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The Irrigator: Autonomous watering robot for homes
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Bevattnaren (Swedish)
Abstract [en]

Inspired by the trend of automated homes, this thesis examines the possibility of designing a cheap and autonomous robot that will water plants effectively at home. Many existing solutions are cumbersome and not sufficiently effective, often due to flexibility and risk of over watering. Therefore this thesis examines a wheel based approach.

In order to achieve the best possible results, the soil water content was measured, as opposed to a time-based approach where the user sets a timer to decide how often the plants are watered. This thesis also examines the advantages, and disadvantages of a capacitive moisture sensor versus a resistive moisture sensor, as well as effects of depth of penetration for the sensors.

Controlled using an Arduino Uno, the robot was programmed to follow a line with IR-sensors, drive using differential steering, and had the ability to drive in reverse. It was able to identify a pot, read the moisture level of the soil, water it, and continue the loop. However, it was not completely autonomous as it is incapable of refilling the water tank – or recharging the batteries.

It was stated that the resistive sensor was most suited to be used in the robot due to the relatively reliable results at increased depth. The results at deeper penetration were expected, as the moisture increased with depth when not recently irrigated. The capacitive sensor showed somewhat ambiguous results. The results showed higher water content deeper into the soil, compared to recently irrigated soils.

Abstract [sv]

Inspirerade av trenden om automatiserade hem grundar sig detta arbete i möjligheten att skapa en billig och självgående robot som effektivt vattnar plantor i hemmet. Då många nuvarande lösningar är besvärliga och inte tillräckligt effektiva har detta kandidatarbete undersökt ett tillvägagångssätt som innefattar en robot byggd på en plattform med hjul.

För att uppnå en effektiv bevattning grundar sig processen i fuktighetsnivån hos jorden plantorna sitter i, istället för en annars vanlig tidsbaserad bevattningsprocess. Därmed undersöker arbetet även fördelar och nackdelar med resistiva och kapacitiva jordfuktighetssensorer. Rapporten undersöker och redogör hur påverkan av djupet sensorn penetrerar jorden påverkar datan om jordens fuktighet.

Kontrollerad av en Arduino Uno följde roboten en utsatt linje med hjälp av IR-sensorer och en motordrivare som implementerade både differentialstyrning och möjligheten att köra motorer i motsatt riktning. Den slutgiltiga roboten kunde med hjälp av ultraljudssensorer upptäcka en kruka, läsa av fuktighetsnivån i jorden, vattna och sedan fortsätta slingan. Däremot var den inte helt självkörande då den saknade förmågan att fylla på vattentanken och ladda sina batterier själv.

Det konstaterades att den resistiva sensorn var bäst lämpad, tack vare dess tillförlitliga mätningar vid varierande djup. Den resistiva sensorns utslag vid djupare mätningar var förväntade, då den torra jorden ökade i fuktighet och den nyligen bevattnade jorden visade fortsatt fuktigt. Däremot visade den kapacitiva sensorn något tvetydiga resultat vid djupa mätningar, då de torra krukorna framstod som fuktigare än de nyligen bevattnade.

Place, publisher, year, edition, pages
2019. , p. 61
Series
TRITA-ITM-EX ; 2019:40
Keywords [en]
Mechatronics, Automated Homes, Automatic Irrigation System, Microcontroller, Line Follower, Capacitive, Resistive, Moisture Sensors.
Keywords [sv]
Mekatronik, Automatiserade hem, Automatiserat bevattningssystem, Mikrokontroller, Linjeföljare, Resistiv, Kapacitiv, Fuktighetssensor.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264479OAI: oai:DiVA.org:kth-264479DiVA, id: diva2:1373773
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Examiners
Available from: 2019-11-28 Created: 2019-11-28 Last updated: 2019-11-28Bibliographically approved

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