Eco Saver Mower (ESM).
ECO_SAVER MOWER (ESM)
MAISARAH BINTI ABU BAKAR ASSARI
This report submitted in partial fulfillment of the requirements for the award of Bachelor
of Electronic Engineering (Computer Engineering) With Honours
Faculty of Electronic and Computer Engineering
Universiti Teknikal Malaysia Melaka
Jun 2013
I]NIVERSTI TEKNIKAL MALAYSIA MELAKA
FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJIJR.UTERAAN KOMPUTER
BORANG PENGESAHAN STATUS LA}ORAN
PROJEK SARJANA MUDA
Tajuk Projek
II
Eco_Saver Mower (ESM)
Sesi
I
Pengajian
2
I
J
MAISARAH BINTI ABU BAKAR ASSARI
Saya
mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di Perpustakaan dengan syaratsyarat kegunaan seperti berikut:
l.
2.
3.
Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.
Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.
Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran antara institusi
pengajian tinggi.
4.
Silatandakan(
{ ):
E
*(Mengandungi mallumat yang berdarjah keselamatan atau
kepentingan Malaysia seperti yang termaktub di dalam AKTA
RAHSTARASMI 1972)
fI
TERHAD**
E
TIDAK TERHAI)
**(Mengandungi maklumat terhad yang telah ditennrkan oleh
organisasi/badan di mana penyelidikan dijalankan)
Disahtan oleh:
,w"
(TANDATANGAN PENULIS)
Alamat Tetap: No. 30, Jalan 3,
Taman Radin Jaya,
45500 Tanjong Karang,
Selangor Darul Ehsan
ilUHATTAt) }IOORAZLAil SHAH B. ZAHUolll
Lxlwer
Fecdty of Ebdrontc and Comgncr Engincerirg
Umi\qafi Tcknikal MalaYria Mclaka
Hang Tuah Jaya,
76100 Durian Tuqgal, Mclaka.
-,,,,
,
.t.1
(9(..+.1.:1...
,,,,*,
|!f6l*tl
lu
"I hereby declare that this re,port in the result of my own work except fur quotes
in tho refererrce."
signature
i
................
&....
AUthoT : MAISARAII BINTI ABU BAKAR ASSARI
Date
r
1.t../...9./..P.?.!?:
.........11.
as cited
lV
"I hereby declare that I have read this report and in my opinion this report in terms of the
scope and quahty for the award
of Bachelor of Electonic Engineering (Computer
Engineering) With Honours. "
Supervisor Name
: MUIIAMMAD
Date
:
NOORAZLAN SHAH BIN ZAII{IDIN
v
Dedicated to my beloved family especially my parent, supervisor, lecturers, and all my
friends
vi
ACKNOWLEDGEMENT
First and foremost, a highly grateful to Allah SWT for His blessing to make this
first stage of project success and completely done in time. I would like to express my
honored thanks and appreciation to my supervisor, En. Muhammad Noorazlan Shah bin
Zainudin and Engr. Mohd Muzafar bin Ismail for they're willing to teach me and their
constant guidance and encouragement. They has been a great help in teaching me
throughout the project period. Besides, they always allow me to question them and
giving prompt reply for my uncertainties. I would like to thank to my parent and family
who have supported me for all this year with their love and caring in term of moral,
financial, and advice for completing this project. I also would like to thank to all the
seniors which have helped me in many ways. Their notes and projects really made me
understand more and made this report full of information gathered from all the notes
given. Finally, a deep thankfulness to all friends who have directly or indirectly
contributed to this project. Without their counsel and guidance it would have been
impossible to complete my final year project with successfully done and achieved the
objectives.
vii
ABSTRACT
This project is known as Eco_Saver Mower (ESM). It will be the next invention
that will make the human life much easier. This machine works best at flat area and it is
said to be easier because this machine will operate automatically with only click ON
button to on the system, push the button ON for motor blade function and push the start
button for it ready to move. Before the grass is cut, user must set the ESM at the center
position because this mower will cut from the center area to the larger. The extra feature
of this mower than other mowers is the cutting style during cuts the grass which it
moves in hexagon pattern movement. It has a two infrared sensors which are attached at
the front and right of the ESM for detecting any obstacle in the cutting area. It also have
rain sensor that is attached at the top of the ESM for detecting rain and automatically
shut down the system, so that the machine is durable. Furthermore, this machine will use
lithium battery as the power source that will supply the power to generate the machine
for the cutting session and the solar panel will use to recharge the battery. It is said to be
saved because there is no fuel use and this will avoid our air from being polluted. It is
very environmentally friendly and it’s going to be an affordable machine that can be
used by most of people in Malaysia.
viii
ABSTRAK
Projek ini dikenali sebagai "Eco_Saver Mower" (ESM). Mesin ini akan menjadi
sebuah mesin yang direkacipta bagi memudahkan kehidupan. Mesin ini bekerja di
kawasan yang rata dan ia menjadi mudah kerana mesin ini beroperasi secara automatik
hanya dengan hanya klik butang ON pada sistem, kemudian tekan butang ON untuk
bilah motor berfungsi dan tekan butang mula untuk ia bersedia untuk bergerak. Sebelum
rumput dipotong, pengguna perlu menetapkan ESM di kedudukan tengah padang kerana
mesin ini akan memotong rumput dari kawasan tengah dan ke kawasan yang semakin
besar. Ciri-ciri tambahan Mesin pemotong rumput ini daripada pemotong rumput lain
adalah gaya pemotongan semasa memotong yang mana ia bergerak di dalam pergerakan
corak heksagon. Ia mempunyai dua sensor inframerah yang dipasang di bahagian depan
dan kanan ESM untuk mengesan sebarang halangan di kawasan pemotongan. Ia juga
mempunyai sensor hujan yang di letakkan pada bahagian atas ESM untuk mengesan
hujan dan akan mematikan sistem secara automatik, ini menjadikan mesin ini tahan
lama. Selain itu ia juga mendapat sumber bekalan kuasa daripada bateri yang akan
menjana enjin untuk proses pemotongan rumput dan solar panel digunakan untuk
mencas semula bateri. Ia juga menjimatkan kerana ia tidak menggunakan minyak dan ini
dapat mengurangkan pencemaran. Mesin ini sangat mesra alam dan mampu dimiliki
oleh kebanyakan manusia di Malaysia.
ix
TABLE OF CONTENTS
CHAPTER
I
CONTENTS
PAGE
PROJECT TITLE
i
VERIFICATION FORM
ii
DECLARATION
iii
DEDICATION
v
ACKNOWLEDGEMENTS
vi
ABSTRACT
vii
ABSTRAK
viii
TABLE OF CONTENTS
ix
LIST OF FIGURES
xiii
LIST OF TABLES
xv
INTRODUCTION
1
1.1
Introduction of Cleverland Lawn Mower (CLM)
1
1.2
Objective of CLM Project
2
1.3
Problem Statement
3
1.4
Scope of project
4
1.5
Brief Explanation of Methodology
4
1.6
Report Structure
5
x
II
LITERATURE REVIEW
7
2.1
Study of Others Automatic Lawn Mower
7
2.1.1 Solar Powered Automatic Lawn Mower “Lawn
7
Buddy”
2.1.2
Design and Modelling a Prototype of a Robotic
8
Lawn Mower
2.1.3
Comparison between old version lawn mower
9
and other automatic lawn mowers.
2.1.4
2.2
2.3
CLM design plan
10
Solar Panel
11
2.2.1
The benefits of solar electricity
12
2.2.2
How do PV solar panel cells work
12
2.2.3
Photovoltaic technology
13
Battery
14
2.3.1
Lithium battery technology
14
2.3.2
Formula to calculate the time taken to charge
15
the battery
2.4
Direct Current (DC) Motor
16
2.5
PIC microcontroller
18
2.5.1 Harvard and Von-Neumann architecture
2.5.1.1 Comparison between these two
18
19
architectures
2.5.1.2 PICs and most Harvard chips are
20
Reduced Instruction Set Computer
(RISC)
2.5.1.3 CPUs are Complex Instruction Set
21
Computer (CISC)
2.6
2.5.2
Microcontroller versus other Technologies
21
2.5.3
PIC16F877A
23
Infrared (IR) Sensor
25
xi
2.7
III
IV
Rain Sensor or High Sensitivity Water Sensor
26
METHODOLOGY
28
3.1
Project overview
28
3.2
Operation Flow Diagram
30
RESULT AND DISCUSSION
31
4.1
Expected result of CLM project
31
4.1.1
Circuit design for ESM
32
4.1.1.1 Main circuit port design and Printed
32
Circuit Board (PCB) layout
4.1.1.2 Solar panel charging circuit and PCB
35
layout
4.1.1.3 Motor driver circuit and PCB layout
37
4.1.1.4 Water sensor circuit and PCB layout
38
4.1.1.5 Dual IR obstacle circuit and PCB
39
layout
4.1.2
Block diagram of ESM operation flow
41
4.1.3
The output source code after build in
42
MPLAB IDE software
4.1.4
Model design by using Autodesk Inventor
43
Software
4.2
V
Discussion
CONCLUSION AND RECOMMENDATION
44
46
xii
5.1
Conclusion
46
5.2
Recommendation
47
REFERENCE
49
APPENDIX A: SOURCE CODE FOR ECO_SAVER MOWER (ESM)
51
APPENDIX B: FULL IMAGE VIEW OF ESM
60
APPENDIX C: PROJECT PLANNING OF PSM 1 AND PSM 2
61
xiii
LIST OF FIGURES
NO
TITLE
PAGE
Figure 2.1
The Lawn Buddy body design
8
Figure 2.2
The expected Robotic Lawn Mower by student of Petronas
9
University
Figure 2.3
18V PV solar panel
12
Figure 2.4
Solar cell technology system
14
Figure 2.5
12V, 7.0 Ah rechargeable battery
14
Figure 2.6
(a) High speed DC motor and (b) DC geared motor 12V
16
Figure 2.7
The circuit of L298 with connecting to the DC motor
17
Figure 2.8
Harvard versus Von-Neumann architecture
19
Figure 2.9
Comparison between Harvard and Von-Neumann
20
architecture
Figure 2.10
The movement style of ESM
23
Figure 2.11
40 Pin PIC16F877A
23
Figure 2.12
(a) IR transmitter and receiver and (b) Basic connections of
26
IR sensor
Figure 2.13
Analogue Output Voltage VS Distance to Reflective Object
26
Figure 2.14
(a) Water sensor (b) Basic circuit of water sensor
27
Figure 3.1
Project flow chart diagram
29
Figure 3.2
Flow chart diagram for movement operation by ESM
30
Figure 4.1
Main circuit port design
32
Figure 4.2
PCB design by using Proteus software (ARES)
34
Figure 4.3
Before and after print the PCB layout design
34
Figure 4.4
After the installation component into board for main circuit
35
Figure 4.5
Schematic diagram of solar charging circuit
35
xiv
Figure 4.6
(a) PCB layout design and (b) component installation for
37
solar circuit
Figure 4.7
Schematic diagram of DC gear motor driver
37
Figure 4.8
(a) PCB layout design and (b) component installation for
38
motor driver circuit
Figure 4.9
Schematic diagram of the water sensor
38
Figure 4.10
(a) PCB layout design and (b) component installation for
39
water sensor circuit
Figure 4.11
Schematic diagram of dual IR obstacle sensor
39
Figure 4.12
The PCB layout and component installation for dual IR
40
obstacle sensor circuit
Figure 4.13
Block diagram of the project functions
41
Figure 4.14
The output of source code is successfully build
42
Figure 4.15
PICkit 2 is selected
42
Figure 4.16
The body design by using Autodesk Inventor Software
43
Figure 4.17
The complete body design of ESM
43
Figure 5.1
Pattern movement in future
48
Figure 5.2
The additional algorithm for the future work recommendation
48
xv
LIST OF TABLES
NO
CONTENTS
Table 2.1
Comparison between old version lawn mower and other
Page
10
automatic lawn mowers
Table 2.2
The pin condition of the motor operations
17
Table 2.3
The movements of the ESM with IR and water sensor
17
implementation
Table 2.4
Comparison between Microcontroller, Programmable
21
Logic Circuit (PLC) and Microprocessor
Table 2.5
Pin connection for VCC and GND
24
Table 2.6
Logic condition for reset pin
24
Table 2.7
Comparison between the PIC16F87XA Device Features
25
CHAPTER 1
INTRODUCTION
In this chapter, the introduction of this project will be explained. Besides, the
main concept and explanation of the objectives about this project will be introduced.
The problem statement explains the project significantly and gives the idea of a real
time application. The main elements of this project are discussed in the scopes of
work and common structure of this project will also be explained too.
1.1
Introduction of Eco_Saver Mower
Nowadays, people need some invention to save their time, easy and flexible
even for workers, students and housewives. In addition, energy saving will be as a
bonus because it can reduce our demand for energy produced from fossil fuels, and
hence our contribution to global warming. So the idea for this final year project is
coming up with making a machine that requires all the above matter.
This project is basically about automatic lawn mower known as Eco_Saver
Mower (ESM). By creating this, it can save human energy because all the cutting
process will be done by the machine automatically, furthermore the consumption of
using fuel will decrease by using solar panel which it can help the machine to
discharge the energy inside the battery which will be used to generate the mower.
2
The main difference of ESM with other lawn mower is their movement when
cutting the grass. Basically, current automatic mowers are moving randomly, so the
probability of the grass that's not exposed to cut is high and it is only suitable for a
small area. Therefore, to overcome that problem, the ESM is created by moves in a
hexagon pattern from the center area and the larger which it is more suitable for field
that not have any permanent obstacles such as a football field, stadium, university
or house area that has the spacious lawns.
In addition, the other functions of ESM are to detect an obstacle and rain. If
the ESM detects any obstacle, it will stop or stay in pause condition to avoid the
obstacle and LCD display will then show "OBJECT!" at the screen. Also same if the
ESM detects rain; it will stop and show "WATER!" on the screen after detecting the
water to safeguard the motor from damage.
There is some basic equipment that will involve in this project which is the
microcontroller, solar panel, battery, DC motor, LCD display, sensors (water sensor
detector, IR sensor) and a trimmer string line as a cutting blade.
1.2
Objective of ESM Project
The objectives of doing this project are stated below:
1. To develop a lawn mower machine that's running in hexagon pattern
movement.
2. To reduce the time used for cutting the grass and minimize the power
consumption of battery during cutting grass.
3. To create a lawn mower machine with auto shutdown function when rainy
days.
3
1.3
Problem Statement
Currently, many automatic lawn mowers produced today are operated
randomly. By running randomly, the grass area is not cut completely and it will take
a long time to make sure the lawn mower finished cutting the entire grass area. So, it
is hard for random automatic lawn mower finished their job in a spacious area like a
football field and others. This will cause battery usage will increase and the
durability of battery is not durable. To overcome this problem, ESM is proposed by
produce the automatic lawn mower with program to operate in the hexagon pattern
movement. So, the cutting time and power of battery usage can be reduced.
Usually, by using others lawn mower, more worker is required depending on
how large the size of the lawn. By using this ESM, it can reduce worker and human
energy because only require one person or worker to monitor from afar the
movement of the machine. Moreover, the machine will reduce human power to
conduct the ESM safely because if the IR sensors detect the obstacle, it can avoid
from breaking that obstacle, human or others (which in pause condition) by itself
automatically when the machine is working. By using the automatic lawnmower, it
only takes about fewer 5 minutes to set up and leave the machine to finish the job
until it found the permanent obstacle like barriers of a football field. The LCD
display used to easier for users know the status of the machine during running the
ESM.
Nowadays, the cost to cut the grass is expensive which includes the cost of
hiring people, fuel and maintenance. This invention will help a lot in reducing this
cost. Besides, no fuel needed to operate the ESM. So that, no emission and no
pollution where it is 0 % of exhaust emission of this machine.
Moreover, the others automatic lawn mower will always operate even during
rainy days which probably can damage the lawn mower motor. So there is an
additional function of ESM that can detect rain by using a water sensor detector.
When it's raining, ESM will stop immediately and will begin to operate again when
in the dry state.
4
1.4
Scope of Project
In order to complete the ESM project, there are several aspects that need to be
implemented such as programming and hardware. The language that will use in this
project to program the programmable integrated circuit (PIC) is assembly language
programming by using MPLAB Integrated Development Environment (IDE)
software. All functions of this ESM which is to control the movement in hexagon
pattern and allow the machine detect the obstacles and water. It will programmed by
using this software and all input and output ports that will use during program the
entire function of this ESM are referred to the data sheet of microcontroller type,
PIC16F877A. Furthermore, to get files.hex, compiler type PICkit2 will be used.
For hardware part of this project, the main component that will use is a
microcontroller or programmable integrated circuit (PIC). As mention above, the PIC
that will use is PIC16F877A. Furthermore, the related sensors that used in this
project will contact with the PIC to control the ESM in automatically according to
the function of the ESM. Furthermore, the LCD displays are used to display the
instruction to make easier for users used the ESM and also display whether the
machine detect the obstacle and the water. The sensor is involved in this project is:
i.
Water sensor or rain sensor to detect rain. If the sensor detects any water or
rain it will stop the mower from cutting the grass and the LCD display will
show "WATER!" on screen.
ii.
Infrared sensor uses to detect any obstacles that can be found on the ground
such as ball, human or others. If the sensor detects any object, it will stay in
pause condition to mower from cutting the grass and the LCD display will
show "OBJECT!" on screen.
1.5
Brief Explanation of Methodology
First of all, this project has begun with a discussion with supervisor regarding
general ideas and concepts that would be used in this project. Next, for the literature
review part, the background of this project was studied thoroughly and several
researches were done by referring various resources including reference books, IEEE
journals, refers the related data sheet, online reading and also video learning via
5
YouTube. On the next stage, MPLAB IDE software programming is studied. This
software will use to develop assembly language programming to function the
microcontroller. The front panel development and simulation are studied by referring
the notes of microcontroller subject that has taken before, via YouTube tutorial
videos and online self study. All input and output of the Programmable Integrated
Circuit refer to the data sheet of PIC used. Then, the crucial part of this project which
is circuit design was studied by using Proteus Software. Hardware design will be
done on my next semester stage including of hardware fabrication and design the
body. The program for this whole project will be developed and combine with
hardware and if the output run according to expected goal, this project is considered
success, otherwise troubleshooting will be implemented in order to find faulty
components or connections.
1.6
Report Structure
This report is documentary delivering the ideas generated, the concepts
applied, and activities done. It consists of five chapters. The followings are the
chapter-by-chapter description of information in this report.
Chapter 1 conveys readers a basic introduction on why and how the idea of
this project is developed. This chapter consists of introduction, objectives of the
project, problem statement, scopes of work, brief methodology and report structure.
Chapter 2 is a literature review of theoretical concepts applied in this project.
This chapter includes background study of several existed automatic lawn mower in
our country and any other related project. Apart from that, explanation of the
hardware that will be used which PIC, sensors and others are explained too in this
chapter.
Chapter 3 introduces the methodology of the project which include a flow
chart that explains the overall method taken along the development of the project and
also a flowchart that explains on how the system operate in a desired sequence.
6
Chapter 4 discusses the result of this project. At last, chapter 5 will be the
conclusions about this PSM include some recommendations for the suitable that can
be applied to the ESM.
CHAPTER 2
LITERATURE REVIEW
This chapter will review about existing projects to get an idea about the
project design, conception and additional information related to the project. Due to
various existing projects available, this research is important to get a clearer picture
of the project. Besides, the study of the elements included in the scope of work is
also done in this part.
2.1
Study of others Automatic Lawn Mower
Before deciding on the concept, scope, and function to design an automatic
lawn-mower, it is important to study the related projects of ESM to define the
advantage of ESM with other automatic lawn mower and research which type of
microcontroller need to use in this project and find the suitable hardware like the
type of sensor need to use in this project, the suitable power of battery and solar
panel which applicable with the ESM function.
2.1.1
Solar Powered Automatic Lawn Mower “Lawn Buddy” by Darwin
Ramos and Jessie Lucero, San Jose State University, US. [1]
8
In this project, the author applied a microcontroller, multiple sensors, and a
solar charging system. The goal of their robot is to see the difference between grass
and concrete while monitoring its surroundings continuously. The microcontroller
that they used for their automatic lawn mower is ATmega16. Besides, the humidity
sensor used to detect if it was on grass versus on concrete. Since concrete/dirt and
grass are distinctively different in density and moisture levels, the humidity was a
good factor to distinguish both materials. In addition, the passive infrared sensor
used to detect the heat radiation from humans and an ultrasonic sensor to detect if the
robot was heading into an object. Other than that, the recharging batteries used as
the power supply of the robot and will recharge by using solar panels. The nickelmetal hydride (NiMH) was found to use because given a low charging current, it will
not overcharge. Sizing the battery will depend on what we are powering, specifically
the motors. Like batteries, there is a range of motors to choose from. Two 7.2 DC
motors with integrated gear heads. The needed torque did not need to be a lot
because only for a small prototype. Moreover, this robot is randomly cutting the
grass during the cutting process. Figure 2.1 below shows the body design of the
Lawn Buddy.
Figure 2.1: The Lawn Buddy body design [1]
2.1.2
Design and Modelling a Prototype of a Robotic Lawn Mower by Taj
Mohammad Baloch and Timothy Thien Ching Kae, Petronas Technology
University, Malaysia. [2]
A major goal of robotics is to develop machines that perform useful tasks
independently with minimal supervision. In this project, the author applied
PIC16F877 micro-controller to enable the robot to be cost effective. The
programming languages required for this controller are C++ Programming. The
9
model was installed the infrared sensor for sensing the obstacle like a wall, tree,
stone. Furthermore, Motors and actuator are the “muscles” of the robot. Proper
motors need to be selected for desired output and tasks. Three types of motor have
been identified for the robot; Continuous Motors, Stepper Motors and Servo Motors.
Robots may include feedback driven connection between sensor and actions which
are not under direct human control. Responses may take the form of electromagnetic
motor or actuators (effectors) which may control arm, open or close grips. Control
and feedback are provided by a computer program which can be either external or
internally inside the robot itself. To operate the robot, the author used a rechargeable
battery without use for fuel. Besides, the cutting operation that will do with this robot
is random cutting style until finished cutting the entire area. This project more uses a
mechanical part to conduct the movement of this robotic lawn mower. Figure 2.2
shows the expected body design of Robotic Lawn Mower.
Figure 2.2: The expected Robotic Lawn Mower by student of Petronas University [2]
2.1.3
Comparison between old version lawn mower and other automatic lawn
mowers.
MAISARAH BINTI ABU BAKAR ASSARI
This report submitted in partial fulfillment of the requirements for the award of Bachelor
of Electronic Engineering (Computer Engineering) With Honours
Faculty of Electronic and Computer Engineering
Universiti Teknikal Malaysia Melaka
Jun 2013
I]NIVERSTI TEKNIKAL MALAYSIA MELAKA
FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJIJR.UTERAAN KOMPUTER
BORANG PENGESAHAN STATUS LA}ORAN
PROJEK SARJANA MUDA
Tajuk Projek
II
Eco_Saver Mower (ESM)
Sesi
I
Pengajian
2
I
J
MAISARAH BINTI ABU BAKAR ASSARI
Saya
mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di Perpustakaan dengan syaratsyarat kegunaan seperti berikut:
l.
2.
3.
Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.
Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.
Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran antara institusi
pengajian tinggi.
4.
Silatandakan(
{ ):
E
*(Mengandungi mallumat yang berdarjah keselamatan atau
kepentingan Malaysia seperti yang termaktub di dalam AKTA
RAHSTARASMI 1972)
fI
TERHAD**
E
TIDAK TERHAI)
**(Mengandungi maklumat terhad yang telah ditennrkan oleh
organisasi/badan di mana penyelidikan dijalankan)
Disahtan oleh:
,w"
(TANDATANGAN PENULIS)
Alamat Tetap: No. 30, Jalan 3,
Taman Radin Jaya,
45500 Tanjong Karang,
Selangor Darul Ehsan
ilUHATTAt) }IOORAZLAil SHAH B. ZAHUolll
Lxlwer
Fecdty of Ebdrontc and Comgncr Engincerirg
Umi\qafi Tcknikal MalaYria Mclaka
Hang Tuah Jaya,
76100 Durian Tuqgal, Mclaka.
-,,,,
,
.t.1
(9(..+.1.:1...
,,,,*,
|!f6l*tl
lu
"I hereby declare that this re,port in the result of my own work except fur quotes
in tho refererrce."
signature
i
................
&....
AUthoT : MAISARAII BINTI ABU BAKAR ASSARI
Date
r
1.t../...9./..P.?.!?:
.........11.
as cited
lV
"I hereby declare that I have read this report and in my opinion this report in terms of the
scope and quahty for the award
of Bachelor of Electonic Engineering (Computer
Engineering) With Honours. "
Supervisor Name
: MUIIAMMAD
Date
:
NOORAZLAN SHAH BIN ZAII{IDIN
v
Dedicated to my beloved family especially my parent, supervisor, lecturers, and all my
friends
vi
ACKNOWLEDGEMENT
First and foremost, a highly grateful to Allah SWT for His blessing to make this
first stage of project success and completely done in time. I would like to express my
honored thanks and appreciation to my supervisor, En. Muhammad Noorazlan Shah bin
Zainudin and Engr. Mohd Muzafar bin Ismail for they're willing to teach me and their
constant guidance and encouragement. They has been a great help in teaching me
throughout the project period. Besides, they always allow me to question them and
giving prompt reply for my uncertainties. I would like to thank to my parent and family
who have supported me for all this year with their love and caring in term of moral,
financial, and advice for completing this project. I also would like to thank to all the
seniors which have helped me in many ways. Their notes and projects really made me
understand more and made this report full of information gathered from all the notes
given. Finally, a deep thankfulness to all friends who have directly or indirectly
contributed to this project. Without their counsel and guidance it would have been
impossible to complete my final year project with successfully done and achieved the
objectives.
vii
ABSTRACT
This project is known as Eco_Saver Mower (ESM). It will be the next invention
that will make the human life much easier. This machine works best at flat area and it is
said to be easier because this machine will operate automatically with only click ON
button to on the system, push the button ON for motor blade function and push the start
button for it ready to move. Before the grass is cut, user must set the ESM at the center
position because this mower will cut from the center area to the larger. The extra feature
of this mower than other mowers is the cutting style during cuts the grass which it
moves in hexagon pattern movement. It has a two infrared sensors which are attached at
the front and right of the ESM for detecting any obstacle in the cutting area. It also have
rain sensor that is attached at the top of the ESM for detecting rain and automatically
shut down the system, so that the machine is durable. Furthermore, this machine will use
lithium battery as the power source that will supply the power to generate the machine
for the cutting session and the solar panel will use to recharge the battery. It is said to be
saved because there is no fuel use and this will avoid our air from being polluted. It is
very environmentally friendly and it’s going to be an affordable machine that can be
used by most of people in Malaysia.
viii
ABSTRAK
Projek ini dikenali sebagai "Eco_Saver Mower" (ESM). Mesin ini akan menjadi
sebuah mesin yang direkacipta bagi memudahkan kehidupan. Mesin ini bekerja di
kawasan yang rata dan ia menjadi mudah kerana mesin ini beroperasi secara automatik
hanya dengan hanya klik butang ON pada sistem, kemudian tekan butang ON untuk
bilah motor berfungsi dan tekan butang mula untuk ia bersedia untuk bergerak. Sebelum
rumput dipotong, pengguna perlu menetapkan ESM di kedudukan tengah padang kerana
mesin ini akan memotong rumput dari kawasan tengah dan ke kawasan yang semakin
besar. Ciri-ciri tambahan Mesin pemotong rumput ini daripada pemotong rumput lain
adalah gaya pemotongan semasa memotong yang mana ia bergerak di dalam pergerakan
corak heksagon. Ia mempunyai dua sensor inframerah yang dipasang di bahagian depan
dan kanan ESM untuk mengesan sebarang halangan di kawasan pemotongan. Ia juga
mempunyai sensor hujan yang di letakkan pada bahagian atas ESM untuk mengesan
hujan dan akan mematikan sistem secara automatik, ini menjadikan mesin ini tahan
lama. Selain itu ia juga mendapat sumber bekalan kuasa daripada bateri yang akan
menjana enjin untuk proses pemotongan rumput dan solar panel digunakan untuk
mencas semula bateri. Ia juga menjimatkan kerana ia tidak menggunakan minyak dan ini
dapat mengurangkan pencemaran. Mesin ini sangat mesra alam dan mampu dimiliki
oleh kebanyakan manusia di Malaysia.
ix
TABLE OF CONTENTS
CHAPTER
I
CONTENTS
PAGE
PROJECT TITLE
i
VERIFICATION FORM
ii
DECLARATION
iii
DEDICATION
v
ACKNOWLEDGEMENTS
vi
ABSTRACT
vii
ABSTRAK
viii
TABLE OF CONTENTS
ix
LIST OF FIGURES
xiii
LIST OF TABLES
xv
INTRODUCTION
1
1.1
Introduction of Cleverland Lawn Mower (CLM)
1
1.2
Objective of CLM Project
2
1.3
Problem Statement
3
1.4
Scope of project
4
1.5
Brief Explanation of Methodology
4
1.6
Report Structure
5
x
II
LITERATURE REVIEW
7
2.1
Study of Others Automatic Lawn Mower
7
2.1.1 Solar Powered Automatic Lawn Mower “Lawn
7
Buddy”
2.1.2
Design and Modelling a Prototype of a Robotic
8
Lawn Mower
2.1.3
Comparison between old version lawn mower
9
and other automatic lawn mowers.
2.1.4
2.2
2.3
CLM design plan
10
Solar Panel
11
2.2.1
The benefits of solar electricity
12
2.2.2
How do PV solar panel cells work
12
2.2.3
Photovoltaic technology
13
Battery
14
2.3.1
Lithium battery technology
14
2.3.2
Formula to calculate the time taken to charge
15
the battery
2.4
Direct Current (DC) Motor
16
2.5
PIC microcontroller
18
2.5.1 Harvard and Von-Neumann architecture
2.5.1.1 Comparison between these two
18
19
architectures
2.5.1.2 PICs and most Harvard chips are
20
Reduced Instruction Set Computer
(RISC)
2.5.1.3 CPUs are Complex Instruction Set
21
Computer (CISC)
2.6
2.5.2
Microcontroller versus other Technologies
21
2.5.3
PIC16F877A
23
Infrared (IR) Sensor
25
xi
2.7
III
IV
Rain Sensor or High Sensitivity Water Sensor
26
METHODOLOGY
28
3.1
Project overview
28
3.2
Operation Flow Diagram
30
RESULT AND DISCUSSION
31
4.1
Expected result of CLM project
31
4.1.1
Circuit design for ESM
32
4.1.1.1 Main circuit port design and Printed
32
Circuit Board (PCB) layout
4.1.1.2 Solar panel charging circuit and PCB
35
layout
4.1.1.3 Motor driver circuit and PCB layout
37
4.1.1.4 Water sensor circuit and PCB layout
38
4.1.1.5 Dual IR obstacle circuit and PCB
39
layout
4.1.2
Block diagram of ESM operation flow
41
4.1.3
The output source code after build in
42
MPLAB IDE software
4.1.4
Model design by using Autodesk Inventor
43
Software
4.2
V
Discussion
CONCLUSION AND RECOMMENDATION
44
46
xii
5.1
Conclusion
46
5.2
Recommendation
47
REFERENCE
49
APPENDIX A: SOURCE CODE FOR ECO_SAVER MOWER (ESM)
51
APPENDIX B: FULL IMAGE VIEW OF ESM
60
APPENDIX C: PROJECT PLANNING OF PSM 1 AND PSM 2
61
xiii
LIST OF FIGURES
NO
TITLE
PAGE
Figure 2.1
The Lawn Buddy body design
8
Figure 2.2
The expected Robotic Lawn Mower by student of Petronas
9
University
Figure 2.3
18V PV solar panel
12
Figure 2.4
Solar cell technology system
14
Figure 2.5
12V, 7.0 Ah rechargeable battery
14
Figure 2.6
(a) High speed DC motor and (b) DC geared motor 12V
16
Figure 2.7
The circuit of L298 with connecting to the DC motor
17
Figure 2.8
Harvard versus Von-Neumann architecture
19
Figure 2.9
Comparison between Harvard and Von-Neumann
20
architecture
Figure 2.10
The movement style of ESM
23
Figure 2.11
40 Pin PIC16F877A
23
Figure 2.12
(a) IR transmitter and receiver and (b) Basic connections of
26
IR sensor
Figure 2.13
Analogue Output Voltage VS Distance to Reflective Object
26
Figure 2.14
(a) Water sensor (b) Basic circuit of water sensor
27
Figure 3.1
Project flow chart diagram
29
Figure 3.2
Flow chart diagram for movement operation by ESM
30
Figure 4.1
Main circuit port design
32
Figure 4.2
PCB design by using Proteus software (ARES)
34
Figure 4.3
Before and after print the PCB layout design
34
Figure 4.4
After the installation component into board for main circuit
35
Figure 4.5
Schematic diagram of solar charging circuit
35
xiv
Figure 4.6
(a) PCB layout design and (b) component installation for
37
solar circuit
Figure 4.7
Schematic diagram of DC gear motor driver
37
Figure 4.8
(a) PCB layout design and (b) component installation for
38
motor driver circuit
Figure 4.9
Schematic diagram of the water sensor
38
Figure 4.10
(a) PCB layout design and (b) component installation for
39
water sensor circuit
Figure 4.11
Schematic diagram of dual IR obstacle sensor
39
Figure 4.12
The PCB layout and component installation for dual IR
40
obstacle sensor circuit
Figure 4.13
Block diagram of the project functions
41
Figure 4.14
The output of source code is successfully build
42
Figure 4.15
PICkit 2 is selected
42
Figure 4.16
The body design by using Autodesk Inventor Software
43
Figure 4.17
The complete body design of ESM
43
Figure 5.1
Pattern movement in future
48
Figure 5.2
The additional algorithm for the future work recommendation
48
xv
LIST OF TABLES
NO
CONTENTS
Table 2.1
Comparison between old version lawn mower and other
Page
10
automatic lawn mowers
Table 2.2
The pin condition of the motor operations
17
Table 2.3
The movements of the ESM with IR and water sensor
17
implementation
Table 2.4
Comparison between Microcontroller, Programmable
21
Logic Circuit (PLC) and Microprocessor
Table 2.5
Pin connection for VCC and GND
24
Table 2.6
Logic condition for reset pin
24
Table 2.7
Comparison between the PIC16F87XA Device Features
25
CHAPTER 1
INTRODUCTION
In this chapter, the introduction of this project will be explained. Besides, the
main concept and explanation of the objectives about this project will be introduced.
The problem statement explains the project significantly and gives the idea of a real
time application. The main elements of this project are discussed in the scopes of
work and common structure of this project will also be explained too.
1.1
Introduction of Eco_Saver Mower
Nowadays, people need some invention to save their time, easy and flexible
even for workers, students and housewives. In addition, energy saving will be as a
bonus because it can reduce our demand for energy produced from fossil fuels, and
hence our contribution to global warming. So the idea for this final year project is
coming up with making a machine that requires all the above matter.
This project is basically about automatic lawn mower known as Eco_Saver
Mower (ESM). By creating this, it can save human energy because all the cutting
process will be done by the machine automatically, furthermore the consumption of
using fuel will decrease by using solar panel which it can help the machine to
discharge the energy inside the battery which will be used to generate the mower.
2
The main difference of ESM with other lawn mower is their movement when
cutting the grass. Basically, current automatic mowers are moving randomly, so the
probability of the grass that's not exposed to cut is high and it is only suitable for a
small area. Therefore, to overcome that problem, the ESM is created by moves in a
hexagon pattern from the center area and the larger which it is more suitable for field
that not have any permanent obstacles such as a football field, stadium, university
or house area that has the spacious lawns.
In addition, the other functions of ESM are to detect an obstacle and rain. If
the ESM detects any obstacle, it will stop or stay in pause condition to avoid the
obstacle and LCD display will then show "OBJECT!" at the screen. Also same if the
ESM detects rain; it will stop and show "WATER!" on the screen after detecting the
water to safeguard the motor from damage.
There is some basic equipment that will involve in this project which is the
microcontroller, solar panel, battery, DC motor, LCD display, sensors (water sensor
detector, IR sensor) and a trimmer string line as a cutting blade.
1.2
Objective of ESM Project
The objectives of doing this project are stated below:
1. To develop a lawn mower machine that's running in hexagon pattern
movement.
2. To reduce the time used for cutting the grass and minimize the power
consumption of battery during cutting grass.
3. To create a lawn mower machine with auto shutdown function when rainy
days.
3
1.3
Problem Statement
Currently, many automatic lawn mowers produced today are operated
randomly. By running randomly, the grass area is not cut completely and it will take
a long time to make sure the lawn mower finished cutting the entire grass area. So, it
is hard for random automatic lawn mower finished their job in a spacious area like a
football field and others. This will cause battery usage will increase and the
durability of battery is not durable. To overcome this problem, ESM is proposed by
produce the automatic lawn mower with program to operate in the hexagon pattern
movement. So, the cutting time and power of battery usage can be reduced.
Usually, by using others lawn mower, more worker is required depending on
how large the size of the lawn. By using this ESM, it can reduce worker and human
energy because only require one person or worker to monitor from afar the
movement of the machine. Moreover, the machine will reduce human power to
conduct the ESM safely because if the IR sensors detect the obstacle, it can avoid
from breaking that obstacle, human or others (which in pause condition) by itself
automatically when the machine is working. By using the automatic lawnmower, it
only takes about fewer 5 minutes to set up and leave the machine to finish the job
until it found the permanent obstacle like barriers of a football field. The LCD
display used to easier for users know the status of the machine during running the
ESM.
Nowadays, the cost to cut the grass is expensive which includes the cost of
hiring people, fuel and maintenance. This invention will help a lot in reducing this
cost. Besides, no fuel needed to operate the ESM. So that, no emission and no
pollution where it is 0 % of exhaust emission of this machine.
Moreover, the others automatic lawn mower will always operate even during
rainy days which probably can damage the lawn mower motor. So there is an
additional function of ESM that can detect rain by using a water sensor detector.
When it's raining, ESM will stop immediately and will begin to operate again when
in the dry state.
4
1.4
Scope of Project
In order to complete the ESM project, there are several aspects that need to be
implemented such as programming and hardware. The language that will use in this
project to program the programmable integrated circuit (PIC) is assembly language
programming by using MPLAB Integrated Development Environment (IDE)
software. All functions of this ESM which is to control the movement in hexagon
pattern and allow the machine detect the obstacles and water. It will programmed by
using this software and all input and output ports that will use during program the
entire function of this ESM are referred to the data sheet of microcontroller type,
PIC16F877A. Furthermore, to get files.hex, compiler type PICkit2 will be used.
For hardware part of this project, the main component that will use is a
microcontroller or programmable integrated circuit (PIC). As mention above, the PIC
that will use is PIC16F877A. Furthermore, the related sensors that used in this
project will contact with the PIC to control the ESM in automatically according to
the function of the ESM. Furthermore, the LCD displays are used to display the
instruction to make easier for users used the ESM and also display whether the
machine detect the obstacle and the water. The sensor is involved in this project is:
i.
Water sensor or rain sensor to detect rain. If the sensor detects any water or
rain it will stop the mower from cutting the grass and the LCD display will
show "WATER!" on screen.
ii.
Infrared sensor uses to detect any obstacles that can be found on the ground
such as ball, human or others. If the sensor detects any object, it will stay in
pause condition to mower from cutting the grass and the LCD display will
show "OBJECT!" on screen.
1.5
Brief Explanation of Methodology
First of all, this project has begun with a discussion with supervisor regarding
general ideas and concepts that would be used in this project. Next, for the literature
review part, the background of this project was studied thoroughly and several
researches were done by referring various resources including reference books, IEEE
journals, refers the related data sheet, online reading and also video learning via
5
YouTube. On the next stage, MPLAB IDE software programming is studied. This
software will use to develop assembly language programming to function the
microcontroller. The front panel development and simulation are studied by referring
the notes of microcontroller subject that has taken before, via YouTube tutorial
videos and online self study. All input and output of the Programmable Integrated
Circuit refer to the data sheet of PIC used. Then, the crucial part of this project which
is circuit design was studied by using Proteus Software. Hardware design will be
done on my next semester stage including of hardware fabrication and design the
body. The program for this whole project will be developed and combine with
hardware and if the output run according to expected goal, this project is considered
success, otherwise troubleshooting will be implemented in order to find faulty
components or connections.
1.6
Report Structure
This report is documentary delivering the ideas generated, the concepts
applied, and activities done. It consists of five chapters. The followings are the
chapter-by-chapter description of information in this report.
Chapter 1 conveys readers a basic introduction on why and how the idea of
this project is developed. This chapter consists of introduction, objectives of the
project, problem statement, scopes of work, brief methodology and report structure.
Chapter 2 is a literature review of theoretical concepts applied in this project.
This chapter includes background study of several existed automatic lawn mower in
our country and any other related project. Apart from that, explanation of the
hardware that will be used which PIC, sensors and others are explained too in this
chapter.
Chapter 3 introduces the methodology of the project which include a flow
chart that explains the overall method taken along the development of the project and
also a flowchart that explains on how the system operate in a desired sequence.
6
Chapter 4 discusses the result of this project. At last, chapter 5 will be the
conclusions about this PSM include some recommendations for the suitable that can
be applied to the ESM.
CHAPTER 2
LITERATURE REVIEW
This chapter will review about existing projects to get an idea about the
project design, conception and additional information related to the project. Due to
various existing projects available, this research is important to get a clearer picture
of the project. Besides, the study of the elements included in the scope of work is
also done in this part.
2.1
Study of others Automatic Lawn Mower
Before deciding on the concept, scope, and function to design an automatic
lawn-mower, it is important to study the related projects of ESM to define the
advantage of ESM with other automatic lawn mower and research which type of
microcontroller need to use in this project and find the suitable hardware like the
type of sensor need to use in this project, the suitable power of battery and solar
panel which applicable with the ESM function.
2.1.1
Solar Powered Automatic Lawn Mower “Lawn Buddy” by Darwin
Ramos and Jessie Lucero, San Jose State University, US. [1]
8
In this project, the author applied a microcontroller, multiple sensors, and a
solar charging system. The goal of their robot is to see the difference between grass
and concrete while monitoring its surroundings continuously. The microcontroller
that they used for their automatic lawn mower is ATmega16. Besides, the humidity
sensor used to detect if it was on grass versus on concrete. Since concrete/dirt and
grass are distinctively different in density and moisture levels, the humidity was a
good factor to distinguish both materials. In addition, the passive infrared sensor
used to detect the heat radiation from humans and an ultrasonic sensor to detect if the
robot was heading into an object. Other than that, the recharging batteries used as
the power supply of the robot and will recharge by using solar panels. The nickelmetal hydride (NiMH) was found to use because given a low charging current, it will
not overcharge. Sizing the battery will depend on what we are powering, specifically
the motors. Like batteries, there is a range of motors to choose from. Two 7.2 DC
motors with integrated gear heads. The needed torque did not need to be a lot
because only for a small prototype. Moreover, this robot is randomly cutting the
grass during the cutting process. Figure 2.1 below shows the body design of the
Lawn Buddy.
Figure 2.1: The Lawn Buddy body design [1]
2.1.2
Design and Modelling a Prototype of a Robotic Lawn Mower by Taj
Mohammad Baloch and Timothy Thien Ching Kae, Petronas Technology
University, Malaysia. [2]
A major goal of robotics is to develop machines that perform useful tasks
independently with minimal supervision. In this project, the author applied
PIC16F877 micro-controller to enable the robot to be cost effective. The
programming languages required for this controller are C++ Programming. The
9
model was installed the infrared sensor for sensing the obstacle like a wall, tree,
stone. Furthermore, Motors and actuator are the “muscles” of the robot. Proper
motors need to be selected for desired output and tasks. Three types of motor have
been identified for the robot; Continuous Motors, Stepper Motors and Servo Motors.
Robots may include feedback driven connection between sensor and actions which
are not under direct human control. Responses may take the form of electromagnetic
motor or actuators (effectors) which may control arm, open or close grips. Control
and feedback are provided by a computer program which can be either external or
internally inside the robot itself. To operate the robot, the author used a rechargeable
battery without use for fuel. Besides, the cutting operation that will do with this robot
is random cutting style until finished cutting the entire area. This project more uses a
mechanical part to conduct the movement of this robotic lawn mower. Figure 2.2
shows the expected body design of Robotic Lawn Mower.
Figure 2.2: The expected Robotic Lawn Mower by student of Petronas University [2]
2.1.3
Comparison between old version lawn mower and other automatic lawn
mowers.