Arduino Controlled Lawn Mower
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This document describes the design of an Arduino-controlled lawn mower that follows a pre-programmed path to mow a lawn efficiently. It analyzes different path options - rectangular, square spiral, combined square spiral, and a novel 3-way path - and calculates that the 3-way path is the most energy efficient by reducing the number of turns needed. The lawn mower is powered by a lithium-ion battery and uses Arduino Uno R3 as the microcontroller to follow the pre-programmed 3-way path while cutting grass with its motorized blade. Sensors allow it to detect obstacles and adjust its path accordingly.
![IJSRD - International Journal for Scientific Research & Development| Vol. 3, Issue 11, 2016 | ISSN (online): 2321-0613
All rights reserved by www.ijsrd.com 392
Arduino Controlled Lawn Mower
Vipul Patel1 Tanvi Patil2 Pratik Sarvankar3 Kashif Shah4
1,2,3,4
Department of Mechanical Engineering
1,2,3,4
Theem College of Engineering, Boisar, India
Abstract— The design objective is to come up with a mower
that is portable, durable, easy to operate and maintain. It also
aims to study different paths and come up with optimal route
planning with minimum working time and minimum energy
usage by the lawn mower. Various paths like square, spiral,
combination of both square and spiral are being studied. The
path to be travelled is preprogrammed in microprocessor
Arduino Uno R3 which acts as a controller throughout the
operation. The design of path plays a vital role in automation
of device.
Key words: Lawn Mower, Arduino Uno R3, Path
I. INTRODUCTION
The aesthetic value of his environment is as important as food
and shelter to the modern man. In general, grasses are found
to survive in a variety of conditions and thus the need to
curtail their growth in order to enhance the beauty of our
habitat environment. As man evolved intellectually, grass
cutting inevitably developed to an art. As technology
advanced grass cutting developed, away from use of
machetes, hoes and cutlasses to motorized grass cutters.
Technology had continued to advance and better techniques
of grass cutting has been invented and constantly improved
upon. Many different designs have been made, each suited to
a particular purpose. The smallest types, pushed by a human,
are suitable for small residential lawns and gardens, while
larger, self-contained, ride-on mowers are suitable for large
lawns, and the largest, multi-gang mowers pulled behind a
tractor, are designed for large expanses of grass such as golf
courses and municipal parks. Automatic lawn mower is a
machine that cut grass automatically. It can be stated as a
machine or robot that helps people to do cutting grass work.
The automatic lawn mower will do the cutting grass task with
a preset setting by the user. Many sensors have been placed
on the automatic lawn mower to gain feedback to recognize
its surrounding workspace.
II. WORKING
Lawn mower works on pre-programmed path of Arduino Uno
R3. Motors of 24V each is mounted on 2 rear wheels, which
run the robot. A dummy wheel is mounted at front. Motor is
mounted on a link which rotates 90 degree. A motor of 24V
is mounted on blade which rotates clockwise or anticlockwise
accordingly. A battery of lithium ion is used which provides
power to the lawn mower. When the lawn mower is powered
it works according to the path programmed. A bump sensor
senses the obstacle in between the path.
III. ARDUINO UNO R3
Arduino UNO is a component on the shelf (COTS) circuit
board. It is based on ATmega328 microcontroller. Rather
than making own circuit board from scratch, Arduino UNO
provides a sufficient circuit board which able to program and
contain most of the necessary pin function. Arduino UNO
board consist of 14 input output pin whereby 6 of them can
be used as PWM output. Besides that it also contains 6 analog
to digital (ADC) pin. Basically, Arduino UNO operates at 5V
and the input power source needs to be a range of 7V to 12V.
Arduino 1.0.5 IDE software is used to program the
Arduino Uno R3 which is a free application and user friendly.
Fig. 1: Arduino Uno R3
IV. MOWING PATHS FOR LAWN MOWER AND THEIR
EFFICIENCY
We have searched several research papers regarding efficient
way to mow a path with less energy consumption as well as
time taken by mower to complete mowing of lawn. And we
have come to conclusion after going through this. And we
have explained the same in brief as follows for different
paths. We have analysed various paths by considering lawn
size of 120x60 ft. For this size we have calculated straight
distance travelled by mower as well as number of turns
required in mowing given size of lawn. We further derived
comparatively efficient paths named 3 way path to
rectangular path, square spiral and combined square spiral
paths.
A. Rectangular Path:
Rectangular pattern is a zigzag kind pattern. The robot starts
from one corner and moves at a constant velocity until it
reaches the boundary in zigzag manner as shown in Figure 2.
Although this pattern is simple to look by study it takes more
time to complete mowing of lawn when analyse given lawn
size.[1]
Fig. 2: Rectangular Path
B. Square Spiral Path:
Square spiral is obtained from spiral path. It is efficient as it
covers distance in less time but it has maximum number of
turns which leads to consume large battery power as motor
consumes large current from supply while turning. [1]](https://image.slidesharecdn.com/arduinocontrolledlawnmower-230805194813-d305ca04/85/Arduino-Controlled-Lawn-Mower-1-320.jpg)
![Arduino Controlled Lawn Mower
(IJSRD/Vol. 3/Issue 11/2016/093)
All rights reserved by www.ijsrd.com 393
Fig. 3: Spiral Path
C. Combined Square Spiral Path:
This is a combination of square spiral path and rectangular
path obtained to overcome deficiencies in both the path. This
path is derived to decrease total time and energy taken by
mower, but we found that we can make it more efficient by
reducing number of turns and derived 3 way path.[2].
Fig. 4: Combined Square Spiral Path
D. 3 way Path:
To overcome the deficiencies in the above paths we have
designed a path which consumes less power. A link
mechanism is used which changes the cutter blade position in
every straight path at an angle of 90°. It maintains it position
until it complete its single straight path and changes 90° for
next straight path. The cutter blade can move in 180° i.e. the
mower moves 3 times in a straight path and then takes a turn
and follows the same.
Fig. 5: 3 Way Path
V. CALCULATIONS FOR EFFICIENCY
Assuming a lawn of 60×120feet and linear speed of mower
0.3 m/s, 60Ah battery is used for supplying power to the
mower, the following values were obtained,
Path Type Distance(feet) Time(hrs)
Rectangular Path 11155.2 10.328
Square spiral path 10972.6 10.159
Combined Square
Spiral Path
11063.9 10.244
3 way path 11078.6 10.257
Table 1: Calculations
According to calculations obtained square spiral is
the most efficient path as it covers the distance in minimum
time. Rectangular Path is time consuming as it takes
maximum time to cover the distance. Combined Square
Spiral Path, derived to obtain better efficiency takes time
more than square spiral. 3 Way Path consumes intermediate
time. But this does not take account for energy drawn in each
path which we consider important objective for getting
optimum path. To determine energy efficient path we have
assumed,
Voltage = 12V
Current = 1Amp for each turn,
Power consumed = V × I,
Battery Working Hours =
60 A r − r
C rr raw r a
� �
Path
Type
No of
Turns
Current
(Amp)
Battery
working
Hour
Rectangular
Path
46 46 1.304
Square Spiral
Path
92 92 0.652
Combined
Square Spiral
Path
69 69 0.869
3 Way Path 31 31 1.935
Table 2: Calculations
Now considering the number of turns in each path
and assuming the current consumed for each turn same we
got above results. This clearly shows that even though square
spiral path is efficient in terms of time required to mow the
lawn it takes more battery energy and hence drains battery
faster because of increase in number of turns. Similarly, we
obtained the results for other paths and it seems quite obvious
that path which we derived named 3-way path having lesser
number of turns have increased battery hour time and can be
considered as most energy efficient path. Even it takes
intermediate time to mow the lawn thereby we have chosen
this path for our Arduino Controlled Lawn Mower Project.
VI. CONCLUSION
Several related works has been studied in order to gain idea
on how to build an automatic lawn mower. Most research is
on the robot path planning using variety technique. All the
technique used are mainly aim for the shortest path, consume
less energy but the most efficient obtained is the 3 Way Path.
REFERENCES
[1] G. Wang and Z. Bi, "Incorporating Systems
Engineering Into The Senior Design Autonomous Lawn
Mowing Machine," March 17, 2012.
[2] S. S and V. P, "Smart Lawn Mower for Grass
Trimming," International Journal of Science and
Research (IJSR), vol. 3, no. 3, March, 2014.
[3] V. K, P. K, S. R and S. A, "Fabrication and Analysis of
Lawn Mower," International Journal of Innovative
Research in Science, Engineering and Technology, vol.
4, no. 6, May, 2015.
[4] P. Patil, A. Bhosale and P. Jagtap, "Design and
Implementation of Automatic Lawn Cutter,"](https://image.slidesharecdn.com/arduinocontrolledlawnmower-230805194813-d305ca04/85/Arduino-Controlled-Lawn-Mower-2-320.jpg)
![Arduino Controlled Lawn Mower
(IJSRD/Vol. 3/Issue 11/2016/093)
All rights reserved by www.ijsrd.com 394
International Journal of Emerging Technology and
Advanced Engineering, vol. 4, no. 11, November, 2014.
[5] B. Okafor, "Simple Design of Self-Powered Lawn
Mower," International Journal of Engineering and
Technology, vol. 3, no. 10, October, 2013.
[6] W. Mohammad, "Design and Implementation of
Autonomous Lawn- Mower Robot Controller,"
September,2011.
[7] Y. Mei, Y. Hsiang Lu, C. H. Y and G. L. C.S., "Energy
Efficient Motion Planning for Mobile Robots",
unpublished.](https://image.slidesharecdn.com/arduinocontrolledlawnmower-230805194813-d305ca04/85/Arduino-Controlled-Lawn-Mower-3-320.jpg)
Arduino Controlled Lawn Mower
- 1. IJSRD - International Journal for Scientific Research & Development| Vol. 3, Issue 11, 2016 | ISSN (online): 2321-0613 All rights reserved by www.ijsrd.com 392 Arduino Controlled Lawn Mower Vipul Patel1 Tanvi Patil2 Pratik Sarvankar3 Kashif Shah4 1,2,3,4 Department of Mechanical Engineering 1,2,3,4 Theem College of Engineering, Boisar, India Abstract— The design objective is to come up with a mower that is portable, durable, easy to operate and maintain. It also aims to study different paths and come up with optimal route planning with minimum working time and minimum energy usage by the lawn mower. Various paths like square, spiral, combination of both square and spiral are being studied. The path to be travelled is preprogrammed in microprocessor Arduino Uno R3 which acts as a controller throughout the operation. The design of path plays a vital role in automation of device. Key words: Lawn Mower, Arduino Uno R3, Path I. INTRODUCTION The aesthetic value of his environment is as important as food and shelter to the modern man. In general, grasses are found to survive in a variety of conditions and thus the need to curtail their growth in order to enhance the beauty of our habitat environment. As man evolved intellectually, grass cutting inevitably developed to an art. As technology advanced grass cutting developed, away from use of machetes, hoes and cutlasses to motorized grass cutters. Technology had continued to advance and better techniques of grass cutting has been invented and constantly improved upon. Many different designs have been made, each suited to a particular purpose. The smallest types, pushed by a human, are suitable for small residential lawns and gardens, while larger, self-contained, ride-on mowers are suitable for large lawns, and the largest, multi-gang mowers pulled behind a tractor, are designed for large expanses of grass such as golf courses and municipal parks. Automatic lawn mower is a machine that cut grass automatically. It can be stated as a machine or robot that helps people to do cutting grass work. The automatic lawn mower will do the cutting grass task with a preset setting by the user. Many sensors have been placed on the automatic lawn mower to gain feedback to recognize its surrounding workspace. II. WORKING Lawn mower works on pre-programmed path of Arduino Uno R3. Motors of 24V each is mounted on 2 rear wheels, which run the robot. A dummy wheel is mounted at front. Motor is mounted on a link which rotates 90 degree. A motor of 24V is mounted on blade which rotates clockwise or anticlockwise accordingly. A battery of lithium ion is used which provides power to the lawn mower. When the lawn mower is powered it works according to the path programmed. A bump sensor senses the obstacle in between the path. III. ARDUINO UNO R3 Arduino UNO is a component on the shelf (COTS) circuit board. It is based on ATmega328 microcontroller. Rather than making own circuit board from scratch, Arduino UNO provides a sufficient circuit board which able to program and contain most of the necessary pin function. Arduino UNO board consist of 14 input output pin whereby 6 of them can be used as PWM output. Besides that it also contains 6 analog to digital (ADC) pin. Basically, Arduino UNO operates at 5V and the input power source needs to be a range of 7V to 12V. Arduino 1.0.5 IDE software is used to program the Arduino Uno R3 which is a free application and user friendly. Fig. 1: Arduino Uno R3 IV. MOWING PATHS FOR LAWN MOWER AND THEIR EFFICIENCY We have searched several research papers regarding efficient way to mow a path with less energy consumption as well as time taken by mower to complete mowing of lawn. And we have come to conclusion after going through this. And we have explained the same in brief as follows for different paths. We have analysed various paths by considering lawn size of 120x60 ft. For this size we have calculated straight distance travelled by mower as well as number of turns required in mowing given size of lawn. We further derived comparatively efficient paths named 3 way path to rectangular path, square spiral and combined square spiral paths. A. Rectangular Path: Rectangular pattern is a zigzag kind pattern. The robot starts from one corner and moves at a constant velocity until it reaches the boundary in zigzag manner as shown in Figure 2. Although this pattern is simple to look by study it takes more time to complete mowing of lawn when analyse given lawn size.[1] Fig. 2: Rectangular Path B. Square Spiral Path: Square spiral is obtained from spiral path. It is efficient as it covers distance in less time but it has maximum number of turns which leads to consume large battery power as motor consumes large current from supply while turning. [1]
- 2. Arduino Controlled Lawn Mower (IJSRD/Vol. 3/Issue 11/2016/093) All rights reserved by www.ijsrd.com 393 Fig. 3: Spiral Path C. Combined Square Spiral Path: This is a combination of square spiral path and rectangular path obtained to overcome deficiencies in both the path. This path is derived to decrease total time and energy taken by mower, but we found that we can make it more efficient by reducing number of turns and derived 3 way path.[2]. Fig. 4: Combined Square Spiral Path D. 3 way Path: To overcome the deficiencies in the above paths we have designed a path which consumes less power. A link mechanism is used which changes the cutter blade position in every straight path at an angle of 90°. It maintains it position until it complete its single straight path and changes 90° for next straight path. The cutter blade can move in 180° i.e. the mower moves 3 times in a straight path and then takes a turn and follows the same. Fig. 5: 3 Way Path V. CALCULATIONS FOR EFFICIENCY Assuming a lawn of 60×120feet and linear speed of mower 0.3 m/s, 60Ah battery is used for supplying power to the mower, the following values were obtained, Path Type Distance(feet) Time(hrs) Rectangular Path 11155.2 10.328 Square spiral path 10972.6 10.159 Combined Square Spiral Path 11063.9 10.244 3 way path 11078.6 10.257 Table 1: Calculations According to calculations obtained square spiral is the most efficient path as it covers the distance in minimum time. Rectangular Path is time consuming as it takes maximum time to cover the distance. Combined Square Spiral Path, derived to obtain better efficiency takes time more than square spiral. 3 Way Path consumes intermediate time. But this does not take account for energy drawn in each path which we consider important objective for getting optimum path. To determine energy efficient path we have assumed, Voltage = 12V Current = 1Amp for each turn, Power consumed = V × I, Battery Working Hours = 60 A r − r C rr raw r a � � Path Type No of Turns Current (Amp) Battery working Hour Rectangular Path 46 46 1.304 Square Spiral Path 92 92 0.652 Combined Square Spiral Path 69 69 0.869 3 Way Path 31 31 1.935 Table 2: Calculations Now considering the number of turns in each path and assuming the current consumed for each turn same we got above results. This clearly shows that even though square spiral path is efficient in terms of time required to mow the lawn it takes more battery energy and hence drains battery faster because of increase in number of turns. Similarly, we obtained the results for other paths and it seems quite obvious that path which we derived named 3-way path having lesser number of turns have increased battery hour time and can be considered as most energy efficient path. Even it takes intermediate time to mow the lawn thereby we have chosen this path for our Arduino Controlled Lawn Mower Project. VI. CONCLUSION Several related works has been studied in order to gain idea on how to build an automatic lawn mower. Most research is on the robot path planning using variety technique. All the technique used are mainly aim for the shortest path, consume less energy but the most efficient obtained is the 3 Way Path. REFERENCES [1] G. Wang and Z. Bi, "Incorporating Systems Engineering Into The Senior Design Autonomous Lawn Mowing Machine," March 17, 2012. [2] S. S and V. P, "Smart Lawn Mower for Grass Trimming," International Journal of Science and Research (IJSR), vol. 3, no. 3, March, 2014. [3] V. K, P. K, S. R and S. A, "Fabrication and Analysis of Lawn Mower," International Journal of Innovative Research in Science, Engineering and Technology, vol. 4, no. 6, May, 2015. [4] P. Patil, A. Bhosale and P. Jagtap, "Design and Implementation of Automatic Lawn Cutter,"
- 3. Arduino Controlled Lawn Mower (IJSRD/Vol. 3/Issue 11/2016/093) All rights reserved by www.ijsrd.com 394 International Journal of Emerging Technology and Advanced Engineering, vol. 4, no. 11, November, 2014. [5] B. Okafor, "Simple Design of Self-Powered Lawn Mower," International Journal of Engineering and Technology, vol. 3, no. 10, October, 2013. [6] W. Mohammad, "Design and Implementation of Autonomous Lawn- Mower Robot Controller," September,2011. [7] Y. Mei, Y. Hsiang Lu, C. H. Y and G. L. C.S., "Energy Efficient Motion Planning for Mobile Robots", unpublished.