Automatic Solar Grass Cutter with Lawn Coverage 2021-22

CHAPTER 1
INTRODUCTION
Due to rapid development in the present robotic systems, robots are designed to be widely
used in small and large scale in every area as shown in fig 1.1and fig 1.2 of daily life and industries.
They are employed to reduce human dependencies in performing a task and to reduce time for
production while maintaining consistent quality of production outputs. Robotic devices are widely
used in manufacturing industries, advance surveillance systems and for domestic use as well.
Modern houses include a compound often used as garden with grass which grows and need to be
maintained at a short height. Conventional lawnmowing is often a hassle and time consuming in
cutting the grass. The task of manual lawn mowing can be replaced by automatic lawn mower using
a robot programmed to perform such task. A robotic lawn mower is designed and installed in this
project. Robots are often expensive and costly which often discourages people from buying costly
robotic devices. The success of manufacturing a low-cost inexpensive automatic lawn mower will
allow house owners to maintain their lawn without spending much time and money. An
autonomous robot can mow the lawn of a given specific area of the garden without any human
supervision.

Fig 1.1 Robot Vehicle Fig 1.2 Working Robot

Solar energy is a renewable source of energy. Its sources are divided into two types they are
passive solar source and active solar source. These sources are completely depending upon how the
solar energy is captured and it is distributed and on how it is converted to the solar power. As we
know the solar energy is free energy and it can be utilized easily. By using this solar energy, we
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operate solar grass cutter. In the market there are many different grass cutters are available such as
gasoline-based grass cutter, electrical energy-based grass cutter.

The electrical grass cutter depends upon electricity and the gasoline-based grass cutter
requires fuel to work. The burning of fuel in gasoline grass cutter cause air pollution as well as
noise pollution. For the cutter machine large cable wire is required for cutting the grass of large
area and the weight of motor is also heavy. So, as the technology is improving, we also need to
replace the traditional conventional grass cutter to the new automated solar based grass cutter. So,
from the above difficulties, tried to make an automated solar based grass cutter which having
battery of 12V and a solar panel which used to store the solar energy in the battery. There are total
5 DC motors are used in the device from which 4 are used for moving device from one place to
another and one big motor is used for cutting of the grass. These motors are connected to the motor
driver and handled by Arduino UNO. For the obstacle detection purpose ultrasonic sensor is used.
There is on need of wire and fuel to operate device. So, the device is pollution less and eco-
friendly. This project provides the designing steps for automated solar grass cutter, whose aim is to
cut the grass of the specified area which is specified to the device without any human interaction.
The output is achieved by using the sensors and various components. The goal of this device is to
create a similar device as traditional grass cutter with better efficiency and of low cost.

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CHAPTER 2
LITERATURE REVIEW

We have searched several researched papers on our project we got some of the papers which is
useful to our project from reputed publications. In that, we sort out advantages to our projects and
some of disadvantages compare to present technology. Here are some papers that are useful to our
project

1. Design and modelling a prototype of a robotic lawn mower

Taj Mohammad Baloch and Timothy Thien Ching Kae Electrical and Electronic Engineering
Department University Technology PETRONAS

The specific objective of this project was to develop an automatic lawn mower robot which would
be able to help users in cutting the grass in gardens. The robot
was made able to cover a specific area of flat land by avoiding any obstacle along the way. It was
also considered that it should be moderately cheap and easy to implement with the help of the PIC
microcontroller or PLC controller. Instead of requiring small details to be specified, the task in this
project was carried out by considering the essential design features so that the installed system was
able to autonomously execute its job in a manner that satisfies its desired task.

PIC16F877 micro-controller was chosen to enable the robot to be cost effective. The programming
languages required for this controller are the Assembly language and C Programming. Controllers
are known as the “brain” of the robot to control the activities of the whole process. It enables the
designer to define any action to be performed according to the program set by the programmer. The
controller function is to monitor the coordination of the system such that a desired behaviour is
achieved when an input is received. Most of the common controllers used to control a robot are
PLC (Programmable Logic Controllers normally used in industries) or PIC (Programmable Input
Controllers). Input data and information supplied to the controllers are processed according to the
program defined and executed via the output.

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As shown in fig 2.1 Suitable sensors are needed for collision avoidance system. Other electrical
circuitry is required to enable the proper function of the mechanical devices and to supply power
for the robot. Motors and actuator are the “muscles” of a robot. Proper motors need to be selected
for desired output and tasks. Three types of motor have been identified for the robot: Continuous
Motors, Stepper Motors, and Servo Motors. Robots may include feedback driven connection
between sensor and actions which are not under direct human control. Responses may take form of
electromagnetic motor or actuators (effectors) which may control arm, open or close grips. Control
and feedback are provided by computer program which can be either external or internally inside
the robot itself.

Fig.2.1 Prototype Robotic Lawn Mower

2 Intelligent auto-saving energy robotic lawn mower

Guo-Shing Huang Hsiung-Cheng Lin Keng-Chih Lin Shih-Hung Kao Institute of Electronic
Engineering

The intelligent auto-saving energy robotic lawn mower is developed and derived an improvement
from commercial human-push electric mower. That traction driven mechanisms are used of the
original front-end configuration that could be linked to pre-mower body also installed L-bearing
plate through the drive modules linked by the horizontal central axis. Like the tow trailer

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movement and activities will not affect the choice of the original mower height adjustment. The
split shift the intelligent auto-saving energy robotic lawn mower is developed and derived an
improvement from commercial human-push electric mower. That traction driven mechanisms are
used of the original front-end configuration that could be linked to pre-mower body also installed
L-bearing plate through the drive modules linked by the horizontal central axis. Like the tow
trailer movement and activities will not affect the choice of the original mower height adjustment.
The split shift assembly can easily restore the original hand-push mower model.

The ultrasound system is mainly to control the grass cutter movements. The working principle is to
set several obstacle avoidance sensors which will be divided into several ultrasonic sensors for the
upper and lower two levels to sense in front of objects. The lower sensors are to detect the grass. If
sensors detect the long grass, then commend to start the rotary cutter take cutting grass action. If
sensors cannot detect the long grass, then close rotary cutter. The upper sensors are responsible for
the induction in front of obstacles and collision. We perform the planning and control for obstacle
avoidance with the colliding switches. the Ultrasonic wave and colliding in the establishment
direction of the switch.

Fig.2.2 Framework for Automatic Energy Saving Robotic Lawn Mower

3 Development of the trimmer type mowing system against slope

Yuki Iwano, Takashi Hasegawa, Akihiro Tanaka Dept. of Mechanical Engineering National
Institute of Technology, Akashi College, NITAC Akashi, Hyogo, Japan

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When the robots are used for cutting grass the rotary-cutter-type mowing robot have been
developed, grass that is close to an obstacle remains uncut. Hence, these uncut sections have to be
mowed manually. researched and developed a mowing system that can mow close to obstacles.
Designed a trimmer-type mowing system that can mow close to obstacles while maintaining safety.
We improve performance of mowing system can cut grasses and hard stem. The driving mechanism
remodels research and development crawler. The drive performance of a crawler on an irregular
ground is high. Crawler belts transmit the output of DC motors to the left and right sprockets via
timing belts. If a cutter edge comes into contact with people, it can cause serious injury. In the case
of the proposed system, the fixed edge of the trimmer extends beyond the moving edge. Hence, the
fixed edge is the first to contact any object in the path of the system. This edge is designed so that
people can be safe even after a collision. In addition, when the system is mowing close to an
obstacle such as a wall, the trimmer does not damage the wall as a rotary cutter would. Further, the
proposed trimmer does not need a cowling, unlike a rotary cutter. Therefore, the cutting edge of the
trimmer-type mowing system can reach right up to a wall. The proposed trimmer also has the
advantage that it does not cause stones to be expelled as easily as in the case of a rotary cutter.

The mowing performance on flat ground and compare the performance of the mowing system with
that of the lawn bot evolution. In this experiment, we measure the time that the system takes to
mow over 2 m. We calculate the system performance using information on the mowing distance
and time. The Lawn Bot’s performance is 6 m. Our system mowed the part enclosed within a
bristly grass area. The time taken to mow the grass over 2 m was 8 s. Our system’s performance is
therefore calculated to be 5.25 m. Therefore, our proposed system exhibits a performance like the
Lawn bot evolution. We next confirm the performance of the mowing system against a hard stem.
In the experiment, we checked the maximum diameter of stem at which the mowing system could
mow. As a result of the experiment, the system could mow a maximum of 9 mm stem. As shown in
the figure, the hard stem at a ground was indeed mowed. We confirmed that a grass within a narrow
space was mowed too.

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Fig.2.3 Trimmer Mowing System with Rubber Crawler

4 Robust grass boundary detection for lawn mower with a novel design of
detection device
Huiwen Guo, Xinyu Wu, Jianquan Sun, Yongsheng Ou and Wei Feng

Terrain recognition is very important for outdoor mobile robots. For automatic lawn
mowers, the capability of distinction between grass and non-grass is the basic function to ensure the
normal work. As a mature product, lawn mower boundary detection technology should achieve
very high accuracy. However, the diversity of grass and non-grass makes the problem a great
challenge. For grass, not only the color of grass varies greatly with different seasons, but there are
many categories of grass.
In order to build a high accuracy algorithm for grass boundary detection without any manual
work, in this paper a new device is designed. Our device requires only a line infrared light source
and a camera with band pass infrared filter. The line infrared light source heats the grass, and the
camera is toward the heated grass, and obtain continuous frames. In contrast to the learning
processes in vision=based methods, our detection approach is rule-based approach which is simple
but effective. We conduct our experiments on various grass or non-grass environments with a lawn
mower product. The experimental results show that our new device and simple detection approach
achieve the state-of-the-art performance.
To robust detect grass boundary, we firstly design a novel device to obtain special grass image,
then simple but effective process is applied to obtain the final detection result. Thus, we firstly
describe our novel design of detection device, then describe the details of our approach.

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Our goal is to develop a vision-based boundary detection system that can be robustly detecting
grass boundary without any previous manual work. The most challenging task is to avoid obtain
primary or raw images which must fed into learning-based classifier. Through careful observation,
we find that there is a big difference between grass and other land surface. Although there are many
categories of grass, the grass leaves are staggered, that is, the grass surface is not flat and exist
many holes. In spite of some non-grass plane also exist steep decline, these steep drops are
continuous. Inspired by these observations, we design a novel device to effectively detecting grass
boundary. The central spectral transmission wavelength of the bandpass infrared filter in camera is
850nm, the pass bandwidth is ±50nm. The irradiation direction of the infrared light source inclined
at grass surface. The camera receives image in mirror position. Thus, the infrared light source, the
camera and the grass surface build a triangle.

Fig .2.4 Lawn Mower with Boundary Detection Device

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2.1 Objective of our project

• Automated solar grass cutter is a fully solar powered grass cutter. Cutting robotic vehicle powered
by solar energy that also avoids obstacles and capable of fully grass cutting without the need of
any human interaction.

• The system uses 12v batteries to power the vehicle movement motors as well as the grass cutter
motor. We also use a solar panel to charge the battery so that there is no need of charging it
externally.

• The grass cutter and vehicle motors are interfaced to the Arduino microcontroller that controls the
working of all the motors. It is also interfaced to an ultra-sonic sensor for the object detection.

• The Arduino moves the vehicle motors in forward direction in case no obstacle is detected. On
obstacle detection by ultra-sonic sensor Arduino stops the vehicle movement to avoid any damage
to the robot. Then the Arduino changes its direction and starts to move forward

2.2 Motivation of our project

In the conventional grass cutter, we had so many problems like noise pollution fossil fuels are used
so much time required to cut the grass so to overcome that we made automatic solar powers grass
cutter. In this grass cutter we had so many things new. There is no any fossil fuel consumption and
maintenance are required. The grass cutter is totally operated on solar energy so that the pollution
and the urge of fuel is controlled. The grass cutter becomes automated because of the controlling
mechanism and the obstacles are also detected by the ultrasonic sensors the speed of vehicle is
controlled the solar based automatic grass cutter can be used in various type of ground. By making
some alteration in the body it can be used in harvesting.

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CHAPTER 3
METHODOLOGY

The robotic vehicle is equipped with a grass cutter blade that allows for grass cutting at high RPM.
The system has a smart functionality that allows it to cover the complete area of a lawn or garden
by detecting corners using ultrasonic sensor and moving in a zigzag manner to cover the entire area.

This efficient system uses a microcontroller-based circuit to achieve this functionality. In this
project we are incorporating battery management system were using two batteries for the working.
At once one battery will be on working and the other battery will be on charging condition once the
working battery get drained the other battery get connected automatically by changeover switch
controlled by relay the drained battery gets charged. The microcontroller operates the vehicle
movement dc motors as well as the grass cutter at the same time as monitoring the ultrasonic
sensors. The microcontroller smartly operates the dc motors using the motor driver IC to achieve
desired movement based on ultrasonic inputs. Thus, this system allows for fully automated grass
cutting system without the need for any human intervention.

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Block diagram: -

Fig 3.1 Block Diagram

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CIRCUIT DIAGRAM: -

Fig 3.2 Circuit Diagram

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This figure 3.2 Solar panel will receive the sun rays, which produces electricity due to photovoltaic
effect. This produced electricity gets stored in the battery with the help of battery charger. There are
two batteries that are connected to relay module when one is charging another will supply the power.
When the power is drained relay module will inter change the connection. From the relay module the
power is given to the Arduino UNO which controls the functioning of the device in order to operate it
automatically. Power supply module is connected to supply the power to all sensors. The machine uses
ultrasonic range sensor, which detects the obstacles within the range of 5cm and protect the vehicle
against damage, by sending signal to Arduino, later it will send the signal to motor driver to take
deviation. The machine is fed with a program using Arduino IDE. Such that, initially vehicle will move
in a straight path, as the fence is detected vehicle will take 180ᵒ rotation on the right and again it takes
the straight path and move in another line so that all area of the lawn gets covered. Accelerometer is
used to maintain the speed of the robot. Four DC gear motors are used which are connected to the four
wheels of the vehicle, two on left and other two on right, which helps in rotation of the wheels and gear
motor are driven by the motor driver, which in turn connected to the microcontroller. DC motor is
connected to the trimmer mechanism, which is placed on front side of the vehicle and helps in working
of the trimmer. The motor is fixed to Scotch yoke mechanism, which is mounted on front of the robot.
Trimmer is designed in such a way that it cuts the grass efficiently.

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IMPLEMENTATION DETAILS

3.1 ARDIUNO BOARD

Fig.3.3Arduino Board

The Arduino Uno is an open-source microcontroller board based on

the Microchip ATmega328P microcontroller and developed by Arduino.cc. As shown in fig 3.3 the
board is equipped with sets of digital and analog input/output (I/O) pins that may be interfaced to
various expansion boards and other circuits. The board has 14 digital I/O pins (six capable
of PWM output), 6 analog I/O pins, and is programmable with the Arduino IDE (Integrated
Development Environment), via a type B USB cable. It can be powered by the USB cable or by an
external 9-volt battery, though it accepts voltages between 7 and 20 volts. The hardware reference design
is distributed under a Creative Commons Attribution Share-Alike 2.5 license and is available on the
Arduino website. Layout and production files for some versions of the hardware are also available.

Technical specifications
• Microcontroller: Microchip ATmega328P

• Operating Voltage: 5 Volts

• Input Voltage: 7 to 20 Volts

• Digital I/O Pins: 14

• UART: 1

• I2C: 1

• SPI: 1

• Analog Input Pins: 6

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• DC Current per I/O Pin: 20 mA

• Flash Memory: 32 KB of which 0.5 KB used by bootloader

• SRAM: 2 KB

• EEPROM: 1 KB

• Clock Speed: 16 MHz

3.2 SOLAR PANEL

Fig.3.4 Solar Panel

A solar cell panel, solar electric panel, photo-voltaic (PV) module or just solar panel is an assembly
of photo-voltaic cells mounted in a framework for installation shown in fig 3.4. Solar panels
use sunlight as a source of energy to generate direct current electricity. A collection of PV modules
is called a PV panel, and a system of PV panels is called an array. Arrays of a photovoltaic
system supply solar electricity to electrical equipment. Photovoltaic modules use light energy
(photons) from the Sun to generate electricity through the photovoltaic effect. Most modules
use wafer-based crystalline silicon cells or thin-film cells. The structural (load carrying) member of
a module can be either the top layer or the back layer. Cells must be protected from mechanical
damage and moisture. Most modules are rigid, but semi-flexible ones based on thin-film cells are
also available.

The cells are usually connected electrically in series, one to another to the desired voltage, and then
in parallel to increase current. The power (in watts) of the module is the mathematical product of
the voltage (in volts) and the current (in amperes) of the module. The manufacture specifications on
solar panels are obtained under standard condition which is not the real operating condition the
solar panels are exposed to on the installation site. A PV junction box is attached to the back of the

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solar panel and functions as its output interface. External connections for most photovoltaic
modules use MC4 connectors to facilitate easy weatherproof connections to the rest of some
system. A USB power interface can also be used.

3.3 CHARGE CONTROLLER

Fig.3.5 Charge Controller

The fig 3.5 shows the charge controller for solar panel. charge controller restricts the rate at which
current is added or drawn from an electric battery. With a charge controller, overcharging can be
prevented, and the battery can be protected against overvoltage or complete draining. The primary
function of a charge controller in a stand-alone photovoltaic (PV) system is to protect the battery
from overcharge and over discharge. Any system that has unpredictable loads, user intervention,
optimized or undersized battery storage, or any characteristics that would allow excessive battery
overcharging or over discharging requires charge controller and/or low-voltage load disconnect.

3.4 RELAY MODULE

Fig.3.6 Relay Module

The relay module is an electrically operated switch that can be turned on or off deciding to let
current flow through or not. They are designed to be controlled with low voltages like 3.3V or 5V
like your Arduino. As shown in fig 3.6 the Grove – 2-Channel SPDT Relay has two single pole –

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double throw (SPDT) switches. It only requires low-voltage and low current signals to control those
switches. Specifically, you can use 5V DC to control max.250V AC or 110V DC. The best thing is
that you can control the two channels separately. For instance, controlled by SIG1, you can connect
the COM1 to NC1 or NO1 as you wish. It is so convenient and reliable that it can be applied to
massive products or projects which need to switch high voltage/high current devices.

3.5 ACCELEROMERTER

Fig.3.7 Accelerometer

The ADXL335 is a small, low power, complete 3-axis accelerometer with signal conditioned
voltage outputs. It can measure the static acceleration of gravity in tilt-sensing applications, as well
as dynamic acceleration resulting from motion, shock, or vibration. As shown in fig 3.7 ADXL335
Accelerometer module consists of six pins i.e., VCC, GND, X, Y, Z, and ST. Using the
Accelerometer module with a microcontroller is very easy. Connect VCC and GND pins to 5V and
GND pins of Microcontroller. Also connect X, Y, and Z pins to the Analog pins of Arduino. The
basic structure of the accelerometer consists of fixed plates and moving plates. When the
acceleration is applied on an axis capacitance between fixed plates and moving plates is changed.
This results in a sensor output voltage amplitude which is proportional to the acceleration.
This ADXL335 Accelerometer module consists of an ADXL335 Accelerometer IC, Voltage
Regulator IC, resistors, and capacitors in an integrated circuit. Different manufacturers use a
different voltage regulator IC.

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3.6 VOLTAGE SENSOR

Fig.3.8 Voltage Sensor

As shown in fig 3.8 the voltage sensor module is a 0-25 DC voltage sensing device that is based on
a resistive voltage divider circuit. It reduces the input voltage signal by the factor of 5 and generates
a corresponding analog output voltage. The Voltage Sensor is basically a Voltage Divider
consisting of two resistors with resistances of 30KΩ and 7.5KΩ i.e., a 5 to 1 voltage divider. Hence
the output voltage is reduced by a factor of 5 for any input voltage The Arduino analogy input pin
accepts voltages up to 5V. Hence you can use this module easily with Arduino. If the controller has
3.3V systems, the input voltage should not be greater than 3.3Vx5=16.5V. Arduino AVR chips
have 10-bit AD, so this module simulates a resolution of 0.00489V (5V/1023), so the minimum
voltage of the input voltage detection module is 0.00489Vx5=0.02445V.

3.7 BATTERY

Fig.3.9 Battery

An electric battery is a source of electric power consisting of one or more electrochemical

cells with external connections for powering electrical devices. When a battery is supplying electric
power, its positive terminal is the cathode, and its negative terminal is the anode. The terminal
marked negative is the source of electrons that will flow through an external electric circuit to the
positive terminal. When a battery is connected to an external electric load, a redox reaction

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converts high-energy reactants to lower-energy products, and the free-energy difference is delivered
to the external circuit as electrical energy. Historically the term "battery" specifically referred to a
device composed of multiple cells; however, the usage has evolved to include devices composed of
a single cell.

Primary batteries are used once and discarded, as the electrode materials are irreversibly changed
during discharge; a common example is the alkaline battery used for flashlights and a multitude of
portable electronic devices. Secondary (rechargeable) batteries can be discharged and recharged
multiple times using an applied electric current; the original composition of the electrodes can be
restored by reverse current. Examples include the lead-acid batteries used in vehicles and lithium-
ion batteries used for portable electronics such as laptops and mobile phones.

3.8 ULTRA-SONIC SENSOR

Fig.3.10 Ultra-Sonic Sensor

An ultrasonic sensor is an instrument that measures the distance to an object using ultrasonic
sound waves. As shown in fig3.10 an ultrasonic sensor uses a transducer to send and receive
ultrasonic pulses that relay back information about an object’s proximity. Ultrasonic sensors
work by sending out a sound wave at a frequency above the range of human hearing. The
transducer of the sensor acts as a microphone to receive and send the ultrasonic
sound. Our ultrasonic sensors, like many others, use a single transducer to send a pulse and to
receive the echo. The sensor determines the distance to a target by measuring time lapses
between the sending and receiving of the ultrasonic pulse. The working principle of this
module is simple. It sends an ultrasonic pulse out at 40kHz which travels through the air and
if there is an obstacle or object, it will bounce back to the sensor. By calculating the travel
time and the speed of sound, the distance can be calculated. Ultrasonic sensors are a great
solution for the detection of clear objects. For liquid level measurement, applications that use
infrared sensors, for instance, struggle with this particular use case because of target
translucence.

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3.9 MOTOR DRIVER (L293D)

Fig.3.11 Motor Driver Module

L293D is a monolithic integrated, high voltage, high current, 4-channel driver. Basically, this
means using this chip you can use DC motors and power supplies of up to 16 Volts, that’s some
big motors and the chip can supply a maximum current of 600mA per channel. the L293D chip is
also what's known as a type of H-Bridge. The H-Bridge is typically an electrical circuit that
enables a voltage to be applied across a load in either direction to an output. The L293D is
quadruple high-current half-H drivers. As shown in fig 3.11 it is designed to provide bidirectional
drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive
inductive loads such as relays, solenoids, dc, and bipolar stepping motors, as well as other high-
current/high-voltage loads in positive-supply applications. All inputs are TTL compatible. Each
output is a complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo-
Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers
3 and 4 enabled by 3,4EN. When an enable input is high, the associated drivers are enabled, and
their outputs are active and in phase with their inputs. When the enable input is low, those drivers
are disabled, and their outputs are off and in the high-impedance state. With the proper data
inputs, each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or
motor applications.

3.10 DC MOTOR

Fig.3.12 DC Motor

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A DC motor is any of a class of rotary electrical motors that converts direct current electrical
energy into mechanical energy shown in fig 3.12. All types of DC motors have some internal
mechanism, either electromechanical or electronic, to periodically change the direction of current in
part of the motor. A simple DC motor has a stationary set of magnets in the stator and
an armature with one or more windings of insulated wire wrapped around a soft iron core that
concentrates the magnetic field. The windings usually have multiple turns around the core, and in
large motors there can be several parallel current paths. The commutator allows each armature coil
to be energized in turn and connects the rotating coils with the external power supply through
brushes. The total amount of current sent to the coil, the coil's size, and what it is wrapped around
dictate the strength of the electromagnetic field created. The sequence of turning a particular coil on
or off dictates what direction the effective electromagnetic fields are pointed. By turning on and off
coils in sequence, a rotating magnetic field can be created. These rotating magnetic fields interact
with the magnetic fields of the magnets in the stationary part of the motor (stator) to create a torque
on the armature which causes it to rotate. In some DC motor designs, the stator fields use
electromagnets to create their magnetic fields which allows greater control over the motor.

3.11 TRIMMER

Fig.3.13 Trimmer for Lawn Mowing Fig.3.14 Scotch Yoke Mechanism for Trimmer

The Scotch yoke (also known as slotted link mechanism) is a reciprocating motion mechanism,
converting the linear motion of a slider into rotational motion or vice versa shown in fig 3.14. The
piston or other reciprocating part is directly coupled to a sliding yoke with a slot that engages a
pin on the rotating part. The shape of the motion of the piston is a pure sin wave over time given a
constant rotational speed. This type of mechanism helps to operate the trimmer as shown in fig
3.14.

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CHAPTER 4

DISCUSSIONS, PERFORMANCE ANALYSIS AND PLAN OF

ACTION

In our project we are using 5 dc motors of 5kg/cm of torque and rpm of 60, the voltage of 12volts.
So, we have to find total current required to this robot to choose the battery capacity. And we have
to find the total power for the robot to choose the solar panel to the project.

Here we are using motor rating of 5kg/cm of torque so T = 5

The voltage rating of the motor is 12 volts so V=12

First, we have to find the total power

Total power = torque * omega where

P=T*W P= power in watts
To find omega T= torque in kg/cm
W=rpm*2pi/60 W= omega
=60*2pi/60 V= voltage in volts
=6.2831 I= current in Amps

To find total power

P=T*W
=5*6.2831
P=31.4155 =~ 32 watts

To find current of each motor

Current = power/voltage
I=p/v
I=32/12
I=2.66A for each motor
Total current of 5 motors
= I*5
= 2.66*5
For 5 motors 13.3 A

The total current of all motors is 13.3A and the Arduino maximum current consumption is 150 mA.
So, we can use 15Ah capacity of battery.

The total power required for the robot is 32 watts, so, we can use 40 watts/h solar panel.

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Automatic Solar Grass Cutter with Lawn Coverage 2021-22

PLAN OF ACTION

WORK DONE:
• Team formation and allocation of guides.
• Searching for ideas, papers and presenting the ideas and fine tuning of ideas and finalization
of ideas and topics.
• Title finalization and related literature survey.
• Collection of literature and finalization of objectives.
• Problem identification.
• Solving problems and finalizing ideas.
• Block diagram formed.
• Selecting the components required for model preparation.
• Circuit diagram formed.

NEXT PLAN OF ACTION

• Assembling the components.

• Preparing model.
• Testing of model
• If any modification needed that has to corrected.
• Tabulating the results.

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Automatic Solar Grass Cutter with Lawn Coverage 2021-22

RESULTS

Various problems and factor related to design, selection of components and their applications
were encountered during implementation of the robot. The programming of Arduino board using
Arduino IDE software programming language and debugging of process control was another challenge
to the project. The movements and direction control by sensors and controller will achieved by
Arduino. The use of updated literature review and continuous research which was a major source to
understand the issues related to robotic movement and control. The proposed trimmer type mowing
system performs the mowing at a bristly grass area in this type of eccentricity of the cam because of the
cutting force improvement and could cut a hard steam.

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Automatic Solar Grass Cutter with Lawn Coverage 2021-22

CHAPTER 5
CONCLUSION

This project has been made with an idea of making an eco-friendly and an economical type of
grass cutter. Our intention is to make fully automated process of grass cutting process. In our project
solar panel is implemented for the source of power required. For continues and long-lasting operation
we have used two batteries and battery management system has been incorporated. This robot can
operate in all type of surface.

FUTURE SCOPE

In future the project can be used in agriculture for crop harvesting with some external attachment
fixed to it. It requires some modification in design and in working of the robot. There should be a crop
holder and crop collector attachments to be incorporated so that the crop can be harvested without
damaging the grains. Thus, an effective way of automatic crop harvesting can be achieved.

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BIBLIOGRAPHY

REFERED TEXTBOOK

1. Textbook: electrical machines M V Deshpande 2013

2. Textbook: electrical machines R K Srivastava 2nd edition 2013

REFERANCE PAPERS

1. Taj Mohammad Baloch and Timothy Then Ching Kae “Design and modeling a prototype of a
robotic lawn mower” 2008 IEEE publications.
2. Guo-Shing Huang Hsiung-Cheng Lin Keng-Chih Lin Shih-Hung Kao “Intelligent auto-saving
energy robotic lawn mower” 2010 IEEE publications
3. Yuki Iwano, Takashi Hasegawa, Akihiro Tanaka “Robust grass boundary for lawn mower with a
novel design of detection device” 2016 IEEE publications.
4. Huiwen Guo, Xinyu Wu, Jianquan Sun, Yongsheng Ou and Wei Feng
“Development of the trimmer-type mowing system against a slop” 2017 IEEE publications.
5. Chi-Wei Chang, Jiang-Ming Chen, and Wei-Kung Wang “solar powered based automatic lawn
mower” 2018 IEEE publications.
6. Atsuhiro Aoki, Hideaki Shimamura, Munetaka Nakata, Kazuhiro Motegi1 and Yoichi Shiraishi1
“A New Skid Suppression Method for Avoiding Stuck State in Work Vehicle’s Control” 2019
SICE publications
7. M. Kawabata and Y. Mori, “Technology for Simulating Dynamic Motion in Hydraulic
Excavators” August 2012 IEEE publications.
8. M. Broy, M. Feilkas, M. Herrmannsdoerfer, S. Merenda, and D. Ratiu,
“Seamless Model-Based Development: From Isolated Tools to Integrated Model Engineering
Environments”, April 2010 IEEE publications.
9. Y. Shimamura, “A Motor Modelling for Micro-Mobility by using Model Based Development
method,” Proceedings of 57th Joint Conference on Automatic Control, November 2014
publications.
10. K. Motegi, A. Aoki, S. Sekine, M. Nakata, and Y. Shiraishi, “A Proposal of General-Purpose
Control Framework for Motorized Mobilities”, Proceedings of the SICE Annual Conference
11. K. Fujii and H. Fujimoto, “Slip ratio control based on wheel speed control without detection
vehicle speed for electric vehicle”, IEEE of Japan Technical Meeting Record, 2007

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