INDIAN INSTITUTE OF TECHNOLOGY ROORKEE

Lab Based Project

Solar Powered Robotic Lawn
Mower
Under the guidance of Prof. P.M.
Pathak

Group Members
Prabhanshu
Rawat(14117046)
Praful Anand(14117047)
Prashant
Kumar(14117048)
Index

Project Definition
Functions and Operations
Electrical Circuit
Mechanical Design
Path Planning
Cost Estimate
Future work and Opportunities

2
Project Description

Features
Fully solar powered lawn mower.
Fully automated lawn mower.
A solar powered charging station.

Benefits
To reduce human effort and save energy.
Zero emissions.
Without the use of GPS system.

3
Functions and Operations

Two modes:-
Automatic Mode- Wheel motor and blade motor are solar
powered.
Manual Mode- Only blade motor is solar powered.

In Automatic Mode
Path Guidance
Obstacle Detection

4
Electronic Circuit

- Circuit design for bot

- Circuit design for Charging Station

Charge
Solar Panel Battery
Controller

5
Electronic Circuit

6
Mechanical Design

7
8
Motors Used

3A for Wheels
A DC motor on each
wheel.
Servo Motor

3B for Cutter
A single DC motor is
used.
Step Motor

9
DC Motor
Specifications(Wheel Motor)
Force = k x N
k between rubber and grass ~0.35
N is the normal force on the wheels ~10 Kg
Force = 0.35 x 10 Kg = 3.5 Kg
r is the wheel radius ~5 cm
Torque per Wheel = 3.5 Kg x 5cm/4 = 4.375kg-cm
Desired torque per motor is ~5kg-cm for adequate
movement.
Servo Motor
Spect. : 12v,1.8A,5Kg-cm,100RPM(5.2359cm/s),21.6W
Total Power :4X21.6=86.4W

10
DC Motor
Specifications(Cutter Motor)
100RPM=52.33cm/s; Transverse Distance =30cm Min(1rev)
Thus, for 30cm Time=30/(100*2*3.14*5)=.009549min
Thus, 1rev (.009549min) 104.719RPM
Step Motor
Spect. : - Brushed Motor Permanent Magnet, Power: 500W
,Voltage: 24v,Current Draw : 27.4A,Current Draw (No
Load): 2.5A,Rated Torque: 1.9 N.M. ,Rated Speed: 2500
RPM, Efficiency: Greater than 75% , Weight : 4.1kg(RS
7000)
Total Power :86.4 +500=586.4W

11
Cutter Motor

KEY FEATURES
Rated Power: 500W
Style : Brushed Motor Permanent Magnet
Reversible: Yes
Rated Voltage: 24v
Current Draw (Rated): 27.4A
Current Draw (No Load): 2.5A
Step Motor Rated (constant) Torque: 1.9 N.M.
Rated Speed: 2500 RPM
Efficiency: Greater than 75%
Number of teeth: 11, Pitch 6.35 #25 Chain
Weight: 4.1kg

Dimensions:
- Diameter: 4 1/4"
- Length (no shaft): 5 1/4"
- Length (with shaft): 6 1/4"

12
 Battery
Brand Magic Power
Model BC-A21
1 Batteries Item Weight 1.5 Kg
24V Product
Dimensions
12 x 28 x 13 cm

100Amp hr. Item model BC-A21

2400W hr.
Expected charging time:-
2400W hr/250 W=9.6 hours.
Mowing Time:-
2400W hr/586.4W=4.09 hours.
Mowing Area in One Go =
0.3*.5233*4.09*3600=2311m^2.
number
Compatible 12V 24Ah, 12V 40Ah,12V
Devices 50Ah,12V 60Ah, 12V 80Ah, 12V
100Ah, Lead Acid and Alkaline
batteries
Additional Aligator Clips, Constant Current
Features Charger, Better Charging
Algorithm, Pure DC charging,
weak battery also charges with
correct voltage, Soft Charging ,
Silent Operation., Robust Design
Number Of Items 1
Battery Cell
Composition
Alkaline

13
Power System
Product Specifications

SKU SO.PO.1624871

Type of Product Polycrystalline Solar Panel

Small solar (250W,RV) panel Voltage at Pmax ( V) 24 V

continuously charges 24V Module Voltage 24 V

battery at charging station. Number of Cells 60

Module Dimension (L x W x T) 1646 x 985 x 45 mm

When mower returns to Cell Efficiency 0.176

charging station, the on- Junction Box

Junction Box With Cables and
Connectors

board batteries are Warranty period 25 Years of warranty

recharged. Tolerance(%) 0.01

Applications Industrial and commercial sectors

Expected charging time:-
2400/250=9.6 hours.
MNRE Approved, Glass Type- 3.2 mm
for smaller panels and 4 mm for bigger
Features
panels, high transmission low iron,
tempered.

Mowing Time:- Watt 250 W

24*100/586.4=4.09 hours. Model No SSI250W

Short Circuit Current 9.21 A

Open Circuit Voltage 36 V

14
Path Guidance System
Previous Work
Complete coverage D* Algorithm
2-D Spiral STC algorithm
Full Spiral STC algorithm (Linked spiral path , Linked smooth
spiral path )
Remote Controlled Path Generation(Partially Automated)
GPS System* (to get coordinates)
Wired Boundary around the field (to get relative coordinates)
ARTIFICIAL INTELLIGENCE* ( typically used in military
operations)
1.)GENETIC ALGORITHM
2.)ORIENTED RECTILINEAR DECOMPSITION (ORD)
3.)SPATIAL CELL DIFFUSION(SCD)
Our Work
Boustrophedon Path
Complete Coverage using BFS (Breadth first search)
15
Boustrophedon path
Zig-zag path.
The traversal is done through all the cells after
making sure the next cell has no obstacle. If obstacle
then turn by 180 Degree then after one complete
cycle (say Traverse ) and then turn to Lateral.
Boundary is defined and considered as obstacle.
Alternate left and right turns when in front of
Obstacle.
Simplest but require more energy consumption as
repeated area in case of obstacle.
Not 100% coverage .
Pseudo code.

16
Boustrophedon path

17
 Complete Coverage using BFS
(Breadth
Random path.
first search)
In this algorithm for every node. It computes the
optimal path from the node N(Standing Point) to the
goal node G(Every other node)using BFS Algorithm and
then transverse to the nearest node one by one.
Algorithm stores the back-pointers for every searched
node n, which point to the parent node with the
smallest path and marked the visited node as an
obstacle .
Boundary is defined and
considered as obstacle.
Require more energy consumption
as repeated area in case of obstacle.
100% coverage .
Pseudo code.
18
Complete Coverage using BFS
(Breadth first search)

19
 Comparison
Previous Work
Algorit Concept Energy Covera Illustration
hm Consumpt ge
ion
TRACC It covers the area other than the Require Less than
vertical vertex of the obstacle more energy 100%
by forth and back motion. as repeated
area .
Comple It is an extension of Path Require less 100%
te Transform algorithm which uses energy and coverage
coverag D* algorithm in place of wave take care of , with
front algorithm to make quicker dynamic dynamic
e D*
re-planning with changing obstacle. obstacle
Algorith environment .
m
2-D Region is covered using spiral Require less Coverag
Spiral filling paths. The covered energy than e of 93%
STC regions are linked through FSTC.
backtracking.
algorith
m
Full It covers current sub region Require Coverag
20
 Comparison
Our Work
Algorithm Concept Energy Cover Illustration
Consumpti age
on
Boustrophe The traversal is done Require Less
don Path through all the cells more than
after making sure the energy 100%
next cell has no consumptio covera
obstacle. If obstacle n as ge
then turn by 180 repeated
Degree then after one area in case
complete cycle (say of obstacle.
Traverse ) and then
turn to Lateral.
Complete For every node it More 100%
Coverage computes the optimal energy covera
using BFS path from the Standing consumptio ge
(Breadth Point to the Every other n than
first goal node using BFS Boustrophe
search) Algorithm and then don Path.
21
Cost Analysis
Part Vendor Price (Rs)
Wheel (X4) http://www.ebay.in/ Rs 125/-
Arduino Uno http://www.amazon.in/ Rs 499/-
Battery http://www.ebay.in/ Rs 3500/-
Cutter Blade Rs 1000/-
L293D Motor http://www.amazon.in/ Rs 230/-
Driver
Wheel Motor http://www.amazon.in Rs 280x4/-
(X4)
Cutter Motor http://www.ebay.in/ Rs 6990/-
Ultrasonic http://www.amazon.in/ Rs 180/-
Sensor
Bread Board http://www.amazon.in/ Rs 126/-
Voltage http://www.amazon.in/ Rs 149/-
Regulator
Solar panel http://www.industrybuying.com Rs 9818/-
/
22
Future Work and Challenges
Adjustable blade height.

Collection of grass.

Finding the best sensors for obstacle detection.

Charging station setup.

23
Product Available in Market

24
25
Thank you

Queries ?

26