solar grass cutter

SOLAR GRASS CUTTER

NEW HORIZON COLLEGE OF ENGINEERING, DEPT OF ECE Page 1

CHAPTER 1

INTRODUCTION

In recent days where technology is merging with environmental awareness, consumers

look in to the methods where in they can reduce their own carbon footprints. Pollution is

manmade and we see it everywhere including our own homes. Many development work is

pending still there are some of the labor work that requires lots of income distribution for

small work. It is required that certain work should have some alternatives due to which the

labor power wastages can be minimized. As everything in the world is automated so we make

a robot that is able to cut the grass, clean the floor and also sprinkles water to the lawn. The

project work will be done according to application based fabrication. The system will also

have some automation work for the guidance.

The system has a battery which is the power source and solar panel is attached on

top of the device. No one takes pleasure in moving a grass cutter with standard motors

manually, it is also very inconvenient to do so. Cutting the grass or floor cleaning cannot be

accomplished easily by the elderly and the younger ones. The grass cutter create noise

pollution due to its loud engine, also it creates air pollution due to the combustion that takes

place within the engine. A motor powered engine requires periodic maintenance like

changing the engine oil.

Though electric grass cutters are environmental friendly, they too can be an inconvenience.

Both electric grass cutters and motor powered grass cutters are hazardous and they cannot be

used by all. In case if electric grass cutter is corded, moving could be dangerous and

problematic. In this project the prototype will be charged with solar energy.

The main objective is to come up with a grass cutter that is easy to operate and

maintain, portable and durable. It is one of the useful method for grass cutter which is similar

to lawn cutter using display and keypad.

The prototype consists of a blade which is operated with the help of motor the power for

motor is supplied by the battery which in turn can be charged with the help of solar panel or

external power supply. The construction is similar for the floor cleaner where in the blade is

replaced by mopping brush. For sprinkler a pump will be added which will be immersed in a

tub of water through which the water will be pumped out for sprinkling.

The continous increase in the cost of fuel and emission of gases into atmosphere has made

SOLAR GRASS CUTTER


Necessary to use the abundantly available source of energy that is the solar energy for our

further needs. A solar grass cutter is a machine that uses a sliding blade to cut the lawn in

equal heights. It is an autonomously mover grass cutter that requires minimal human effort.

Solar grass cutter is one of the device that has a simple construction and also it is

sophisticated. This is one of the method by which pollution can be controlled. The cost also

will be reduced as we are using only the renewable source of energy. Some preset methods

are installed within the robot that helps it to cut the grass without human interaction.

The first commercial robot that was developed for grass cutting was the mowbot in 1969.

The growth of robotic mower sales was 15 times that of the traditional ones in the year 2012.

In this project we implement the voice controlled method to control the motion of the robot.

We write the program and dump it onto the microcontroller which contains the instructions

needed. We can control the complete device with the help of mobile application.

SOLAR GRASS CUTTER


CHAPTER 2

LITERATURE SURVEY

1. Int. Journal of Engineering Research and Applications ISSN: 2248-9622, Vol. 4, Issue

9( Version 3), September 2014, pp.10-21 . In this paper it provides the facility of

charging the batteries when the device is in motion. It also helps the common man as

it has no fuel cost, no residue and no pollution, due to less number of moving

components.

2. Guo-shing Huang and Keng-Chih Lin proposed “Intelligent auto saving energy

robotic lawn mower”. IEEE transaction on robotics. Pg 4130 to 4136 in 2010. The

main aim of this paper is to make a solar powered automated robotic system that helps

to trim the grass in different designs and in different patterns with less human support.

It is also advantageous as the used components are of low cost.

3. Junho Yang and Soon-Jo Chung proposed “vision-based localization and mapping for

an autonomous mower”. IEEE intelligent robots and systems (IROS) nov 3-7 tokyo,

japan. In 2013 MowBot(Jan,1969)”.2011-10-14.Retrived 2013-06-08. In this paper a

vision based localization and mapping algorithm for an autonomous mower is

produced. A boundary estimation methods using localization result was designed.

4. "Rise of the Lawn-Cutting Machines". 2012-10- 25. Retrieved 2012-11-15. In this

paper it tells that the system can be operated at night also as the batteries will be

charged during the day time. It also tells that we can preserve non renewable sources

of energy and also reduce air and water pollution.

5. Knier, G (2010). Science.nasa.gov//…solar cells/ [6]Mgbemu, E.N. (2005). Modern

Physics, First Edition. Khurmi, R.S and Gupta J.K. (2000). Theory of Machines, First

Edition. Eurasia (P) Ltd, India. pp378. The main aim of this paper is to reduce and

eliminate green house gas emissions which are the major cause of climatic change. It

will meet the low cost of operation since there is no cost of fueling.

SOLAR GRASS CUTTER


6. Singh Sadhu (2005): Machine Design Khanna Publishers Delhi pp 557-704. This

paper shows that the lawn mover be mower is developed for the use of residences and

establishments that have lawns where tractor driver movers cannot be used.

7. NYSDEC (2012). Division of air Research SIP Planning Department of

Environmental Conservation, New York. Reducing Air pollution from lawn and

garden equipment. www.dec.ny.gov/chemical/8554.hml Omoniyi, J. (2010). Design

and Construction of a Reel Mower. HND Project report. Unpublished. Department of

Agricultural Engineering, Lagos State Polytechnic, Ikorodu. This shows the reduction

in the height of stubborn grass.

SOLAR GRASS CUTTER


CHAPTER 3

PROBLEM IDENTIFICATION AND FOCUS OF THE

PROJECT

3.1Problem identification

The device is a machine that uses blades to trim the grass at even height, mopping brush to

clean the floor. Rotary movers are thos movers that employs blade that rotates about a

vertical axis. Cylindrical movers or reel movers are those which employs a blade assembly

that rotates about horizontal axis. Many designs are been made where each suited for a

particular purpose only. The smallest type of devices made are just for small residential areas,

or small residential lawns or gardens, whereas large , self sustained, ride on movers are

suitable for lawns and the largest, multi gang movers that are pulled behind tractors are

designed for large expanses of grass like a municipal parks and golf courses.

The problems with grass cutting robots that are available are as follows:

Power consumption:

All grass cutters that are available are electrical powered or petro chemical powered

that consumes large amount of conventional source of energy

Time consumption:

For trimming the grass present in different patterns and different designs it takes

larger amount of time.

Safety

Human effort:

The moving work will always require the help of a worker for the proper

output/result.

3.2 Focus of the project The project work is focused on preparing an

advantageous power source for grass cutting, floor cleaning and sprinkling operation which is

not dependent on the climates condition and is punctual on its work. Moving the grass cutters

with a standard motor powered grass cutters is an inconvenience, and no one takes pleasure in

SOLAR GRASS CUTTER


it. Cutting grass cannot be easily accomplished by elderly, younger, grass cutter moving with

engine create noise pollution due to the loud engine, and local air pollution due to the

combustion in the engine. Also, a motor powered engine requires periodic maintenance such

as changing the engine oil. Even though electric solar grass cutter is environmentally

friendly, they too can be an inconvenience. Along with motor powered grass cutter, electric

grass cutters are also hazardous and cannot be easily used by all. Also, if the electric grass

cutter is corded, mowing could prove to be problematic and dangerous. The prototype will

also be will be charged from sun by using solar panels.

SOLAR GRASS CUTTER


CHAPTER 4

BLOCK DIAGRAM

4.1 Block diagram of grass cutter

Fig 4.1: Block diagram

DC motor

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4.2 Solar panel

Fig4.2: solar panel

A solar panel is a set of solar photovoltaic modules which are electrically connected and

mounted on a supporting structure. A photovoltaic module is a package, connected assembly

of solar cells. The solar panel is also used as a component of a larger photovoltaic system in

order to generate and to supply electricity in commercial and residential applications. As a

single module produces only a limited amount of power we generally use multiple modules.

A photovoltaic system generally consists of an inverter, an array of photovoltaic modules,

interconnection wires, battery pack for storage and an optionally a solar tracking mechanism.

The photovoltaic modules use energy from sun for generating electricity through photovoltaic

effect. The structural member of the module will either be top or the back layer. Cells must

be connected in series with one other electrically, they must be protected from moisture and

mechanical damages. To facilitate waterproof connections to the rest of the systems most

photovoltaic modules use MC4 connectors.

The electrical connections are in series in order to achieve desired voltage and it is parallel in

order to achieve desired current capability. In special photovoltaic modules if the light is to

be focused by the lenses or the mirrors onto the smaller cells then modules should include

concentrators. This will enable the use of the cells with high cost per unit area in cost

effective way. Solar panels also use brackets, reflector shapes, metal frames consisting of

racking components and troughs to better support the panel structures.

Depending on the construction PV modules produce electricity from a range of frequencies of

light usually it cannot cover the entire solar range. Therefore much of the sunlight that is

incident is being wasted by modules. They can give higher efficiencies if illuminated with

SOLAR GRASS CUTTER


monochromatic light. Another method of increasing the efficiency to 50% us by splitting the

light into six to eight different wavelength ranges that produce different color of light and

direct the beams onto different cells tuned to those ranges. Christmas light effect in which the

micro inverted solar panels are wired in parallel , that produce more output that in case of the

panels connected in series connection. The micro inverters work independently due to which

each panel contributes its maximum possible output for the available sunlight.

Efficiencies can be calculated by the maximum power point(MPP) value of the solar panel.

The maximum power point consists of MPP voltage and MPP current. It is the capacity of the

solar panel and the higher value can make higher MPP. The solar power converts the DC

power to AC power by performing MPPT process. Most common application of the solar

panel is solar water heating systems.

4.3 DC motor: It is device that converts direct current electrical energy into mechanical energy. The most

common types rely on the forces produced by magnetic fields. Nearly all types of DC motors

have some internal mechanism, either electromechanical or electronic, to periodically change

the direction of current flow in part of the motor.

A DC motor's speed can be controlled over a wide range, using either a variable supply

voltage or by changing the strength of current in its field windings. Small DC motors are used

in tools, toys, and appliances. The universal motor can operate on direct current but is a

lightweight motor used for portable power tools and appliances. Larger DC motors are used

in elevator and hoists, or in drives for steel rolling mills. The advent of power electronics has

made replacement of DC motors with AC motors possible in many applications.

4.4 Accelerometer: It is a device that is used to measure acceleration. Vibration on cars can be measured by this

device it also helps in safety installations and process control systems. Accelerometers also

have applications in biological sciences.

4.5 Hardware requirements:

Solar panel

Atmega 32 microcontroller

Dc motor

https://en.wikipedia.org/wiki/Universal_motor

https://en.wikipedia.org/wiki/AC_motors

SOLAR GRASS CUTTER


Transformer

Resistors

Capacitors

Diodes

4.6 Software requirements:

Atmel studio

4.7 Operation principle: Battery is used to convert the electrical energy into mechanical energy through the

blades and mopping brush that are designed for cutting and cleaning purpose respectively.

The electric circuit helps in transferring of power from battery to run th D.C. motor, whilst

the solar panel continuously recharge the battery while in its operation.the cutting blades or

the mopping brush tap power from the D.C. motor. When the power switch is on, the

electrical energy from the battery powers the motor which in turn powers the blade or the

brush. The battery discharge is compensated by the solar panel that generates the current to

charge the battery. Thus the rotating blades will continuously cut the grass and the brush

continuously cleans the floor as the mower is propelled forward.

SOLAR GRASS CUTTER


CHAPTER 5

MICROCONTROLLER

5.1 NodeMCU:

Fig 5.1: model of nodemcu

NodeMCU is an open source IOT platform that includes firmware that runs on ESP8266

WIFI SOC from Espressif systems, and the hardware that is based on ESP-12 module. By

default the term NodeMCU refers to firmware rather than the development kits. The Lua

scripting languages are used in the firmware. The firmware is based on the Espressif NON

OS SDK 2.2.0 and uses the file systems based on spiffs.

5.2 ESP8266

It is a low cost WI-FI micro chip with complete TCP/IP stack and microcontroller

capability produced by Chinese manufacturer. This allows the microcontroller to connect to a

WI-FI network and make simple. Hayes style commands are used for the TCP/IP

connections.

SOLAR GRASS CUTTER


5.3 Features 32-bit RISC microprocessor

MEMORY:

32 KiB instruction RAM.

32 KiB instruction cache RAM.

80KiB user data RAM.

60 KiB ETS system data RAM.

External QSPI flash: up to 16 MB is supported.

16 GPIO pins.

10-bit ADC.

WEP or WPA/WPA2 authentication or open networks.

Integrated TR switch, balun, LNA, power amplifier and matching networks.

23 I/O programmable lines are available.

Integrated PLL, regulators, and power management units.

Operating temperature range -40C ~ 125C.

FCC, CE, TELEC,WIFI Alliance ans SRRC certified.

+20dBm output power in 802.11b mode.

Wakeup and transmit packets in <2ms.

Standby power consumption of <1.0mW.

Deep sleep power is <10uA.

Power down leakage current <5uA.

Supports antenna diversity.

SOLAR GRASS CUTTER


5.4 Parameters Categories Items Value

Hardware parameters

Peripheral bus UART/SDIO/SPI/IR/I2S/12C

remote control

GPIO/PWM

Operating voltage 3.0 – 3.6 V

Operating current Average value: 80Ma

Operating Temperature

range

40 – 125 C

Package size 5*5mm

Ambient temperature range Normal temperature

External interface N/A

Software parameters

Security WPA/TKIP/AES

Encryption WEP/TKIP/AES

Wi-Fi mode Station/softAP/softAP+station

Software development Supports cloud server

development/SDK for custom

firmware development

Network protocols IPv4, TCP/UDP/HTTP/FTP

Firmware upgrade UART download

User configuration AT instruction set, cloud

server, android /ios app

Wi–Fi parameters Certificates FCC/CE/TELEC/SRRC

Frequency range 2.4G-2.5G

Tx power 802.11 g : +17 dBm

802.11 b : +20dBm

802.11 n : +14dBm

Rx sensitivity 802.11 g : -75dbm

SOLAR GRASS CUTTER


802.11 b : -91dbm

802.11 n : -72dbm

Wi-Fi protocols 802.11 b/g/n

Types of antennas PCB Trace, IPEX, external

Connector, ceramic chip.

SOLAR GRASS CUTTER


CHAPTER 6

PIN DESCRIPTION

6.1 Pin diagram

Fig 6.1: pin diagram

The below table describes the general functions of each pins

Pin Name Type Function

1 VDDA P Analog power 3.0 – 3.6V

2 LNA I/O RF antenna interface chip output impedance =

50ohm . no matching required but we

recommend that the n-type matching network is

retained

3 VDD3P3 P Amplifier power 30-3.6V

4 VDD3P3 P Amplifier power 3.0-3.6V

5 VDD_RTC P NC(1.1V)

6 TOUT I ADC pin can be used to check the power voltage

of VDD3P3 or the input voltage of TOUT. These

two functions cannot be used simultaneously.

7 CHIP_EN I Chip enable.

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Pin Name Type Function

8 XPD_DCDC I/O Deep sleep wakeup; GPIO 16

9 MTMS I/O GPIO14; HSPI_CLK

10 MTDI I/O GPIO12; HSPI_MISO

11 VDDPST P Digital I/O power supply(1.8-3.3V)

12 MTCK I/O GPIO13; HSPI_MOSII; UART0_CTS

13 MTDO I/O GPIO15; HSPU_CS; UART0_RTS

14 GPIO2 I/O UART Tx during flash programming; GPIO2

15 GPIO0 I/O GPIO0; SPL_CS2

16 GPIO4 I/O GPIO4

17 VDDPST P Digital I/O Power supply (1.8-3.3V)

18 SDIO_DATA_2 I/O Connect to SD_D2(Series R=200ohm);SPIHD,

HPIHS; GPIO9

19 SDIO_DATA_3 I/O Connect to SD_D3(series R=200ohm); SPIWP;

HSPIWP; GPIO10

20 SDIO_CMD I/O Connect to SD_CMD(series R=200ohm);

SPI_CS0; GPIO11

21 SDIO_CLK I/O Connect to SD_CLK(series R=200ohm);

SPL_CLK; GPIO6

22 SDIO_DATA_0 I/O Connect to SD_D0(series R=200ohm);

SPI_MISO; GPIO7

23 SDIO_DATA_1 I/O Connect to SD_D1(series R=200ohm);

SPI_MOSI; GPIO8

24 GPIO5 I/O GPIO5

25 U0RXD I/O UART Rx during flash programming; GPIO3

26 U0TXD I/O UART Tx during flash programming; GPIO1;

SPI_CS1

27 XTAL_OUT I/O Connect to crystal oscillator output, can be used

to provide BT clock input

28 XTAL_IN I/O Connect to crystal oscillator input

29 VDDD P Analog power 3.0-3.6V

30 VDDA P Analog power 3.0-3.6V

31 RES12K I Serial ground connection with 12Kohm resistor

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and connect to the ground

32 EXT_RSTB I External reset signal

Table 2: functions of the pins

6.2 Memory organization ESP8266 Wi-Fi SOC is embedded with memory controller including ROM AND SRAM.

The memory unit can be visited by the MCU through AHB, ibus and dbus interface. User

program must be stored in external SPI flash as there is no programmable ROM IN SoC.

Theoretically upto16Mbytes capacity is supported.

Suggested SPI flash memory capacity

When OTA is enabled; 1Mbyte of flash memory can be supported.

When OTA is disabled; 512Kbyte flash memory can be supported.

6.3 32-bit Tensilica processor The ESP8266EX microcontroller will integrate a Tensilica L106 32-bit RISC processor. This

used to achieve a maximum speed of 160 MHz and also it to achieve extra low power

consumption. The Real-Time operating system (RTOS) and Wi-Fi stack allows about 80% of

the processing power to be available for user application programming and development.

Fig 6.3: Battery model

6.4 Power saving architecture It is engineered for mobile devices, IoT applications and wearable electronics, the

ESP8266EX achieves low power consumption with the combination of several proprietary

technologies. Generally the power saving architecture features three modes of operation:

active mode, sleep mode and deep sleep mode. This will allow the battery powered designs to

run longer.

SOLAR GRASS CUTTER


Wakeup / active state: here the crystal oscillator and the PLLs are enabled; in this the

system moves from PWR state from the sleep state.

Sleep state: here only RTC will be operating. The crystal oscillator will be disabled.

Any wake up vents like MAC, RTC timer, host, external interrupts will put the chip

into active state.

Deep sleep state: complete chip is powered off only the RTC will be powered on. The

basic Wi-Fi connecting information will be kept in the recovery memory of the RTC.

6.5 Compactness ESP8266EX is integrated with antenna switches, power amplifier, RF balun, 32-bit tensilica

processor, standard digital peripheral interfaces, filters, power management modules and low

noise amplifiers. These complete things are included in one small package that is our

ESP8266EX.

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6.6 High durability ESP8266EX, due to its wide operating temperature ranges it is capable of functioning

consistently in industrial environments. The chip offers reliability, compactness and

robustness, because of its highly integrated on-chip features and minimal external discrete

component count.

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CHAPTER 7

BLOCK DIAGRAM OF MICROCONTROLLER

7.1 Block diagram

Fig 7.1: ESP89266EX block diagram

ESCP (Espresssif system smart connectivity platform)is a set of high integration, wireless

SOCs, high performance, designed for power and space constrained mobile platform

designers. ESCP is used to produce unsurpassed ability to embed Wi-Fi capabilities to within

other systems or too function as standalone application with minimal space requirement and

with lowest cost.

ESP8266EX offers self contained and complete Wi-Fi networking solution. It can be used to

offload Wi-Fi networking functions from another application processor or can be used to

host the application. The ESP8266EX boosts up directly from an external flash when

ESP8266EX hosts the application. On the other side wireless internet access can be added to

any microcontroller based design with simple connectivity when it is served as Wi-Fi adapter.

ESP8266EX is one of the most integrated Wi-Fi chip in the industry. It integrates the low

noise amplifier, antenna switches, filters, power management modules, and the entire solution

including front-end module, it is designed to occupy the minimal PCB area.

ESP8266EX is generally integrated with external sensors and GPIOs for application specific

devices. Besides wi-fi functionality It also integrates an enhanced version of Tensilica’s L106

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diamond series 32-bit processor, with on chip SRAM. The sample code for some of its

application is provided by software development kit (SDK).

ESCP demonstrates sophisticated features that include adaptive radio biasing for low power

operation, advance signal processing, fats sleep/wake contest switching for energy efficiuent

VoIP, and spur cancellation and radio co existence features for common cellular, DDR, LCD,

LVDs, Bluetooth interference migration.

7.2 Major application of ESP8266 in the field of IoT include

Mesh network

Wearable electronics

Smart plug and lights

Home automation

Sensor networks

Wi-Fi location aware devices

SOLAR GRASS CUTTER


CHAPTER 8

FLOW DIAGRAM:

Fig 8.1 : flow diagram of grass cutter

Sun

Solar panel

Solar charger

battery

Motor driver circuit

Motors wheels blade/brush

run

stop

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8.2 Methodology The prototype is made up of an alternator, a battery, two collapsible blades, an induction

motor and a link mechanism. The heart of the machine is the D.C. motor , it provides the

driving force for the collapsible blades. The driving force is achieved by the combined effect

of mechanical action and the forward thrust that is due to the cutting blades and the mower

respectively. The charging and power system comprises of an alternator that charges the

battery when they are in operation.

Battery

Fig 8.2: circuit diagram of the solar grass cutting robot

8.3 Methods and materials: Working principle of the prototype is, it has panels

mounted in a particular arrangement through which it can easily receive the solar radiation

with high intensity. Generally the panels are placed 45 degrees to the sunlight. The solar

energy is converted into electrical energy with the help of solar panels. The electrical energy

converted will be stored in the batteries with the help of solar charger. The main purpose of

using solar charger is to increase current from the panels when the batteries are charging, it

also helps in connecting the solar panels automatically when the charge in the batteries are

low, also it helps in disconnecting the batteries from the panels when it is fully charged. The

motor is connected through a motor driver circuit that controls the motor performance. The

Solar panel DC motor

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motor and the motor driver circuit is connected with the help of connecting wires. Motor

driver circuit helps in start and stop operation of the motors.

The power transmits to the motor which makes the blade

or the mopping brush to rotate with high speed and makes to cut the grass at even height and

also cleans the floor. In the similar way pump will push the water into sprinkler ad the water

sprinkles out. The cutter and the motors are controlled by the microcontroller. Also it helps to

move the device. Once after the code is dumped on to the microcontroller, it provides an IP

address which is used in the mobile application that we use. Through the mobile application

we can control the complete device. Voice recognition is also done in the same mobile

application.

SOLAR GRASS CUTTER


CHAPTER 9

RESULT

Our project entitled as “SOLAR GRASS CUTTER” is successfully completed with

the satisfactory results. This is more suitable for common man to use this type of device as it

is more advantageous than the rest. It has no fuelcost, less wear an dtear as the number of

moving components are very less, no pollution, no fuel residue and one more main reason is

that it uses solar energy as its source which is a renewable resource that is available

abundantly in nature. Also it gives very less physical exertion to people and also it is easier to

handle. It will be easier for the next set of people who wish to continue with this project for

further modifications.

This system has a facility of charging the batteries when it is in process/when the device is in

motion. The device can also be operated for grass cutting, floor cleaning and for sprinkling

even during night times, as the batteries will be charged during the day time.

9.1 Output

Fig 9.1: final output

SOLAR GRASS CUTTER


CHAPTER 10

Advantages, Applications and limitations:

10.1 Advantages

Easy to move from one place to another.

Compact size.

Operating principle is simple.

Non-skilled person also operate this machine.

10.2 Limitations Large time required to remove the grass

It should be Manually operated

Difficult to operate in rainy season.

10.3 Applications

In cricket ground.

In football ground.

All garden

All Playground

Floor cleaning

SOLAR GRASS CUTTER


CHAPTER 11

FUTURE SCOPE AND CONCLUSION

11.1 Future scope This device/ system is useful at the basic level of grass cutting. As we have a

disadvantage that this device might not cut the grass at the places where some obstacles are

present, in future the robot may be interfaced with a wireless technology where the robot can

be controlled manually and make sure that it doesn’t move out of the desired area.

11.2 Conclusion As we know robotics is a vast field that has different combination of

technology, this will also help to reduce human effort and helps in providing maximum

efficient output. Advantages of this device are bulk production and low cost, one

disadvantage is that sometimes it responds very slowly. So in real time high end DSP is

recommended that can be processed much faster. Now-a-days lots of energy are wasted in

moving such device also requires lots of human effort.

By using this kind of system we can preserve some of

our non renewable resources of energy such as gasoline, petrol, etc. various types of

pollutions like air pollution, noise pollution can also be reduced by using this system. As we

use abundantly available solar energy as the source, we also save electricity.

SOLAR GRASS CUTTER


CHAPTER 12

REFERENCES [1] Int. Journal of Engineering Research and Applications ISSN: 2248-9622, Vol. 4, Issue 9(

Version 3), September 2014, pp.10-21

[2] Guo-shing Huang and Keng-Chih Lin proposed “Intelligent auto saving energy robotic

lawn mower”.IEEE transaction on robotics. Pg 4130 to 4136 in 2010.

[3] Junho Yang and Soon-Jo Chung proposed “vision-based localization and mapping for an

autonomous mower”. IEEE intelligent robots and systems (IROS) nov 3-7 tokyo, japan. In

2013 MowBot(Jan,1969)”.2011-10-14.Retrived 2013-06-08.

[4] "Rise of the Lawn-Cutting Machines". 2012-10- 25. Retrieved 2012-11-15.

[5] The Best Robot Lawn Mower On The Market. 2014-05-09. Retrieved 2014-05-10

[6] Knier, G (2010). Science.nasa.gov//…solarcells/ [6]Mgbemu, E.N. (2005). Modern

Physics, First Edition. Khurmi, R.S and Gupta J.K. (2000). Theory of Machines, First

Edition. Eurasia (P) Ltd, India. pp378.

[7] Singh Sadhu (2005): Machine Design Khanna Publishers Delhi pp 557-704.

[8] NYSDEC (2012). Division of air Research SIP Planning Department of Environmental

Conservation, New York. Reducing Air pollution from lawn and garden equipment.

www.dec.ny.gov/chemical/8554.hml Omoniyi, J. (2010). Design and Construction of a Reel

Mower. HND Project report. Unpublished. Department of Agricultural Engineering, Lagos

State Polytechnic, Ikorodu.

INDEX

#include <ESP8266WiFi.h>

WiFiClient client;

WiFiServer server(80);

const char* ssid = "gowtham";

const char* password = "gowtham96";

String command = ""; // Command received from Android device

// Set Motor Control Pins

int rightMotor2 = 16; // D7 - right Motor -

int rightMotor1 = 5; // D8 - right Motor +

int leftMotor2 = 0; // D3 - left Motor -

int leftMotor1 = 4; // D4 - left Motor +

int eneLeftMotor = 12; // D6 - enable Mortor Left

int eneRightMotor = 14; // D5 - enable Mortor Right

int a=A0;

int pump = 10;

int blade = 3;

void setup()

{

Serial.begin(115200);

pinMode(eneLeftMotor, OUTPUT);

pinMode(eneRightMotor, OUTPUT);

pinMode(leftMotor1, OUTPUT);

pinMode(10, OUTPUT);

pinMode(3, OUTPUT);

pinMode(leftMotor2, OUTPUT);

pinMode(rightMotor1, OUTPUT);

pinMode(rightMotor2, OUTPUT);

digitalWrite(eneLeftMotor, LOW);

digitalWrite(eneRightMotor, LOW);

digitalWrite(leftMotor1, LOW);


digitalWrite(rightMotor1, LOW);


digitalWrite(10, LOW);


connectWiFi();

server.begin();

}

void loop()

{

//int b=analogRead(a);

//Serial.println(b);

client = server.available();

if (!client) return;

command = checkClient ();

if (command == "forward" || command == "frente" || command == "a frente")

forwardMotor();

else if (command == "reverse" || command == "reverso" || command == "voltar")

reverseMotor();

else if (command == "left" || command == "esquerda") leftMotor();

else if (command == "right" || command == "direita") rightMotor();

else if (command == "stop" || command == "pare" || command == "parar" ||

command == "parando") {

stopMotor();



}

else if (command == "start pump") {

digitalWrite(3, HIGH);

}

else if (command == "stop pump") {


}

else if (command == "cleaning start") {

digitalWrite(10, HIGH);

}

else if (command == "cleaning stop") {


}

sendBackEcho(command); // send command echo back to android device

command = "";

}

/* command motor forward */

void forwardMotor(void)

{

digitalWrite(eneLeftMotor, HIGH);

digitalWrite(eneRightMotor, HIGH);

digitalWrite(leftMotor1, HIGH);


digitalWrite(rightMotor1, HIGH);


}

/* command motor backward */

void reverseMotor(void)

{







}

/* command motor turn left */

void leftMotor(void)

{







}

/* command motor turn right */

void rightMotor(void)

{







}

/* command motor stop */

void stopMotor(void)

{

digitalWrite(eneLeftMotor, LOW);

digitalWrite(eneRightMotor, LOW);





}

/* connecting WiFi */

void connectWiFi()

{

Serial.println("Connecting to WIFI");

WiFi.begin(ssid, password);

while ((!(WiFi.status() == WL_CONNECTED)))

{

delay(300);

Serial.print("..");

}

Serial.println("");

Serial.println("WiFi connected");

Serial.println("NodeMCU Local IP is : ");

Serial.print((WiFi.localIP()));

}

/* check command received from Android Device */

String checkClient (void)

{

while (!client.available()) delay(1);

String request = client.readStringUntil('\r');

request.remove(0, 5);

request.remove(request.length() - 9, 9);

return request;

}

/* send command echo back to android device */

void sendBackEcho(String echo)

{

client.println("HTTP/1.1 200 OK");

client.println("Content-Type: text/html");

client.println("");

client.println("<!DOCTYPE HTML>");

client.println("<html>");

client.println(echo);

client.println("</html>");

client.stop();

delay(1);

}

Date post:	28-Mar-2023
Category:	Documents
Upload:	khangminh22
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