Evaluation of Intelligent Solar Based Hand Gesture Controlled

Lawn Robot
Adefemi Adeodu ,RendaniW.Maladzhi , Mukondeleli G. Kana-kana Katumb

Journal Name:-International Journal of Mechanical Engineering and Robotics Research

Year of Publication: 2023
ABSTRACT
Hand gesture interpretation and control in robotics describe the interconnection between human and
machine elements in the computer vision world. This study is targeted at the development of a solar
powered lawn robot using hand gesture control as path planning technique. The robotic system
continuously operates using charged batteries via solar energy stored in photovoltaic cells. The robot
control mechanism was implemented via the use of infrared sensors to avoid obstruction on its path and
hand gesture interpretation via digital signal processing (DSP) for the path planning. The performance
evaluation of the robot was based on field experiment and simulation using solid works, defined in terms
of area of covered lawn availability, energy utility and optimum turning velocity. The evaluation revealed
that the machine’s efficiency is almost 100% based on area covered, percentage availability of the robot is
95% and an average energy utility of 7.7 KWh was also obtained. The optimum turning velocity of 0.096
m/s at work completed time of 20 minutes were obtained by simulation.

INTRODUCTION
The introduction of the document provides an overview of the research conducted on the development of
embedded obstacle avoidance and path planning autonomous solar grass cutting robot. It mentions that
the detailed module design and connection were presented in a previous publication. The document also
mentions the use of a DSP processor TMS320DM642EVM implementation for evaluating actuation via
hand gestures without contact to the surface of the screen. The system architecture and description of the
robot hand gesture control are discussed, along with the components and specifications of the robot.

DATASET
You would typically need to capture images or videos of individuals performing various hand gestures in
the context of controlling the lawn robot. Consider the diverse set of gestures users might employ to
command the robot efficiently. The dataset should encompass variations in lighting conditions,
backgrounds, and hand orientations to ensure the robustness of the gesture recognition system.
Annotation of the dataset is crucial, labeling each image or video frame with the corresponding hand
gesture. Additionally, data augmentation techniques, such as rotation, scaling, and flipping, can enhance
the dataset's diversity. The dataset creation process should uphold ethical standards, ensuring participant
consent and addressing privacy concerns, especially when dealing with images or videos of individuals.

PROPOSED METHODOLOGY
The solar-based hand gesture-controlled lawn robot described in the context is designed to autonomously
navigate and mow lawns. The system architecture of the robot consists of several components that work
together to achieve its functionality.
 1. Solar Power System: The robot is powered by solar energy, which is harvested through
photovoltaic cells. The solar power system charges the robot's batteries, allowing it to operate
continuously without the need for external power sources.
2. Hand Gesture Control Module: The robot utilizes hand gesture recognition and interpretation for
path planning. This module enables the user to control the robot's movement and define the
mowing path through hand gestures.
3. Infrared Sensors: The robot is equipped with infrared sensors that detect obstacles in its path.
These sensors help the robot to avoid collisions and navigate around obstacles while mowing the
lawn.
4. Path Planning Algorithm: The robot's path planning algorithm takes into account the hand
gestures received from the control module and the input from the infrared sensors.
5. Mowing Mechanism: The robot is equipped with a mowing mechanism, which consists of cutting
blades that trim the grass as the robot moves along the defined path. The mowing mechanism is
designed to ensure effective and uniform grass cutting

ADVANTAGES
1. Environmentally Friendly: The robot is powered by solar energy, which is a clean and renewable
source of power. This reduces the reliance on fossil fuels and minimizes carbon emissions,
making it an environmentally friendly option.
2. Energy Efficiency: The robot efficiently utilizes solar energy stored in photovoltaic cells to power
its operations.
3. Autonomous Operation: The robot is capable of autonomous operation, meaning it can navigate
and mow the lawn without constant human intervention. This saves time and effort for the user,
allowing them to focus on other tasks.

LIMITATIONS
1. limited battery capacity: Solar-powered robots rely on batteries to store and utilize solar energy. If
the battery capacity is limited, it may restrict the operating time of the robot, especially during
periods of low sunlight or cloudy weather.
2. Dependence on sunlight: Solar-powered robots require sufficient sunlight to generate and store
energy. In areas with limited sunlight or during nighttime, the robot may not be able to operate
effectively.

CONCLUSION
The work has presented the development of a solar lawn cutting robot adapted for a partially structured
environment. The major operational performance objectives of maximum covered area, lawn availability
and energy consumption were achieved via implementation of a solar powered design and hand gesture
control module. Incorporation of hand gesture identification and control has really improved the planning
of the path and obstacle avoidance mechanism of the robot considering its kinematic constraint, thus
reducing the work completion time drastically as the mowing velocity was properly managed.