Global Transitions Proceedings 3 (2022) 109–113

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Global Transitions Proceedings

journal homepage: http://www.keaipublishing.com/en/journals/global-transitions-proceedings/

Design of remote monitored solar powered grasscutter robot with obstacle

avoidance using IoT
Balakrishna K∗, Rajesh N
Dept of ECE, Maharaja Institute of Technology Mysore, Karnataka, India

a r t i c l e i n f o a b s t r a c t

Keywords: Arduino UNO-based Solar powered Grasscutter designed to cut healthy grass in places like parks, hotels, public
Arduino Uno places, etc., The Grasscutter is designed through IoT (Internet of Things) technology, which is controlled remotely
Bluetooth module through Blynk application supported with Bluetooth module. The proposed model consists of hardware compo-
DC motor
nents like Arduino UNO, Solar panel, DC motor, motor driver, rechargeable batteries and Bluetooth module. The
Grasscutter: Internet of Things
designed model is programmed through Arduino IDE to control the operation of the Grasscutter. The control
Solar panel
Ultrasonic sensor mechanism and movements such as Forward movement, Backward movement, Right movement, Left movement,
On mechanism, Off mechanism and Stop function for the Grasscutter prototype. An ultrasonic sensor connected
to the head of the model avoids the system from colliding with obstacles while in movement.

1. Introduction wire availability and also may lead to being hazardous when Grasscut-
ter accidentally moves over the cable wire, which leads to a chance of
Traditionally and even now in many places like an institution, orga- high risk of receiving electric shock to the user [10,11]. Cordless Grass-
nization, sports ground, industries, hotel, public center etc, cutting of cutter uses rechargeable batteries to deliver power to the Grasscutter,
grasses was done with a cutlass. This manual method is time-consuming more number of batteries leads to more run time of Grasscutter. But
and also inaccuracy level of cutting is observed. With the advent of tech- these are more expensive and disposal of worn-out batteries is problem-
nology, cutting of grass done with single or more blades to cut the grass atic. Compared to petrol-powered Grasscutter even the performance is
surface to a uniform height. Normally, the height of the grass cutting less considering the parameter of the same weight. To overcome all this
will be adjusted or fixed from the operator end either by lever or nut issues leads to a rise of new technical domain-based Grasscutter such as
adjusted to the machine wheels [1]. This trims the grass utilizing very Solar powered Grasscutter that interfaced with IoT (Internet of Things)
little time and also optimizes the human power involvement to a mini- technology to control its operation and movement [12–14].
mum level [2]. Based on the one requirement several types of Grasscut- In this paper, a new approach is proposed for cutting grass based
ter are available to assist one in having the best Grasscutter. Even the on Solar-powered Grasscutter, with minimal intervention of human in-
power source for the grass cutter plays a vital role while designing the volvement adopting IoT technology. IoT technology is the connection
best tool for the user end. Technology oriented cutting down the grass of physical things that are embedded with electronics components and
has been implemented adopting modern energy sources such as petrol, software to enable greater services for the connected things with apply-
electricity, propane etc. ing computation and analysis [15]. Here our proposed model aims at
Petrol-powered Grasscutter pushes the rotary mowers powered by designing and developing a prototype to operate with highly versatile,
an internal combustion engine of four-stroke used for maximum torque much durable, highly comfortable, powerful and avoiding obstacles in
and cleaner combustion [3]. The power consumption generally ranges the path.
from [4–7] hp (horsepower) equipped with a single-cylinder having
a carburetor, so the engine needs to be started in manual pull crank 2. Related works
method even though few models provided with an electric starter [8,9].
Electric-powered Grasscutter is available with two types such as corded Ibrahim Babangida et al., [16] worked on designing an autonomous
and cordless electric Grasscutter both producing an average of fewer mobile phone-controlled solar-powered lawnmower robot using a Blue-
than 75 decibels compared to more than 95 decibels of petrol-powered tooth module. Lawnmower robot performs various functions such as
Grasscutter. Corded Grasscutter limits its range depending on the cable pathfinding, obstacle avoidance and trimming of grass without human
interference [17]. The robot works with a power of 12v battery sup-

∗
Corresponding author.
E-mail address: [email protected] (B. K).

https://doi.org/10.1016/j.gltp.2022.04.023

Available online 4 April 2022

2666-285X/© 2022 The Authors. Publishing Services by Elsevier B.V. on behalf of KeAi Communications Co. Ltd. This is an open access article under the CC
BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
B. K and R. N Global Transitions Proceedings 3 (2022) 109–113

ply delivered by the solar panel, where the photovoltaic cell collects
the sunlight and emits the free electrons and converts them into solar
power. Sensors were used to control the motion, obstacle avoidance and
pathfinding such as PIR sensor and ultrasonic sensor. Grasscutter blades
run through connected motors, which operate through the driver and
control speed of blades using pulse width modulation technologies [18].
Dost Muhammad Khan et al., [19] worked on designing solar-
powered automatic pattern design grass cutting robot system using Ar-
duino. The paper describes cutting down the healthy grass in parks
and gardens using Arduino based automatic robot system. Grass cut-
ting robot system monitored and controlled remotely using Bluetooth
module and cut the grass in a predefined desired pattern such as circle,
spiral, rectangle and continue pattern. Sensors are placed in front of the
robot system to enhance the safety measurements to prevent collisions
with the obstacle. If an obstacle is detected by the IR sensor, immedi-
ately avoid the barrier by taking the right turn or stop automatically
Fig. 1. Architecture of IoT based grass cutter robot.
appropriately to prevent collisions. The proposed model works experi-
mentally well for the validation process and affordability of the systems.
Mahadevaswamy et al., [20] worked on designing Internet of Things rechargeable batteries that charge through the Solar panel. DC motors
(IoT) based Voice-controlled grass cutter powered by solar power. The are connected to the wheel of the device through the motor driver cir-
paper describes IoT based grass cutter using Node MCU microcontroller, cuitry, which controls the speed and direction of two motors simulta-
DC motor, rechargeable battery, Solar Panel and Blynk (Android) app neously. Bluetooth module manages the communication between the
to control and access the device from the distant point. The monocrys- device and user end wirelessly with the help of the host control inter-
talline solar panel charges the batteries for the functioning of the mo- face [24]. An ultrasonic sensor is mounted in front of the device to avoid
tor even withstanding harsh weather and climatic conditions. DC motor the device colliding with obstacles. Fig. 1 shows the architecture of the
connected to the wheels of the device works for the movements of the proposed model.
specific command such as right, left, forward and backward. The device The proposed model architecture consists of the following compo-
is controlled through a Blynk app from a distant place and comparable nents and their features are as follows:
to conventional grass cutter it is portable, lightweight and compact.
A O Adeodu et al., [21] developed an embedded solar grass cut- 3.1. Processor
ter for a semi-structured outdoor environment with obstacle avoidance
and path planning features. The paper describes an autonomous grass Customized Harvard architecture with 8 bit RISC (Reduced Instruc-
cutter, which charges its battery for continuous operation of the robot tion Set Computer) processor core Arduino UNO single-chip microcon-
through the photovoltaic cell or solar panel. Infrared sensor and 2D laser troller belongs to Atmel within megaAVR family. The recommended in-
scanner respectively avoid the robot hitting obstacles and path plan- put voltage varies from 7V to 12V, where the operating voltage is 5V. So
ning for an area covering the garden. The evaluation of the prototype the battery leads are connected to the VIN and GND pin of the controller
is achieved through the set objectives of obstacle avoidance and path as power connectors to the controller. Arduino UNO consists of a total
planning measuring the efficiency, energy consumption and machine of 20 pins, out of which 14 pins are digital pins and 6 pins are analog
intervention. The results show that machine intervention achieved is pins [13]. These pins help in executing/operating functions like digital
5% and the lawn area coverage achieved is 95% with average energy write, digital read, pin mode, TTL (Transistor-Transistor Logic) serial
consumption of 6000WH. communication, interrupts, SPI (Serial Peripheral Interface) communi-
Shinya Tokunaga et al., [22] worked on developing autonomous spi- cation, TWI (Two-Wire Interface) communication and analog write.
ral motion small robot covering the entire area and smooth surface with
obstacle avoidance. The paper describes the spiral motion by achieving 3.2. Power supply
fall prevention and returning to the original path for the robot when it
transverse surfaces and obstacles are avoided. Multiple small sensors are Renewable energy is used to charge the battery, where photovoltaic
connected to the robot introducing a new altitude method to analyze the cells in the solar panel convert the sunlight radiation into voltage.
traveling time from the recorded datasets. From these recorded datasets, Monocrystalline silicon cells type of solar panel is opted due to high-
the spiral robot autonomously returns to the original path avoiding ob- est energy efficiency of around 22.5% compared to polycrystalline and
stacles and without falling over the edge of the surfaces. Evaluation thin-film silicon cells. Normally, a single photovoltaic cell can produce
conducted through AHRS (Attitude and Heading Reference System) per- around 0.5V at room temperature and to achieve the higher voltage
forming 90˚ rotation multiple times, fall prevention achieved 90%, ob- levels multiple cells are cascaded in connection and encapsulated in an
stacle avoidance and return to the original path. environmentally friendly casing with protection from the weather, mois-
Several state-of-the-arts from above Solar powered and Battery based ture, pollution and corrosion. Here standard 36 crystalline silicon cell
grass cutter prototypes, developed through various models related to photovoltaic panels are used to charge the 12V battery.
the Internet of Things technology to autonomously control the grass
cutter device. But still lack in achieving the better performances for the 3.3. Bluetooth module HC-05
device, considering the battery usage, accuracy of movement, remotely
controlling, avoiding the obstacles, etc. HC-05 Bluetooth module is an SPP (Serial Port Protocol) module de-
signed to transfer data serially (USART) from controller or PC through
3. Proposed Methodology a transparent wireless serial connection setup. Wireless Personal Area
Network (WPAN) has been built within a range of 100m, which uses
In the proposed model, the Arduino UNO ATmega328 controller acts an FHSS (Frequency Hopping Spread-Spectrum) technology to transfer
as a brain as it controls the entire working of the device that is intended data over an air medium [23]. It detects the 3.3V level voltage for trans-
to make building interactive environments more accessible [23]. The mitting or receiving from the microcontroller and has two modes for
power supply is applied to the model through the battery, which are operation such as data mode and command mode with a default baud

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Fig. 3. Design prototype of the Grasscutter.

Fig. 2. Object detection using R-CNN detector architecture.

Fig. 2 is brief about the communication between the DC motor
and Bluetooth module HC-05 interfaced using the Blynk app (Best GUI
rate of 9600bps and 38400bps. The key pin enables the module to oper- with Arduino). The Blynk app downloaded on mobile phone (preferably
ate in command mode using AT commands instruction set such as AT, Android) is paired with our prototype selecting appropriating project
AT+PSWD, AT+UART, etc. name, device, and connection type to create dispatcher mail to get “Auth
token” which will be uploaded to Arduino board. Bluetooth is turned on
3.4. Ultrasonic sensor in the user mobile phone and searches for the HC-05 and pair the proto-
type with default key “1234” if the phone doesn’t receive any nearer de-
HC-SR04 sensor (SONAR) emits an ultrasound frequency at 40 kHz vice searching continues [27]. Once the prototype is paired with the HC-
to measure the distance between the sensor and object or obstacle. To 05 module starts to operate and control movements and mechanisms of
generate Ultrasound frequency, the trigger pin is set to high for 10μs and the Grasscutter. There are genuinely seven values are defined to DC mo-
the echo pin measures the sound traveled in μs, which travels through tor operation such as Forward movement, Backward movement, Right
an air medium and bounces back to the sensor module once it strikes movement, Left movement, On mechanism, Off mechanism and Stop
the object or obstacle [24]. The speed of the sound is taken as 0.034 function for the Grasscutter prototype.
cm/s or 340 m/s to calculate the object distance and bounce back time When the user touches the button of forwarding movement in the
given in equation 1. app, the signal is recognized for the movement of Grasscutter in a for-
ward direction through wheels attached to it. Similarly, the Grasscutter
𝑇 = 𝑠∕𝑣 (1)
operates for the signals Backward movement. When the user touches the
button of Right movement in the app, the signal is recognized for the
3.5. Motor driver movement of Grasscutter to turn Right direction i.e., left diagonal mo-
tors (front and back left wheels) will orient forward and the Grasscutter
The L298N motor driver controls the speed and rotation/direction moves in the right direction. Similarly, the Grasscutter operates for the
of the DC motor using PWM (Pulse Width Modulation) and H-Bridge signals Left movement. On and Off mechanism signals control the Grass-
driver [25]. PWM technique controls the speed of the motor by varying cutter Blade attached to it to cut the grass on the field. Finally a Stop
its input voltages through sending a series of on-off pulses known as signal is used to avoid the Grasscutter colliding with obstacles while in
duty cycle for example duty cycle of 25% leads to 3V, 50% leads to 6V, movement through the interface of ultrasonic sensor connected to the
75% leads to 9V and 100% leads to 12V. H-bridge contains 4 switches, head of the Grasscutter.
where the motor is connected to the center of the switches. The spinning The design of the prototype contains Arduino UNO, Solar panel, DC
direction of the motor is controlled by changing the polarity of its input motor, motor driver, rechargeable batteries and minor electronic com-
voltage. Normally, two switches are closed and another two switches ponents as shown in Fig. 3. Arduino UNO was programmed using Ar-
are openly connected to spin the motor in a clockwise direction, at the duino IDE software to control and communicate with the prescribed
same time reversing the connectivity of switches spin the motor in an network, where the remote control of Grasscutter was done through the
anti-clockwise direction [26]. Blynk app for Android mobile. Wheels of the Grasscutter are controlled
through DC motor movement through instructing specific commands
4. Discussion from the processor.

The flow diagram shown in Fig. 2 describes the process flow of solar- 5. Results
powered Grasscutter, Arduino Uno microcontroller acts like a heart for
the proposed model in operation and controlling the device. The 12V Fig. 4 shown below is the final presentation of the working prototype
rechargeable batteries are used here to power up supply for connected designed for the Grasscutter system that is controlled through Android
electronic components, which charges through the monocrystalline so- mobile through the Blynk application app. The torque of the DC motor
lar panel of 15W connected to it. Five 12V DC motors are controlled interfaced to control the blade of Grasscutter to shear the grass.
by an L298N driver and relay, out of which two geared DC motors and Total torque generated by the motor is given by Eq. (2)
three Brushless DC motors. Both geared DC motors are connected to
T = F ∗ R ∗𝑆𝑖𝑛 𝜃 (2)
the back wheel of the prototype with 600RPM, two Brushless DC mo-
tors are connected to the front wheel of the prototype with 400RPM and Where F = Force in linear direction.
one Brushless DC motor controls the Grasscutter (Blade) with 4600RPM. R = Radius of the Grasscutter being rotated

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Table 1
Performance comparison with State-of-the-Art.

State-of-the-Art Parameters Performance

Proposed System 7 Signals taken to control mechanism and movements Battery charge time = 8.5 hrs
Efficiency of system = 100%
Ibrahim, B et al., [11] 4 Signals taken to control movements Battery charge time = 11.5 hrs
Efficiency of system = 90%
Mahadevaswamy et al., [13] 6 Signals taken to control mechanism and movements Battery charge time = NA
Efficiency of system = 90%

future scope, if the designed Grasscutter connectivity from the Bluetooth

module has been replaced with cellular connectivity through COAP-SMS
(Constrained Application Protocol), COAP-MQ, etc., then the system can
be monitored from anywhere in the world.

Acknowledgement

We would like to show our gratitude to the Maharaja Institute of

Technology Mysore and thank teaching and non-teaching staff of Dept
of ECE. Also, thanks to our parents and friends who all are directly or
indirectly supported for this research.

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