC Motor
DC motor is a device that converts electrical form into mechanical form of energy.
There are many kind of DC motor such as DC motor, separately excited DC motor
and self-excited DC motor. DC motor was powered by DC current. There are
various voltage input for DC motor and the common voltage input for DC motor
are 3V, 5V, 12V, and 24V. There are advantages for DC motor which are the DC
motor perform better than AC motor, and DC motor provide excellent of
controlling the speed.
Page 23
Fig 2.7: DC Motor
2.6.2 Ultrasonic Sensor
Ultrasonic sensor is a sensor that uses ultrasonic sound to detect range or distance
of an object. This sensor can also act as a sensor to detect present or absent of an
object. Due to ultrasonic is in the form of sound, a sort of energy, it can be used to
calculate distance whereby the distance of the sound travel from the emitter to an
object and reflect back to the receiver. Sound wave travel at speed of 340m/s.
Figure 2.3 shows the ultrasonic sensor concept used to calculate the distance
Page 25
Table 2.1 Summary of Arduino UNO microcontroller board
Page 26
2.6.4 Cutter
This will be used for the primary function of the mower i.e. to cut the grass.
Depending on the design, more than one cutter can be used in synchronization as
well. Also cutters with different shape or number of blades can be used for the
purpose of getting the required cutting speed.
Page 27
2.6.6 Wheels
These will be required for the cause of the motion of the body of the robot. The
choice of the wheels largely depends on the shape and size of the grass. It will also
depend on the required ground clearance of the robot. As treads of the tires can
contribute significantly to the performance of the mower, great caution is needed
during the decision to choose the particular tires.
Page 28
There are several approaches that have being used for programming the path
planning of a robot.
1. Path Recording
c) Mid-range motion
Page 29
calculate the path according to the information and the robot to follow it. Behalf of
the computerize programming, this technique does not take into account of the
acceleration of the robot.
2.8.1 CATIA
CATIA, stands for Computer Aided Three-dimensional Interactive Application, is
the most powerful Knowledge based and widely used CAD (computer aided
design) software of its kind in the world. CATIA has been created by Dassault
Systems of France and is marketed & technically supported worldwide by IBM.
Page 30
CATIA is software the function to create a 3D model CAD system. CATIA is a
simple tool that has many features to create a virtual 3D model. It can use to edit
3D model. Besides 3D model, it can also perform 2D model design where it is
usually use in engineering drawing where it can show the dimension of the 3D
model or in other word show the details of the 3D model in term of dimension.
Page 31
2.8.2 Arduino 1.0.5 IDE
Arduino 1.0.5 IDE is a software to program the Arduino UNO. This software is an
open source and can download from the web for free. Arduino 1.0.5 IDE have their
own programming library which is simple and user-friendly. All the coding is
given as well as example. With the existing of library, the user does not need to
have a great knowledge on c programming to write Arduino program. Table 2.2
shows the sample of Arduino library code which used for programming
microcontroller.
There are various designs of the Automatic Lawn Mower possible depending of
different factors. These factors include source of energy, mode of control, number
of grass cutters, type of sensors etc. These are discussed in brief as –
Type of energy source: There can be two different designs depending upon
the source of power used. First is using conventional battery. A rechargeable
battery will provide power to drive the motors for the motion of the mower
i.e. motion of the wheels and the motion of the grass cutter. Second choice is
to use power of solar energy to drive the mower. For this a solar panel will
be required and setup to convert that energy gathered to be converted into
usable form and magnitude. The choice of the mode of energy will be
affected by the factors like difficulties in producing required power by using
solar panel, added weight of solar panel, difficulties of integrating solar
panel into the circuit and cost factors.
Mode of control: Depending upon this, again two different designs can be
made. First is use of sensors to control the motion of the mower. Mower will
make use of sensors like Proximity Sensor, Ultrasonic Sensor etc to detect
the presence of the physical obstacles and with help of micro controller, path
of the mower can be determined. The second option is to use a remote
control to drive and control the mower remotely. This can be achieved by
integrating the R/C into the electronic circuit of the mower. The choice of
The mode of control will be affected by the factors like difficulty of
integrating R/C into the electronic circuit, the range of the radio control and
the cost factors.
Page 33
Number of cutters: The number of the cutters to be used can also result into
different type of designs of the mower. The use of multiple cutters can be
there. It can result in increase of the cutting speed or amount of grass cut in
given time but it has limitations like increased cost factor, increase in energy
demands, and increase in the physical dimensions of the mower to
accommodate the extra number of cutters.
Type of sensors used: The designs dependent on this factor will result into
Contact type mower and Non Contact type mower. In Contact type
mower, there will be micro switches used that will come into physical
contact with the external obstacle and then change the path of the mower
accordingly. While in Non Contact type mower, sensors like Ultrasonic or
Proximity sensors will be used to detect the presence and distance of the
obstacle and determine the path of the mower accordingly with help of the
microcontroller.
These are some of the different type of designs which can be implemented
while deciding upon the final design of the mower. This depends upon the
factors like energy/power requirements, ease or difficulty of integrating a
component into the electronic circuit, weight and physical aspect of the mower,
cost factors etc.
2.10 Working of the device
In general, a robot lawn mower can operate in three distinct modes: remote control,
teach control and automatic operation. For remote control operation, the human
commands must be executed in the mobile lawn mower. Also, sensory information
Page 34
such as motor speed, blade status, tactile information and an image of the local
environment can be transmitted to the operator to provide a "telepresence" in
which the operator senses enough information about the environment to perform
the proper action. The general telepresence concept is still being researched and
more information is needed in some situations. In teach mode, the storage capacity
of the microcomputer is used to store command and encoder information so that
repetitive operations can be performed. In some operations, the use of a given
home position for calibration may provide enough accuracy for simple repetitive
operations. In the general case, an absolute global positioning system such as the
target update method for navigation is required to provide accurate teach
programming or automatic operation. With this capability, full region filling
algorithms may be implemented for lawn mowing.
The working of the device is all dependent on the electronic circuitry that is to be
designed.
Page 35
The working of the device also depends on 4 main mechanisms. The main
mechanisms to be used are –
Collision Detection Mechanism: This is to deal with the obstacles present in
the path of device. This is to be achieved with the help of sensors or micros
witches. The difference between the two is that whereas in case of collision
detection sensor, there will be no physical contact with the obstacle, it will not be
the same if micro switches are to be used. In case of micro switches, there will be
collision with the obstacles and then the device will turn away from it.
Page 36
Chapter 3
METHODOLOGY
Page 37
3.1 Introduction
This chapter discusses the method use to design an automatic lawn mower. There
several steps taken to complete the task. Before starting to build a robot, many
initial steps have taken such as research on automatic lawn mower which is
discuses in Chapter 2.
Page 38
Hardware part includes the sensors, motors, wheels that are used in the project
while the software part includes the modeling in CATIA and the programming in
Arduino environment.
In this section, the hardware selection will be discussed. The hardware that will be
included in this project is DC motor, ultrasonic sensor, battery, wheels, chassis etc.
3.2.1 DC motor
Figure 3.3 shows the motor that will be used in constructing automated lawn
mower. It can operate at a range of 12V to 24V. It has higher torque which made it
easier. DC motor is a device that converts electrical form into mechanical form of
energy. There are many kind of DC motor such as DC motor, separately excited
DC motor and self-excited DC motor. DC motor will be powered by DC current.
Page 39
Fig 3.3: DC Motor
Specs
Page 41
Figure 3.5: Block diagram of Arduino with motor controller
Figure 3.5 shows the connection between Arduino UNO pin with motor controller
pin. The ground of Arduino and motor controller are common ground. The pin
from the Arduino will send signal to the controller.
Specs
Type: L293D Motor Drive IC
Voltage: 5V DC
Arduino support
3.2.3 Sensor
Ultrasonic sensor is a sensor that uses ultrasonic sound to detect range or distance
of an object. This sensor can also act as a sensor to detect present or absent of an
object. Due to ultrasonic is in the form of sound, a sort of energy, it can be used to
calculate distance whereby the distance of the sound travel from the emitter to an
object and reflect back to the receiver. In this project, the ultrasonic sensor will be
Page 42
used to detect obstacle which will prevent the lawn mower to knock any obstacle.
Figure 3.8 show the sensor that will be used. Figure 3.9 shows the connection
between an ultrasonic sensor and Arduino UNO microcontroller.
Page 43
Fig 3.7: Block diagram of Ultrasonic sensor with Arduino UNO
Specs
Name: HC-SR04 Ultrasonic sensor
Voltage: 5V
Range: 2cm-200 cm
Precision: 5mm
3.2.4 Battery
It will provide the energy for the working of the robot. The battery of a two
wheelers will be able to provide enough power to drive the robot for its working or
independent multiple batteries can be used for better performance. Two 6V
batteries were attached in series to provide the required 12V.
Page 44
Fig 3.8 Battery
Specs
Nos: 2
3.2.5 Wheels
These will be required for the cause of the motion of the body of the robot. The
choice of the wheels largely depends on the shape and size of the grass. As treads
of the tires can contribute significantly to the performance of the mower, great
caution is needed during the decision to choose the particular tires.
Page 45
Fig 3.9 Wheel
Specs
Use: Movement of Robot
Nos: 4
Diameter : 10 cm
Width : 4 cm
Shaft Hole: 6mm
Page 46
In CATIA, several techniques will be used such as pad, shell, pocket, fillet, mirror
pattern . A rectangular base forms the basis of the drawing. From this several parts
will be cut to form the desire pattern. Several hole also made to indicate the screw
position. There are three part will be drawn which are two back wheel the body
and two front wheel. After finished drawing, the part will combine together using
CATIA assembly feature to assemble the parts drawn. Tuning and refinement will
be made at the end of drawing to prevent any error occur. Refining such as
increase or decrease the dimension of the part due to some obstacle.
Page 47
Fig 3.10: Arduino Uno
Specs
Name: Arduino UNO
Board: atMEGA328
Pins: Digital I/O 14
Analog Pins 6
Voltage: 5V
Clock Speed: 16 MHz
An algorithm needs to be developing to ensure the microcontroller can perform
desire output depending on the input. Figure 3.9 shows the algorithm for the main
program process. The flow chart will then turn into c programming and compiled
into the Arduino UNO using Arduino 1.0.5 IDE complier.
Page 48
The basic flow of the lawn mower is the lawn mower will start the cutting process
according to the path has being calculate. Along the path, if there is obstacle in
front of it, the lawn mower will find the other way to move to go around it and
continue the cutting process. It will not hit the obstacle due to the present of the
ultrasonic sensor.
3.4 Summary
This chapter discussed the method used to design an automatic lawn mower.
Hardware such as DC motor, buzzer, LCD module, IR sensor, ultrasonic sensor,
rain sensor and light sensor were used in this project. The circuit connection of
Page 49
each component was discussed. The algorithm for the main program and sensors
were discussed using flow chart.
Page 50
Chapter 4
RESULT
Page 51
4.1 Introduction
This chapter presents the model of the automatic lawn mower developed in this
project.
Page 52
Fig 4.2: Top View
Page 53
Fig 4.3: Bottom View
Page 54
Fig 4.4 Side View
Page 55
Fig 4.5: Exploded View
Page 56
Fig 4.7: Base Plate dimensions
Page 57
Fig 4.8: Front Wheel Dimensions
Page 58
4.3 Performance Factors
The device has to be evaluated on some factors to find out its working efficiency or
if it is convenient or not practically. Some of the factors are:
Cutting Time: It is one of the basic and most important factors as how
much time does the device take to cut the required or pre set area of the
garden. As time is the most valuable resource these days, this factor
becomes most important in determining the usability of the device.
Cut grass condition: Whether the cut made to the grass is clean or not and
if the grass cut is uniform or not are two very important factors in
determining the usage of the device as the desired outcomes are uniform
cutting and clean cutting of the grass.
Human and obstacle detection and avoiding: Since the device is to be
made automatic, this factor is important as it is directly related with the
cutting time. If the device avoids the obstacles frequently and easily, it will
reduce the cutting time and the entire work will be done in lesser time. Also
it will help in saving the energy required.
Cutting Pattern: Cutting pattern is an important part because if the mower
does a crisscross pattern, it will cross same area of grass more than once
resulting in the more time taken for cutting and hence more energy
consumed.
Power requirements: Power requirements are easily one of the most
important factors in deciding the efficiency of the device. The power
required will decide the cutting time for required area and also the cutting
area in given period of time.
Page 59
Fig 4.10: Path 1 of Lawnmower
Page 60
Fig 4.12: Path 2 of Lawnmower
Page 61
Chapter 5
PROJECT MANAGEMENT
Page 62
5.1 Introduction
Project management is to allow all project goals to be achieved under specific time
frame. Such goal are organizing, controlling, and planning the projects flow. The
primary constraints faced during conducting this project were research time,
research budget, research time and human resources. Below is the Gantt chart
which clearly shows the flow of timeline management for this project.
Next, cost estimation on component used for this project is done to ensure that a
minimum budget project cost. Several market surveys have been done to achieve
this requirement.
Page 63
S.No Parts Nos Price Per Part Total Price
Total 9600
Page 64
Chapter 6
CONCLUSION AND
RECOMMENDATION
6.1 Conclusion
Page 65
An automatic lawn mower with several features has been proposed. Several related
works has been studied in order to gain idea on how to build an automatic lawn
mower. Most research is on the robot path planning using variety technique. All
the technique used are mainly aim for the shortest path, consume less energy.
Besides that, 2D and 3D model have been designed according to the specification
required such as circuit placement and sensor placement. The structure was user
friendly and economic which were achieving the objective.
6.2 Recommendation
The performance of this machine is slightly away from the desired requirement.
Therefore some recommendation has been list out for future improvement.
Hardware improvement
The design of the machine may undergo some changes such as larger the cutting
blade so that the diameter is almost the same size of the width of the machine. The
increase of the diameter of the blade making larger area will be cover when cutting
operation is done. Special wheel can be applied such as wheel with some thorn
which will grip the grass stronger to prevent slipping occur. Higher torque motor
would be recommended so that it can help to maintain the machine to move at
slower speed and overcome friction between the machine and grass surface.
Software improvement
This system need more advance software to perform more accurate. GPS system
may apply on this project so that it can gain more accurate position for path
planning. Controller such Artificial Intelligent (AI) can also apply so that it have
Page 66
the ability to make decision whether the grass need to be cut or memorize which
part no need to cut and continue to next area.
6.3 Advantages
As an automatic device, this lawn mower has many advantages, some of which
are:
It reduces human effort.
It has simpler design than most commercial mowers.
This type of mower is cheaper than commercial mowers.
It has wider range more than conventional mechanical mowers due to
absence of main supply wire.
It aids elderly users or those with disabilities who are unable to fulfill this
task themselves.
References
Page 67
1. M. Wasif (2011). Design and Implementation of Autonomous Lawn-Mower
Robot Controller. 2011 7th International Conference. 5-6 September. Emerging
Technologies (ICET), 1-5.
3. Ousingsawat, J. and M.G. Earl. Modified Lawn-Mower Search Pattern for Areas
Comprised of Weighted Regions. American Control Conference. 9-13 July. 918-
923.
5. Hicks, R.B. and Hall, E. A Survey of Robot Lawn Mowers. SPIE Intelligent
Robotics and Computer Vision Confrence.
6. http://spt06.chez-alice.fr/01/accueil.htm
7. http://www.robomow.com/robomow/howitworks/
8. http://en.wikipedia.org/wiki/Robotic_lawn_mower
Page 68
9. https://technubes.files.wordpress.com/2012/08/automated-garden-sweeper-
report-docx.pdf
10. http://www.open-electronics.org/a-robotic-lawn-mowers-powered-by-solar-
energy-with-an-arduino-heart/
Page 69
Sketch
#include "Ultrasonic.h"
int mc=7;
int m00=8;
int m01=9;
int m10=10;
int m11=11;
int ss1=1;
int k=0,oo=0;
void setup()
{
pinMode(s1,INPUT);
pinMode(mc,OUTPUT);
pinMode(m00,OUTPUT);
pinMode(m01,OUTPUT);
pinMode(m10,OUTPUT);
pinMode(m11,OUTPUT);
void loop()
{
ss1 = digitalRead(s1);// high=1, low =0
if(ss1==0)
{
k++;
delay(2000);
}
Page 70
if(k==1 && (ultrasonic.Ranging(CM))>30)
{
digitalWrite(m00,1);//forward
digitalWrite(m01,0);
digitalWrite(m10,1);
digitalWrite(m11,0);
digitalWrite(mc,1);
}
if(k==2||k==0)
{
digitalWrite(m00,0);
digitalWrite(m01,0);
digitalWrite(m10,0);
digitalWrite(m11,0);
digitalWrite(mc,0);
k=0;
}
if(k==1 && oo==0 && (ultrasonic.Ranging(CM))<=30)
{
digitalWrite(m00,0);
digitalWrite(m01,0);
digitalWrite(m10,0);
digitalWrite(m11,0);
delay(500);
digitalWrite(m00,1);
digitalWrite(m01,0);
digitalWrite(m10,0);
digitalWrite(m11,1);
delay(1000);
digitalWrite(m00,0);
digitalWrite(m01,0);
digitalWrite(m10,0);
digitalWrite(m11,0);
delay(500);
digitalWrite(m00,1);
digitalWrite(m01,0);
digitalWrite(m10,1);
digitalWrite(m11,0);
Page 71
delay(200);
digitalWrite(m00,0);
digitalWrite(m01,0);
digitalWrite(m10,0);
digitalWrite(m11,0);
delay(500);
digitalWrite(m00,1);
digitalWrite(m01,0);
digitalWrite(m10,0);
digitalWrite(m11,1);
delay(1000);
oo++;
}
if(k==1 && oo==1 && (ultrasonic.Ranging(CM))<=30)
{
digitalWrite(m00,0);
digitalWrite(m01,0);
digitalWrite(m10,0);
digitalWrite(m11,0);
delay(500);
digitalWrite(m00,0);
digitalWrite(m01,1);
digitalWrite(m10,1);
digitalWrite(m11,0);
delay(1000);
digitalWrite(m00,0);
digitalWrite(m01,0);
digitalWrite(m10,0);
digitalWrite(m11,0);
delay(500);
digitalWrite(m00,1);
digitalWrite(m01,0);
digitalWrite(m10,1);
digitalWrite(m11,0);
delay(200);
digitalWrite(m00,0);
digitalWrite(m01,0);
digitalWrite(m10,0);
digitalWrite(m11,0);
Page 72
delay(500);
digitalWrite(m00,0);
digitalWrite(m01,1);
digitalWrite(m10,1);
digitalWrite(m11,0);
delay(1000);
oo=0;
}
}
Page 73