Abstract

We live in a world of technology where everything is built for the ease of mankind and the
efforts are done to use the already available resources in the best possible way. This is an idea of
a grass cutter that incorporates various features from different types of grass cutting techniques.
In this project, we have developed a fully automatic grass cutter which works on the principle of
environment friendly power source and flexible enough that it can be turned on and off remotely
by an android application. The machine will be powered by solar energy and will use the stored
energy in possible optimized way. The purpose of constructing this machines to devise an
efficient machine which is not only user friendly but environment friendly as well. The machine
will be featured with grass cutting of variable lengths having a physical boundary. Sensors are
needed to make the device sophisticated enough to detect and avoid any obstacles coming in the
way of the device. That part of the project depends upon the programming and many algorithms
can be devised to perform such a task. This project allows the device to work above all energy
constraints present in the country these days as it will use the energy acquired from sunlight
through a solar panel. The project, in more than one ways, will help the users to save their
resources.

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 CHAPTER 1
INTRODUCTION

2
1. Introduction
Growing energy crisis throughout the world are forcing the industrialists or other holders to
change their means and find beneficial solutions to resolve the energy crisis of the world. In this
regard, energy is being produced from the nature or such resources that are not going to be
extinct in the future. So to save the world from pollution and fuel costs, alternatives are used.
This project strongly works on this principle because the need of the hour is to find alternative
resources that are environmental friendly as well as reliable for long run.
Industrial world runs on a basic principle and that principle is automation. Almost every other
thing in the industry is being automated to get high precisions or speed that a man cannot acquire
or to shift the workload from human body to the machines. Same was the motivation for
choosing this project and to build a device that can do both, i.e. an automated device that saves
the workload for a user. And it basically is about an automated grass cutting robot that feeds on
solar energy. It also evades obstacles and is fully capable of cutting the grass without somewhat
human interface or intervention. The grass cutting vehicle uses power from a battery source to
power the motors. The motors are connected to the wheels and the front blade. Solar panel is
taken as the energy source to charge the batteries. Microcontroller controls the cutter and the
wheel motors along with the other main components.
Microcontroller interfaces a number of ultrasonic sensors for the scanning and evading of the
obstacles. The microcontroller signals the vehicle motors for a forward motion if no object is
detected. After detection of the object, the ultrasonic sensor tells the microcontroller to stop the
blade movement to avoid any kind of potential damage to the object detected, be it a living or
non-living thing. If a stationary object is detected then the machine is going to change its path to
avoid collision i.e. it will move firstly in the x coordinate and then after it has avoided the
obstacle it will move in y coordinate and then again in x-y coordinates respectively to again
move along the path it was moving, in this way the grass cutter will cover the area leaving
behind the grass under the obstacle, for this the dimensions of the field will going to be fed in
through programming. Secondly, this cutter will also be monitored with the help of an android
application. With the help of android application we can control, its movement, on and off,
turning sideways etc.

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1.1 Turf maintenance
Soil covered with plants and grass and other different types of plant and flowers for example
there is small height clover which needs to be maintaining at lower height with a lawn mower.
Lawns need to be in green color with proper watering. Lawns are parts of different houses,
buildings and different commercial and public places. There are many parks and lawns around
city for recreational. In recreational or for some sports types field or pitch can be used.
Lawn is an important for interaction between natural environment and for fresh air. They were
created for pleasure, recreational and for sports. Lawns is not only consists of grass it also
contains other plants like herb, wild flowers and ground covers. These plants can be as lawn
boundary.
These lawns have variety of different grasses which includes Kentucky bluegrass which is good
for heavy traffic because of its self-repairing, Perennial ryegrass these type of grass grow on its
own and it is quick in growth speed and Fine fescue this type of grass is usually under shade like
these there are any types and each have its own characteristics.

1.2 Grass maintenance

Grass grows with time and it required its proper cutting and maintenance like its proper mowing
top dressing, feeding, watering and care for it. But we have to deal with its cutting and proper
dressing.

1.3 Grass Cutter

What a grass cutter does is mostly it cuts the grass in the lawn up to some desired level. The
movement of the vehicle generates energy to power the cutter blades. There are number of types
of grass cutters that have been categorized based on the axis of the rotation of the blades.

1.4 Types

1.4.1 By rotation

1.4.1.1 Cylinder mowers

This type of mover also known as reel mowers, which contain a immovable, parallel cutting
blade at the desired height of cut. Above this there is quick moving reel of blades because of it
the grass past the cutting bar. Each blade about the reel axis forms a helix, and the spinning
blades defines a cylinder. Cylinder mower have many variants. Push mowers are commonly used
on small lawns and have no engine and are usually, where noise pollution is objectionable and
air pollution is undesirable. When the mower is pushed along, the wheels drive gears which
quickly spin the reel. Advances in materials and engineering have resulted in these mowers are
easy to operate and are very light and work of man associated with their ancestors providing the
cutting advantages of huge specialized cylinder mowers.

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1.4.1.2 Rotary mowers
This type of mover with a high speed-spinning blade rotates about a vertical axis, spinning
blades count on effect to cut grass. This inclines to cut the grass in a rougher way and bruises and
strips the grass leaf which in results create discoloration of the leaf ends as the shredded portion
dies. This is chiefly prevalent if the blades become clogged. Most rotary mowers need to be set a
little higher than cylinder equivalents to evade scalping and extracting of a little rough lawns.

1.4.2 By energy source

1.4.2.1 Gasoline
Internal combustion engines power most rotary push mowers. These engines are usually four-
stroke engines, used for their clean combustion and larger torque, running on liquid fuels or
gasoline. Lawn movers having internal combustion engines usually have only one cylinder. The
engines typically have a carburetor and it also need a manual pull crank to start them, though
some models are offered with an electric starter, mostly huge riding and commercial mowers.
There is also throttle control on the handlebar of some movers with which the engine speed can
be adjust through operator. Other mowers have a fixed speed. To maintain the fixed speed all are
equipped with a governor to open the throttle as desired when the force needed to cut the
heavier or bigger grass is met. Gasoline mowers have the advantages of better power and
distance range over electric mowers. Due to the combustion in the engine, they generate a
significant amount of pollution, and proper maintenance is also required for engines such as
cleaning, changing of oil or replacement of the air filter and plugs.

1.4.3 Electricity
These mowers are additional subdivided as cordless and corded electric models. Mutually are
comparatively quiet corded mowers by their trailing power cord are restricted in range, which
might restrict their use with lawns extending outer more than 30 to 45 m from the closest
available power outlet. A dangerous electric shock can be received which is a high risk. A
variable number (usually 1–4) of 12-powers cordless electric mowers volt, 56-volt, and 80-volt
rechargeable batteries. Cordless mowers are powered with gasoline and eco-friendly of corded
electric mover, but they come in very few models and are much costly.

1.4.4 Manual mower

Push lawn movers are still available in the market. Gears used to join the reel with the mover’s
wheel, due to which reel moves much faster than plastic or rubber wheels when the cutter is
move forward. No environmental pollution is produced from these reel movers because energy
required for it come from the user. Though this type is not recommended to large lawn because it
require large energy from user and this also require smooth lawn.

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1.4.5 Robotic lawn mower
This type of mover require a border around the lawn, which shows its area border, can be a wire
around lawn. The wire is used by robot to locate the boundary area where grass need to be cut
and the recharging point. These movers can maintain up to 20000m^2( 5 acres) of grass. These
movers does not need much human interaction for cutting grass, these also have rain sensor.

1.4.6 lawn mower powered with solar

This type of movers uses radio frequency to locate its charging pots by moving along a border
wire or any other guide wire, which is optional. This can eliminate wear patterns in the lawn
caused by the mower only being able to follow one wire back to the station. To get to remote
areas or areas only accessible through narrow passages the mower can follow a guide wire or a
boundary wire out of the station. Batteries used include Nickel–metal hydride (NiMH), lithium-
ion and lead-acid.

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 CHAPTER 2
Literature review

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2.1 History & Literature review
Edwin Buding invented first grass cutter in 1830, but it was totally manually operated grass
cutter. Further innovation were made in it and finally a machine was invented which was drawn
by animals, and it took 10 years for this invention. In history, there had many solar grass cutter.
They were of different specification and also of different sizes. There had also grass cutter with
obstacle detection. Some have size problem because their size was large, and some do not have
any obstacle detection and boundary defining. Pedal Operated Lawn Mower was also designed.
In these types of grass cutter the gears and the pedal of the cycle operate it. Engine grass cutter
were also used and still in use. By hand lawn mower is the most basic and most widely used.
Many types were developed with different specification.
Nowadays, consumers pay a significant high attention to ultimate service robots, such as
Autonomous lawn mowers and vacuum cleaners. Due to increased demand to this kind of robots,
research related to this issue has also been addressed in the literature. In recent years, outdoor
robots become more populous.
In recent years, there are several study approaches of the navigation and path planning of
vehicles. Such as the Monte Carlo method, histogram statistical method and fuzzy control
genetic algorithms, etc. In a neural network, approach was proposed for a complete coverage
path planning with obstacle avoidance of cleaning robots in nonstationary environments. Ernest
L. Hall another example of an autonomous lawn cutting system is called the Weed Eater
developed by the Weed Eater Corporation. The system is a solar powered emission free mower
that harnesses enough power to operate itself, and has the capability of handling properties up to
13,500 sq.-ft.

2.2 Grass Cutter

Grass cutter does is mainly it cuts the grass in the lawn up to some desired level. The movement
of the vehicle generates energy to power the cutter blades. There are number of types of grass
cutters that have been categorized on the basis of the axis of the rotation of the blades.
Muscle may be used to drive blades, cutting blades connected mechanically with wheels so that
blades run as the lawn mower is pushed forward
, blades turn; there can be a plug in or powered with battery in electric motor. Little internal
combustion engine is usually the most common source for its power. Small mover need power
form the user to move it and cut. There are movers named walk-behind or self-driven need user to
guide it. Moreover, large lawn movers are ride-on, which are fitted so that operator can drive on
mover and can control it or can be walk-behind. Lawn movers like lawn-moving bot or mow-bot
are prepared so that they can work on its own and less dependent on the operator through remote.
The main session used in lawn movers are two. Cutting the grass with a single blade known as
rotary movers in which blade rotates about a single vertical axis, while those having multiple
blades and cutting bar assembly that moves around a single horizontal axis named as cylinder or
reel moves. In some forms of movers, cutting bar is only blade and rotating assembly which have
straight metal pieces, which forces the blades of grass beside the cutting bar.

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Movers can be of many types and each matched to a specific scale and purpose. For house based
garden and small lawn un-powered push movers are good. For large lawns engine based movers
are cast off. For large and commercial gardens riding moves which are alike small tractors are
good, though stand-on types can be commercial driving lawn movers and looks look like
domestic lawn tractors made to cut grass with great speed in less time and on greater areas. For
large areas of grass largest multi-blade movers attached on tractors like in golf grounds and other
parks like that.

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2.3 Comparison
The main problem of the engine grass cutter System is it require a separate person for its
operation, it also require fuel and maintenance. If we talk about by hand lawn mower it require
much energy of the user and it is not suitable for lawn of large areas to overcome this problem,
we are designing the Grass Cutter Robot which utilize Solar Energy and use it as the source with
Automatic Obstacle Detect by using the Sensor, It contains numerous blocks such as Micro
Controller, Ultrasonic Sensor, Battery, Solar Panel, DC Motors, cutting blade, Motor Driver and
compass sensor.
Automatic grass cutter powered with solar provide much easiness to the user from moving grass
cutter with hand, this solar grass cutter also reduce noise and environmental pollution. This is an
alternative, which is eco-friendly as compared to other grass cutter powered with fuel, which
emit harmful gases. This provide user to do less work and not harming environment and other
neighboring, this let us to keep searching and working on it for a appropriate design that can be
used in market. In addition, it fundamentally is about an automated grass cutting robot that feeds
on solar energy. It also evades obstacles and is fully capable of cutting the grass without any
human interface or intervention. The vehicle uses power from a battery source to power the
motors. The motors are connected to the wheels and the front blade. Solar panel is taken as the
energy source to charge the batteries. The microcontroller signals the vehicle motors for a
forward motion if no object is detected. After detection of the object, the ultrasonic sensor gives
signal to microcontroller perform its action. Microcontroller controls motors through H Bridge in
result robot will take a turn according to its programming and moves forward while going in
that way if ultrasonic observes another obstacle now it will take a turn with running blade. In this
way, the grass cutter will cover the area leaving behind the grass under the obstacle.

2.4 Environmental effect

The pollution emitting from a lawn mower is four times the pollution coming from a car per hour
(approximation), but this report is now not available. GHG emission is emitted from the lawn
movers and these also create noise pollution. By using reel mover or any other economical and
easy method these problems can be evaded.

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 CHAPTER 3
REQUIREMENTS AND SPECFICATIONS

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3.1. Objectives
The main idea is to create a grass cutter that is automatic, can be controlled remotely and is
Intelligent up to some extent. The objectives of our project are:
 Time saving
 Labor saving
 Automation
 Environment friendly
 User friendly

3.2. Features
Following are the main features of our project:
Solar charging: The device is charged by solar energy.
User-friendly Interface: The software side will be user-friendly.
Power Optimization: Turns On/Off blades regarding the situation.
Path Follower: Stays on path after avoiding the obstacle.

3.3. Components
For the implementation of this project, following components are used:

3.3.1. Hardware
Cutter blades
Robotic body
Batteries
Sensors
Motor driver
Microcontroller
Solar panel
DC motors

3.4. Applications
The applications of our project are following:

Domestic usage
Industrial usage

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3.5. Block Diagram:

Figure 3.1: Block diagram

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 Name Component

Platform Microcontroller

Compiler Arduino IDE

Usability Automation Of Grass Cutter and Obstacle Avoidance

Movability This small scale model is mobile and is applicable on

various Fields

Space A field of any size with boundaries

Machine DC Motor
Table 3.1: Characteristics
3.6 Safety and Security:
This project has no severe security necessities yet it should be placed in an enclosed area. The
modules used in this project are not used but have been taken reference from other projects. This
project does not have any safety issue; still it should be run by a trained user

3.7. Automation:
 Automation of the device should be able to fully control the Grass Cutter without Human
Intervention
 Project should be able to efficiently evade the obstacle
 Cutting of Grass through a solar powered device.

3.8. Functionality:
 Microcontroller contains the source code, which is downloaded on it.
 Ultrasonic Sensors responsible for obstacle detection.
 Motor Driver is installed for efficient communication between microcontroller and the
wheels.

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3.9 Methodology
In the beginning, the grass cutter is switched on through the limit switch. The cutter functions
only if the device is turned on via limit switch for safety reason.

3.9.1 Modes of operation

There are modes of operation of our grass cutter which are as follows
Area coverage
Boundary coverage

3.9.1.1Area coverage
In this mode of operation area to be covered is provided i.e. its length and width. Now the robot
starts to move forward and cover the length while avoiding obstacles on its path through| the
ultra-sonic sensors. Once it covers the length it changes its direction by taking a u turn to follow
the predefined path in the algorithm. It repeats the same method as after getting turned on and
hence completes the field and stops. In this way width also gets covered and this mode of
operation gets completed.

3.9.1.2 Boundary coverage

This mode of operation is rather straightforward and simple. the robot starts to move forward and
will continue to do so until boundary is detected through the ultra-sonic sensors while avoiding
obstacles in its path. On obstacle it follows the obstacle evading method, else it continues
moving forward. Once it reaches the boundary wall it changes its direction by taking a u turn to
follow the predefined path in the algorithm. It repeats the same method as after getting turned on
and hence completes the field and stops.

3.9.1.3 Obstacle Detection and avoidance

If, however, an obstacle is detected within its sensor range, the robot will take a right turn and
carries on to move rightwards as long as it’s sensors gives the reading. The moment sensors
cross the obstacle, it turns the robot left and will carry on to move leftwards as long as the
sensor senses the obstacle. After crossing the obstacle, now it moves left again and get on its
previous path. From here the robot continues to move forward, until and unless the boundary or
another is obstacle is detected. If it does detect an obstacle here, it repeats the process of obstacle
avoidance as defined above.

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3.9.1.4 Charging and Discharging
When not in use, the grass cutter can be charged through sunlight by simply placing in a place
where the sunlight can reach its solar panel. The devices carry a 70W solar panel attached to it
for this purpose. This is a medium range system (12V) so to power the motors and to keep the
cost and weight of the device as minimum as possible; this 70W solar panel was selected. It can
take up to 12 to 13hours to charge a 12V, 10A battery fully.

3.9.1.5 Blade On/Off

The blade is controlled by a limit switch, which acts as 1 and 0 for the input to a relay that in
return turns on/off the blade which is turned on using Bluetooth android application.

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 3.10. Flowchart:
Start

Turn ON blade motor

Left button Right button

Button?

E
Move forward Move forward

No No
obstacle obstacle
?
Yes Yes

Turn 90` left and Move for 10s Turn 90` right Move for 10s

Again Take left turn on 180` Again Take right turn on 180`

Move forward Move forward

No

Obstacle No
Obstacl No
? e?
yes yes

Turn 270` left and Move for 10s

Turn 270` right and Move for 10s

Again Take left turn on 0`

Again Take right turn on 0`

Move forward
17
Move forward
Cover whole area same pattern

Stop

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 CHAPTER 4
PROJECT DESIGN

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4.1. Design
Designing of the devise was the most important work of all. In the first phase of designing, we
had to look for various mechanical design of the devise. We first made a basis structure of only
the mechanical part and then checked its height, weight and other features so that before coming
on to the hardware part our design should have been completed. For further accuracy of the
design, we took that structure to the field and practically demonstrated its height in accordance
with the height of grass so that the cutter and sensors should be placed on the perfect location.
The mechanical part was little tough one because it was out of our scope so we took help from
our seniors, internet and from technical staff for an ideal design for our project. In this way we
completed the designing phase of our project.
4.2. Components Selection
After the designing phase was completed we now had to start up with our electrical and
mechanical components selection. Mechanical components like tires, steel body, rods etc. were
easily available from the market whereas the selection of the electrical components was a
difficult task. Each electrical component was purchased keeping the compatibility and data sheet
in mind e.g. the batteries were selected keeping in view the solar panel to get maximum output
and keeping the budget in control. The components used in our project were easily available
from the market. Dc motors were selected according to the load it had to drive.
Motors with different horse power were selected on the basis of the load which they had to drive.

4.3 Design Description

The modules that were used collectively to develop the grass cutter are explained below. In order
to keep the description brief and simple, only the salient features are written.

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4.3.1 Arduino Microcontroller
The Arduino Mega 2560 is a microcontroller board which is based on
the ATmega2560 microcontroller from Atmel. It has 54 digital pins which can be used for
input/output. There are 16 analog inputs for reading the analogue value form the sensor , 3
hardware USART port for serial communication and one software serial port which can used for
displaying data on the serial monitor of the Arduino software. A 16 MHz crystal oscillator is
incorporated in the board. Arduino board can be power by usb connection or from the DC input
or through Vin pin.

–
Figure 4.1: Arduino microcontroller

Microcontroller ATmega2560(mega)

Opt. Voltage 5V

Recommended Input Voltage 7to12V

Limit of Input Voltage 6to20V

Digital I/Output Pins 54

PWM Digital Input/output Pins 6

Analog Input Pins 46

DC Current per Input/Output Pin 20mA

DC Current for 3.3V Pin 50mA

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 Flash Memory 256KB

SRAM 8KB

EEPROM 4KB

Clock Speed 16MHz

Length 101.5 mm

Width 53.30 mm

Weight 37g

Table 4.1: Arduino mega Specification

4.3.2. Ultrasonic sensors

Active supersonic sensors manufacture high-frequency sound waves and assess the
echo that is received back by the sensing element, live the time break between causation of
signal And receiving echo to see the space to an obstacle. The sonic waves that are emitted
by the electrical device are mirrored hit the thing and are then mirrored back within
the electrical device. After emitting the sound waves, the supersonic sensing
element switches to receive mode. The interval between transmittal and receiving the signal
contributes in conniving the space between the thing and also the device.

Figure 4.2 Ultrasonic sensor

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 Figure 4.3: Working principle of Ultrasonic sensor

Name HC-SR04

Operating Voltage 5.0V

Range 2.0cm-200 cm

Accuracy 5.0mm

Table 4.2: ultrasonic Specification

4.3.3. Bluetooth HC05

Bluetooth may be a wireless instrumentation such as for swapping information over short
spaces (short-wavelength radio frequency radio wave in the ISM band from 2.4 to 2.485
GHz) from either fixed or mobile device, or building personal area networks(PAN). it's a
spread of roughly ten Meters (30 feet). low-priced Bluetooth modules work well with
microcontrollers.

HC-05 can either be set Master or Slave
 Module run on 3.3V power, 3.3V signal levels, with no pins and usually solder to a larger
board.
Operation modes are, Command Mode where we can send AT commands and Data
Mode where it transmit or receive data from another Bluetooth module.
The HC-05 contains Radio and Memory chips, 26 MHz crystal, antenna and RF
network.
The right part of the BT Board has linking pins for power and signals as well as a
5V to 3.3V Regulator, LED, and level shifting.

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Figure 4.4: Bluetooth module

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4.3.4 Gear DC Motor

A device converting electrical energy into mechanical energy can be known as DC motor. It
has many kinds but on individual self-excited and excited DC motor. These motors were
supercharged by DC current. 3,5,12 and 24V are common input voltage but there are
number of input voltages. It also perform better with greater efficiency as compared to AC
motor.

Voltage 12 V

Current 800mA

Wattage 9.6W

RPM 8 rpm

Table 4.3: DC motor Specification

Figure 4.5: DC motor

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4.3.5 Battery
Energy required for the robot working is offer by it. It can provide enough energy to move robot
for its working single or multiple batteries can be used good performance. lead acid battery is
used in this project. These are rechargeable batteries and also work good with solar panel. But
these batteries are heavy and need to charged always and these batteries not have high discharge
rate

Figure 4.6: Battery

Type Lead acid

Voltage 12V DC

Rating 7.5Ah

Table 4.4: battery ratings

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4.3.6 H Bridge
The H-Bridge is relation among digital electrical system. The system sends out binary
instructions, and high-powered actuators perform its work. Utmost to control rotational direction
of DC motors H-bridges are used, Robot can be controlled with a motor using H-bridge. It is
actuality used to control reverse and forward motion of motor. For a DC motor we need an H-
Bridge or a “Motor Driver IC”. The IC is abundant for minor robots that does not exceed 1 or 2
amps per motor and the motor rated voltage not higher than 12V. The home based H-Bridge
need to be used if you desired to surpass those specs. There are a small number of H-Bridge
controllers commercially offered to buy, but commonly are too costly and are intended for battle
type robots. The IC is small, very economical, and normally can control 2motors. We put a heat
sink on the motor driver because Motor drivers give off fireworks when they blast from
overheating

Figure 4.7: H bridge

Motor Driver L298N

Opt voltage 5.0V to 35.0V

Opt current 2.0A (MAX single bridge)

Max power 25.0W

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 Dimensions 43x43x26mm

Weight 26g

Table 4.5: L298N specification

4.3.7 Compass Sensor

HMC5883L is a 3-axis digital compass used for two general purposes to measure the
magnetization of a magnetic material like a ferromagnet, or to measure the strength and, in some
cases, the direction of the magnetic field at a point in space. Communication with the
HMC5883L is simple and all done through an I2C interface. There is an on board regulator. The
breakout board includes the HMC5883L sensor and all filtering capacitors. The power and 2-
wire interface pins are all broken out to a 0.1" pitch header. Uses famous HMC5883L
magnetometer chip. Supports 3.0V to 5.0V IO levels on I2C SCL and SDA pins.

Figure 4.8: Compass Sensor

4.3.8 Voltage Regulator

IC 7809 is a 9V Voltage Regulator which is used to controls or limit the output voltage to only
9V. The maximum input voltage which can be given to the voltage regulator is 35V. It delivers
constant voltage flow of 9V. If the voltage delivered to regulator is close to 7.5V then it does not
generate heat, so no necessity for heat sink. If input voltage is extra, then excess electricity is
transformed in to the form of heat from 7809. It delivers a constant output of 9V if the input
voltage ranges from 11V to 35V. To avoid power loss the voltage has to be retained at 11V. In
some circuits voltage oscillation is disastrous (e.g. Microcontroller), to avoid such situations and
to check constant voltage IC 7809 Voltage Regulator is used. We have also used voltage
regulator for the motors, which gives constant 9V to the motors for sustaining the speed of
motors constant.

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 Figure 4.9: Voltage Regulator

4.3.9 Solar Panel (5 Watt)

It includes photovoltaic modules linked in a way that they are said to be electrically connected
located on a supportive base. A photodiode component is well placed, combined array of solar
cells. Solar panels can team up to form the greater PV systems to produce and provide
electricity to commercial and to domestic users .Each PV module has DC power rating between
100W to 320W.the system will efficient if a module of 8% efficiency of 250W has two times
the area of 16% 250W system. Mostly PV system contain more than one panel to get desired
output power as one cell can only produce limited power which cannot fulfill our requirement.
PV Cells are formed from sand. The sand has to go through complex process. Sand is processed
through carbon to form raw silicon. This is then converted to gaseous silicon compound form.
This is then mixed with hydrogen to get highly purified polycrystalline silicon. This is then
reshaped and converted into thin slices called silicon wafers .these wafers are heart of PV cell.

Figure 4.10: solar plate

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4.3.9.1. Photovoltaic Principle
When we analyze structure of silicon atoms they are bonded together. Electrons in silicon
structure has no freedom of movement. Assume that phosphors atom with five valance electron
are injected into it. In this structure when electrons get fission energy they will move freely. On
this type of material when light strikes electrons get photon energy and get free to move however
this movement is random it does not results in current with load. To make electrons flow a
driving force is needed. An easy and practical way to produce driving force is PN junction .let
see how this junction works similar to N type doping if boron with three valance electron is
injected to silicon there will be one hole for each atom this is called P type doping. When two
regions joins together some electrons move from n type to p type and fills the holes available
there in this way depletion region is formed. Where there is no electrons and holes. Due to
electron migration n type becomes positively charge and p type negatively charged and electric
field is formed this field produces necessary driving force. When light strikes the junction lights
strikes the n region of PV cell it penetrates and reaches up in the depletion region this photon
energy is sufficient to form electron hole pairs in deletion region. the electric field in depletion
region drive the electron and holes out of region. Here we observe concentration of electrons in n
region and holes in p region become so high that potential difference develop between them as
we connect any load at them electrons will start flowing through the load the electrons will
recombine with holes in p region. In this way solar cell give continuously give direct current.

Figure 4.11: Photovoltaic Principle for charging the panel

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 CHAPTER 5
IMPLEMENTATION

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5.1. Integration
The integration phase took time, as all the components were to be connected. The integration
part was completed in three phases; first phase was the integration of the hardware which had to
drive the devise that included motor and motor driver circuits. Second phase was the battery and
the solar system integration. This phase included the connection between batteries, solar panel,
charging kit etc. Third and final phase was the integration of cutter. Cutter was placed
underneath the devise and was made adjustable to vary the size of the grass to be cut.

Figure 5.1: Motor Driver with motors

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 Figure 5.2: Circuit Design Simulation

5.2. Development stages

5.2.1. Stage 1

General Layout and Problem Identification

Firstly, we had identified the problem; our goal to solve the problem was very clear in the
beginning. The problem mainly was to fully automate a grass cutting machine that works on
solar power. Our project includes device automation and energy optimization principle. For this,
the device had to be programmed and for that, microcontroller was needed.

5.2.2. Stage 2

Understanding the Microcontroller

Microcontroller is being vastly used in robotics, automation and various other fields these
days. It is necessary to have a complete knowledge about certain microcontroller before
implementing it.so in order to have better understanding about it we sought help from seniors
and experienced personnel

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5.2.3. Stage 3

Mechanical Modeling and Hardware Assembly

Being the students of Electrical Engineering, mechanical modeling was a challenging task for us.
We built the basic structure of the vehicles including wheels, cutter blades and allocated proper
spacing for the placement of solar panel, motor driver, motors, and circuit boards. The
Placement of the sensors, however, was the tricky part for the detection of boundaries and
hurdles. A strip of is also attached on the front side for the placement of ultrasonic sensors. The
purpose of this strip is that now the sensor will detect the obstacle effectively.

Figure 5.3: Robot Design

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Figure 5.4: Assembly

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5.2.4. Stage 4
Circuit Design and Implementation
Circuit Design was also a complex task. As we had to manage a huge mess of wires, by which
we would control our whole structure. It needed a great potential to design a prototype circuit
and to rectify our faults but finally we overcame this challenge. Different circuits were required
for different functionalities, Many small circuits were used which perform different
functionalities e.g. motor driving circuits. All the circuits together were connected to the
microcontroller.

Figure 5.5: Circuit design

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5.2.5. Stage 5

Microcontroller Coding and Interfacing

The core part of the project was the software. Its interfacing was a sensitive task. A wrong code
could have destroyed our algorithm and was dangerous because of the high speed blade it
carried. But with great care and determination we have completed the required task within given
time. At first there are many problems in it but finally we did it.

5.2.6. Stage 6

Application Design and Interface

To provide the user a remotely controlling option we have developed an android application that
runs via Bluetooth module that is attached at the device. The device can be turned on and off
with your phone. It has buttons that can turn it on and off.

5.2.7. Stage 7

Troubleshooting and testing

To get the final output with accuracy we have critically analyze and test the whole project. We
have done step by step testing and troubleshooting to confirm the precision of final results.
5.2.8. Stage 8

Documentation
Documentation is the most important part to keep the record of any work. Documents like block
diagrams, process flow, circuit diagrams and code backups are much important in problem
testing and upgrading of project. We have maintained and updated our records side by side with
our project. At the end we have compiled it in a formal way.

5.3. Hurdles Faced

5.3.1. Mechanical Modeling

Mechanical modeling of the project was a difficult task. Formation of the outer structure was a
bit difficult along with allocation of required spaces for the placement of circuit board, cutter and
motors. There are also the issues of stability and balancing of the grass cutter and the position of
ultrasonic sensor. Because it was not related to our field and to find out where each object will be
placed was hard for us but we did online research and with the help of our teachers we achieved
It. In order to resolve this problem we performed different experiments to know exactly the best
possible size of the device and placement of its parts.

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5.3.2. Circuit
Designing of the circuit was also challenging because till then we had only implemented the
small scale circuits on the breadboard. But the real-time scenario was not so easy. Managing
mess of wires increased the complications but to solve that problem we used connectors.
Everything had to be connected properly and we had to save the mess of wires. There are many
difficulties faced in it like the speed of motors is not constant at both wheels.

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 CHAPTER 7
CONCLUSION& FUTURE WORK

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7.1. Results
We have successfully completed this project that is automatic lawn cutter. The robotic vehicle
will move in forward direction automatically to cut the grass uniformly and if any obstacle is
present, it takes deviation towards right direction. After the obstacle is cleared the vehicle moves
forward direction automatically to cut the grass. On boundaries, it will make turns to continue on
its zig zag path to complete the field.

Figure 7.1: Path algorithm

7.1 Conclusions & Future Work

In this project we have investigated and developed a Fully Automatic grass cutting machine.
We have gained a comprehensive and practical knowledge of robotics and embedded systems.
The field of automation has a notable impact in the industrial revolution. By implementing this
project now we can work with any type of microcontroller. We have well built our understanding
about microcontrollers and their programming using different algorithms.
Robotics is a vast field in technology these days that is helping in the development and
automation of the industry. The main objective through robotics is that we aim to have a lesser
human efforts with minimum resources utilization. In present times, a lot of energy is wasted and
lost in different methods for the household chores. The main goal, however, is to develop a
machine that cuts the grass on its own and be autonomous enough to take decisions like avoiding
the obstacles and completing the desired work. The basic advantage of this machine is that it is a
long-term low cost method because it saves the labor and paid energy resources like fuel or
electricity. There are of course some drawbacks too, which in our case, is that the system is too
slow and heavy but it can be addressed by using Digital Signal Processors for high-speed real
time functionalities.

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7.2. Future Recommendations
In future, we can implement an optimum and effective path planner for lawn mower which will
have low working time and energy consumption. In addition, the robot grass cutter can be
equipped with high quality camera that can work on the principle of image processing. This way,
the robot cutters can be made very intelligent that would work on the fields of different sizes,
shapes and dimensions.

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