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Background of the Study

Maintaining a well-manicured lawn is a common aspiration for many

homeowners, however it requires significant time, effort, and resources.

Traditional lawn mowers, whether manual or motorized, necessitate active

human involvement, which can be labor-intensive and time-consuming. The

advent of smart technologies has paved the way for innovative solutions in

various sectors, including lawn care. Among these innovations is the

development of smart lawn mower robots, designed to automate the lawn

maintenance process and enhance the convenience, efficiency, and

sustainability of lawn care.

Historically, lawn mowing has evolved from manual reel mowers to

gas-powered and electric mowers. Each progression aimed to reduce human

effort and increase efficiency. However, these conventional mowers still require

direct human operation and charging at charging stations. The introduction of

robotic lawn mowers marks a significant leap forward, integrating advanced

technologies such as robotics, artificial intelligence (AI), and the Internet of

Things (IoT) to provide a fully automated lawn mowing solution. These smart

lawn mower robot typically incorporate sensors, solar powered charging, and

connectivity features to enhance their functionality. Sensors enable the mower to

detect obstacles and adjust its path accordingly, ensuring safe operation and

preventing damage to property. Incorporating solar panels into the design, these
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mowers can harness energy from the sun to power their onboard systems,

including sensors, and connectivity features. Connectivity features such as

Bluetooth connectivity enable remote monitoring and control via smartphone

application.

Nowadays, intelligent technologies have penetrated almost every sphere of our lives providing

convenience, productivity, and eco-friendliness to a new level (Garcia & Smith, 2021). Of these

innovations, Robotic devices have emerged as revolutionary tools in enhancing domestic chores

like vacuuming and mowing the lawn. The conventional approaches to mowing the lawn are

time ineffective, physically and chemically hazardous to human health, besides causing adverse

environmental impacts (Brown et al., 2020). The existing methods of manual mowing entail

immense strain and time usage on the part of the mowing personnel. In contrast, the robotic

ones often fail to adapt to tackle challenging terrains (Lee and Kim, 2017).

Moreover, Gonzalez et al. (2019) confirm that renewable energy integration in the country’s

agricultural sector and the application of robots in the modern farming system are two

significant aspects prevalent in the Philippines, similar to what was identified by Reyes and

Santos (2020), Cruz and Dela Cruz (2021), and Garcia et al. (2022). More particularly, the study

of Gonzalez et al. provided a new way to approach the application of renewable energy sources

in conjunction with agricultural robotics with valuable insights connected with the usage of local

resource-based farming processes revealed here from this study. Reyes and Santos examined

the use of new applications for sustainable agriculture to determine the increased interest and

focus on efficiency and productive gains in modifying proper farming practices in the Philippines,
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efficiently. Specifically, Cruz and Dela Cruz sought to discover innovations in modern agriculture,

especially in robotics about labor scarcity and environmental management. Therefore, Garcia et

al. carried out a qualitative review of the majority of the contemporary developments in

robotics in the Philippines that established higher prospects for enhanced developments in the

application of robotics in various fields, such as agriculture. Taken collectively, they stress the

importance and potential benefits of applying renewed resources and robotics in the contextual

farming practice in the Philippines to increase yield and integrate innovation into farming to

enhance productivity and eco-friendly farming systems.

A study by Trebi-Ollennu et al. (2004) discusses the integration of

autonomous navigation systems in robotic mowers, highlighting the transition

from simple path-following mechanisms to more complex navigation strategies

that utilize sensor fusion and real-time data processing (Trebi-Ollennu, Y., Dolan,

J. M., Stancliff, S. B., & Hinkel, H. H., 2004). These advancements have

significantly enhanced the operational capabilities and efficiency of smart lawn

mower robots.

The market for smart lawn mower robots has seen substantial

growth over the past decade. Factors contributing to this growth include the

increasing adoption of smart home technologies, the growing awareness of the

environmental benefits of electric mowers, and the rising preference for

automated solutions that save time and effort.

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According to a report by Grand View Research (2021), the global

market for robotic lawn mowers is expected to grow significantly, driven by

technological advancements and the increasing demand for automated home

solutions. The report emphasizes the role of artificial intelligence and machine

learning in enhancing the performance and usability of these devices (Grand

View Research, 2021). Current smart lawn mower robots struggle with complex

terrains, including steep slopes, uneven surfaces, and intricate landscaping.

Research is needed to enhance the robots' navigation systems to handle these

challenges more effectively. The battery life of smart lawn mower robots limits

their operating time and coverage area. Advances in battery technology and

energy-efficient algorithms could improve their performance and sustainability.

While the long-term benefits are promising, the high upfront cost remains a

barrier for many consumers. Studies focusing on cost-reduction strategies and

economic models could facilitate broader adoption.

The researchers were mainly influenced by the significance of lawn

mower robot innovation in lawn care, providing homeowners with a blend of

convenience, efficiency, and environmental benefits. For this reason, the

researchers designed and developed the smart mini lawn mower robot with

mobile control and voice recognition to provide homeowners relief from the time-

consuming task of manual lawn mowing while ensuring thorough and consistent

results. Moreover, the lawn mower robot incorporates solar-powered operation to

reduce emissions and noise pollution, contributing to a cleaner and healthier

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outdoor environment.

Objectives of the Study

The objective of this study is to design and develop a Smart Mini Lawn Mower

equipped with advanced technical features and functionalities for the 2nd

Semester, School Year 2023 – 2024.

Specifically, this study sought to:

1. Design and develop an Smart Mini Lawn Mower Robot with the following

technical features:

a. Remote control interface;

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b. Voice recognition; and

c. Solar powered

2. Test the quality of Smart Mini Lawn Mower Robot in terms of:

d. Functional Suitability;

e. Performance Efficiency;

f. Maintainability;

g. Reliability;

3. Develop a user’s manual.

Conceptual Framework

This research use the IPO model (Input-Process-Output).

Input Process Output

` *Knowledge Requirement
Smart Mini Lawn
Mower Robot
- Basic knowledge in Process 1:
electronics Planning
engineering Quality Dimensions:
-Knowledge in wireless
communication protocols *Functional Suitability
specifically Bluetooth Process 2:
Gather the *Performance Efficiency
*Software Requirement needed data
- Arduino IDE *Maintainability
and resources
- Bluetooth App *Reliability

*Hardware Requirement Process 3:

- Arduino Uno R3 Programming
- 6V DC Geared motor the code
- L298N motor driver
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Figure 1 shows the conceptual framework of the Smart Mini Lawn Mower
Robot
Figure 1 shows the conceptual framework outlining the essential

components and procedures required for the development of the device. The

input of the research project begins with the acquisition of necessary sources,

knowledge, and materials. The process provides a step-by-step procedure

guiding the development of the device. The output represents the expected result

of the research project.

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Table 1: Bill of Materials

Description Quantity Unit

Microcontroller. Modules and Sensors

Arduino Uno R3 1 pc

HC-05 Bluetooth module 1 pc

Ultrasonic sensor 1 pc

Other Electronics Components

L293D motor driver shield 1 pc

6V DC Geared motor with wheels 4 pcs

6V Solar Panel 1 pc

18650 3.7V Rechargeable battery 3 pcs

SG90 Micro Servo motor 1 pc

12V DC motor 1 pc

Robot Chassis 1 set

PCB 1 pc

Miscellaneous

Blade propeller 1 pc

Ferric chloride 1 bottle

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As shown in Table 1, these are the materials needed in constructing the

prototype.
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Table 2: Project Cost

Description Price (php) Qty Cost (php)

Microcontroller. Modules and Sensors

Arduino Uno R3 1,350.00 1 1,350.00

HC-05 Bluetooth module 199.00 1 199.00

Ultrasonic sensor 72.00 1 72.00

Other Electronics Components

L293D motor driver shield 100.00 1 100.00

6V DC Geared motor with wheels 99.00 4 396.00

6V Solar Panel 250.00 1 250.00

18650 3.7V Rechargeable battery 250.00 3 750.00

SG90 Micro Servo motor 70.00 1 70.00

12V DC motor 283.00 1 283.00

Robot Chassis 200.00 1 200.00

PCB 20.00 1 20.00

Miscellaneous

Blade Propeller 198.00 1 198.00

Ferric chloride 45.00 1 45.00

Total 3,908.00

Table 2 presents the materials needed in constructing of the project with their
corresponding costs. The estimated total costs of all the materials are
Php3,908.00.
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Design Plan Preparation and Fabrication

The proponent will employ the following procedures to ensure the quality of

the prototype that will be developed. It includes preparation, fabrication, and

construction procedure of a Smart Mini Lawn Mower Robot.

Step 1: Planning

The planning phase serves as the cornerstone of the project, aimed at outlining

the scope, objectives, and methods to be used. A thorough project timeline is

created, including every stage from gathering resources to testing the prototype,

ensuring that all tasks are scheduled and deadlines are established. The next

step is to choose the most appropriate tools and components for the prototype

after a review of existing technologies and some preliminary research on related

projects.

Step 2: Gather the needed data and resources

After that, the researchers gathered the relevant information and purchased the

components and tools required to build and program the robot. In the next phase,

they did a thorough analysis of components and operations of the materials

indicated in table below, which is necessary to comprehend their function in the

design and building of the device.

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Table 3: Parts and Functions

Parts Function

It serves as a microcontroller and interfaces with

Arduino Uno R3 board
sensors.
It is used to communicate wirelessly with other
HC- 05 Bluetooth module devices, allowing for data interchange and remote
control.
It controls the speed and direction of spinning of
L298N motor driver the motors by regulating the power delivered to
them.
HC-SR04 ultrasonic It uses ultrasonic sound waves to determine the
sensor distance to an item.
It precisely controls the orientation of connected
SG90 micro servo motor components, such as actuators or sensors, by
rotating to a predetermined angle.
It is used for applications needing more force or
12V DC motor power since it can provide more torque than lower
voltage motors.
It transforms solar radiation into electrical energy,
6V 1W Solar Panel providing a renewable power source for the
system.
It provides the voltage and current required to
18650 3.7V rechargeable
power a range of electronic devices, including
battery
motors, sensors, and microcontrollers.
It includes a gearbox to allow the motor's speed
6V geared DC motor and torque output to be adjusted to the needs of
the system.
It makes precise, rotating motions to cut through
Blade
material or carry out a given duty.
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Table 3 outlines the essential components employed in Smart Mini Lawn Mower

Robot to efficiently navigate through outdoor environments, detect obstacles,

receive commands, and perform its primary task of cutting grass effectively

The Arduino Uno R3 board functions as the main component that processes

data, initiates programmed instructions, and controls a variety of actions. Remote

control and data interchange are made possible by Bluetooth modules, which

provide wireless connectivity to receive simple commands from the user via

Bluetooth control app that allows the user to select different modes such as key

control, voice control and obstacle avoiding. Then, the microcontroller processes

the information taken from the Bluetooth module and ultrasonic sensor relaying

to the L298N motor driver to control the power delivery, speed and direction of

rotation of the motors. Meanwhile, geared DC motors supply mechanical power

for the robot to move forward, backward, and turn in different directions, enabling

navigating on grassy terrain. Servo motors regulate the orientation of the

ultrasonic sensor, they provide thorough coverage for efficient obstacle detection.

To generate sustainable energy, a solar panel is used to charge the batteries.

The blade is used to cut grass while the robot navigates the environment.
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Table 4: Tools, Materials, and Equipment

Tools, Materials, and

Function
Equipment

It is utilized to melt solder and link metal

Soldering iron
components to form electrical connections.

It acts as a strong adhesive for gluing

Glue stick
materials in prototype construction.

It uses hot glue to securely connect

Glue gun components during the prototype assembly
process.
It works in concert with the soldering iron to
Soldering lead make electrical connections in the
prototype.
Are utilized as fasteners to connect
Screws and bolts
components in the prototype.
It serves as a long-lasting substance for the
PVC board foundation or structure in prototype
construction.
Used to organize cables and objects in the
Plastic ties
prototype.
It protects and stores electronic components
CD-ROM enclosure
in the prototype.
It's necessary for grasping and cutting
Pliers materials during prototype construction.

It is utilized for wire management in

Wire cutter prototypes, allowing for precision cutting
and stripping.

Table 4 outlines the essential components building the Smart Mini Lawn Mower
Robot, allowing for accurate component assembly, secure fastening, and
effective wire management, resulting in a functional and well-constructed end
product.
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Step 3: Programming the code

Next, the Arduino code is written to control the robot's movements, avoid

obstructions, and handle Bluetooth connection. The process starts with adding

the necessary libraries and figuring out which pins go with the motors, servo, and

sensors. The Bluetooth data variables, mode, speed, and distance are all set to

their initial values. In the 'setup()' method, pin modes are configured and serial

connection for the Bluetooth module and Serial Monitor is initiated. In order to

initialize the servo motor to its starting point, it is additionally swept across its

range. The ‘loop()’ method continuously reads Bluetooth data to identify control

commands. Motors are controlled by logic to switch between manual, voice, and

automatic control modes based on commands and modes that are received.

Supporting features are used, such as ‘servoPulse’ for servo control,

‘Ultrasonic()’ for measuring distance, and motor control functions to regulate

movements like left, right, forward, and stop. Then, a Bluetooth control app is

made using the MIT App Inventor.

Step 4: Assembling the prototype

After the programming is completed, the robot is assembled using the parts that

have been acquired. The chassis is put together before the DC motors, motor

driver, and other parts can be mounted properly. To avoid short circuits, every

connection is insulated and fastened securely. For safety and correctness, every

connection is verified thoroughly against the schematic diagram.

Step 5: Testing the prototype

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Testing the robot to make sure it performs as intended in accordance with the

programmed behaviors is the last phase. To make sure the robot responds

correctly, simple commands are sent from a paired device to verify Bluetooth

connectivity. Different movement commands are evaluated in the manual control

mode to confirm expected results. Through Bluetooth, voice control orders are

emulated to make sure the robot follows the instructions and moves ahead or

turns. Obstacles are positioned in front of the robot in the automatic control mode

to ensure proper detection and avoidance. Test results are used to determine

what changes to make to the hardware or code, and more testing is done to

guarantee correctness and dependability. To ensure the prototype is prepared for

deployment or demonstration, the final configuration, the code, and any changes

made during testing are documented.

Block Diagram

Fig. 2 is brief about the communication between the DC motor and Bluetooth
module HC-05 interfaced using the Blynk app (Best GUI with Arduino). The Blynk
app downloaded on mobile phone (preferably Android) is paired with our
prototype selecting appropriating project name, device, and connection type to
create dispatcher mail to get “Auth token” which will be uploaded to Arduino
board. Bluetooth is turned on in the user mobile phone and searches for the HC-
05 and pair the prototype with default key “1234” if the phone doesn't receive any
nearer device searching continues [27]. Once the prototype is paired with the
HC-05 module starts to operate and control movements and mechanisms of the
Grasscutter. There are genuinely seven values are defined to DC motor
operation such as Forward movement, Backward movement, Right movement,
Left movement, On mechanism, Off mechanism and Stop function for the
Grasscutter prototype.
When the user touches the button of forwarding movement in the app, the signal
is recognized for the movement of Grasscutter in a forward direction through
wheels attached to it. Similarly, the Grasscutter operates for the signals
Backward movement. When the user touches the button of Right movement in
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the app, the signal is recognized for the movement of Grasscutter to turn Right
direction i.e., left diagonal motors (front and back left wheels) will orient forward
and the Grasscutter moves in the right direction. Similarly, the Grasscutter
operates for the signals Left movement. On and Off mechanism signals control
the Grasscutter Blade attached to it to cut the grass on the field. Finally a Stop
signal is used to avoid the Grasscutter colliding with obstacles while in movement
through the interface of ultrasonic sensor connected to the head of the
Grasscutter.

During initialization, essential libraries are included, and pins are defined to establish

communication interfaces and control motor and sensor components. Variables are initialized to

manage data received from the Bluetooth module, control motor speed, and dictate operational

modes. In the setup phase, pin modes are configured, and serial communication is initialized to

facilitate interaction with both the Serial Monitor and Bluetooth module. Additionally, the servo

motor is calibrated by sweeping through its range to establish its initial position. Within the

main loop, the program continuously monitors Bluetooth data, adjusting motor speed and

operational mode accordingly. In manual control mode, the robot responds to Bluetooth

commands for basic movements, while predefined voice commands trigger specific actions. In

automatic mode, obstacle detection using the ultrasonic sensor prompts the robot to maneuver

around obstacles to ensure safe navigation. Helper functions facilitate precise servo control,

distance measurement, and motor operation, enabling seamless execution of complex

maneuvers. This program encapsulates a comprehensive suite of functionalities, offering users

versatile control options and autonomous obstacle avoidance capabilities for efficient robot

operation.
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REFERENCES

JOURNALS

Trebi-Ollennu, Y., Dolan, J. M., Stancliff, S. B., & Hinkel, H. H. (2004).

Autonomous navigation systems for planetary rovers: A review. Journal of
Field Robotics, 21(5), 317-335.

Blanco, R. (2020). The evolution of lawn mowing: From manual to robotic.

GreenTech Journal, 15(2), 45-58.

ELECTRONIC RESOURCES

Huang, Y. Y., Cao, Z. L., Oh, S. J., Kattan, E. U., & Hall, E. L. (1987). Automatic
operation for a robot lawn mower. Proceedings of SPIE, the International
Society for Optical Engineering/Proceedings of SPIE.
https://doi.org/10.1117/12.937815

Grand View Research. (2021). Global Robotic Lawn Mower Market Size, Share
& Trends Analysis Report.
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PICTURES OF COMPLETION