DESIGN AND DEVELOPMENT OF REMOTE CONTROLLED

MULTIPURPOSE ROBO FOR AGRICULTURE

INDEX

SR. NO. CONTENT PAGE NO.

Abstract

1. Introduction

1.1 Problem statement

1.2 Objectives

1.3 Scope

s 1.4 Methodology

2. Literature review

3. System description

3.1Working principle

3.2 System components

4. Calculations

5. Software design

6. Advantages and disadvantages

7. Applications

8. Future scope

9. Conclusion

10. References
Abstract:

This project strives to develop a robot capable of performing operations like automatic
ploughing, seed dispensing and pesticide spraying. It also provides manual control when
required and keeps tabs on the humidity with the help of humidity sensors. The main
component here is the microcontroller that supervises the entire process. Initially the
robot tills the entire field and proceeds to ploughing, simultaneously dispensing seeds
side by side.
 CHAPTER 1
INTRODUCTION

Indian modern agriculture development does not have sufficient skilled labor to trade off
new technology. The problem focused here is direct seeding. The manually operated seed
sowing technique associates exposure of seeds to rats, birds and snails. So, it is
mandatory to automate this sector and a progressive innovation becomes necessity for
raising the demand on agro product quality. To give an elucidation to these problems, a
sensor guided rover for digging, precise seed positioning and sowing has been proposed
to reduce the human effort and also to increase the yield. The rover’s navigation is
performed by remote guiding devices fortified with the positioning system.

Indian economics base on agriculture field development in agriculture lead to raise to

economic status of country. In India farmer are facing problem due to unavailability of
labor. Also traditional way of farming equipment which takes lots of time and it also
increases labor cost.
The idea of applying robotic technology in agriculture is very new. In agriculture the
opportunities for robot enhanced productivity are immense and the robot is appearing on
the farm in increasing number. We can expect the robot performing agriculture operation
autonomously such as mechanical weed control, digging, weeding, seed sowing, and
spraying.
The automation in agriculture could help to framers to reduce their effort and their
working time the automation in agriculture filed could be more effective and efficient as
compare to tradition methods of framing. So our focus will be on reduce labor cost, daily
working hours, environmental all impact and safety issues and most important is to
reduce framer effort.

AIM OF PROJECT
As we all know the main requirement in the industry or any firm is man power. So the
main objective of our project is to reduce the need of man power.
The agriculture sector is the one where not only number of labours are required but also
they must have the required skill set for farming. Need of labours can be accomplish by
automating the process of seed sowing, ploughing and water spraying by using solar
panel.
The “Seed plantation and ploughing” is one of the most important and day-to-day job of
the farmers. Conventional method suffers from various problems. The main aim of our
project is to reduce the human effort, time requirement and to increased accuracy of the
seed plantation project design.

Farmers today spend a lot of money on machines that help them decrease labor work and
increase yield of crops. There are various machines that are available for ploughing,
harvesting, spraying pesticides etc., however these machines have to be manually
operated to perform the required operations and moreover separate machines are used for
every functions. The yield and profit returns from employing this equipment are very less
as compared to the investment. Another issue is the growing demands of the world’s
population. The World Health Organization estimates that Earth’s population will touch 9
billion in 35 years which will lead to a staggering demand in increase of growth of food
crops. Automation is the ideal solution to overcome all the above mentioned
shortcomings by creating machines that perform more than one operation and automating
those operations to increase yield on a large scale.

As one of the trends of development on automation and intelligence of agricultural

machinery in the 21st century, all kinds of agricultural robots have been researched and
developed to implement a number of agricultural production in many countries, such as
picking, harvesting, weeding, pruning, planting, grafting, agricultural classification, etc.
And they gradually appear advantages in agricultural production to increase productivity.

Autonomous agricultural robots are an alternative to the tractors found on fields today.
Cultivation tasks like seeding, spraying, fertilizing and harvesting may be performed by
fleets of autonomous agricultural robots in the future. Independent of the actual design a
serious agricultural robot will be a complex and expensive vehicle – the challenge is
therefore to prove that it is competitive to traditional technology and may even bring a
decisive lead.
One critical factor here is the optimal utilization of the robot over the day and over the
year. To reach a full utilization the agricultural robot needs to be a vehicle with some
basic capabilities and the possibility to support multiple applications. Among the basic
capabilities we surely require a navigation system for safe and autonomous navigation.
India’s record of progress over the past four decades in agriculture has been quite
impressive. In the current generation, man power shortage is a major problem specifically
in agricultural sector and it affects the growth of developing countries. In India at most
70% of people are dependent on agriculture. The progressive invention in agriculture
system is becoming an important task because of rising demand on quality of agriculture
products and declining labor availability in rural farming areas.

Today agricultural robots can be classified into several groups: harvesting or picking,
planting, weeding, pest control, or maintenance. Scientists have the goal of creating
“robot farms” where all of the work will be done by machines. The main obstacle to this
kind of robot farm is that farms are a part of nature and nature is not uniform. It is not
like the robots that work in factories building cars. Factories are built around the job at
hand, whereas, farms are not. Robots on farms have to operate in harmony with nature.
Robots in factories don’t have to deal with uneven terrain or changing conditions.
Scientists are working on overcoming these problems.

Traditional methods include broadcasting manually. The common practice for digging
the fields are by using bull or by tractor and the method of sowing the seeds are by hand.
Later, the seeds are sowed in the furrow through a bamboo funnel attached to a country
plough. For example sowing seeds in small areas they employ dibbling method i.e.,
making holes or slits by a stick or tool and dropping seeds by hand is practiced. Later, the
multi row traditional seeding devices with manual metering of seeds are quite popular
with experienced farmers. It is a large time consuming approach. Besides being wasteful,
planting was very imprecise and lead to a poor distribution of seeds.

Why to use agro-bots??

Autonomous agricultural robots are an alternative to the tractors found on fields today.
Cultivation tasks like seeding, spraying, fertilizing and harvesting may be performed by
fleets of autonomous agricultural robots in the future. Independent of the actual design a
serious agricultural robot will be a complex and expensive vehicle – the challenge is
therefore to prove that it is competitive to traditional technology and may even bring a
decisive lead.

One critical factor here is the optimal utilization of the robot over the day and over the
year. To reach a full utilization the agricultural robot needs to be a vehicle with some
basic capabilities and the possibility to support multiple applications. Among the basic
capabilities we surely require a navigation system for safe and autonomous navigation.
India’s record of progress over the past four decades in agriculture has been quite
impressive. In the current generation, man power shortage is a major problem specifically
in agricultural sector and it affects the growth of developing countries. In India at most
70% of people are dependent on agriculture. The progressive invention in agriculture
system is becoming an important task because of rising demand on quality of agriculture
products and declining labor availability in rural farming areas.

Today agricultural robots can be classified into several groups: harvesting or picking,
planting, weeding, pest control, or maintenance. Scientists have the goal of creating
“robot farms” where all of the work will be done by machines. The main obstacle to this
kind of robot farm is that farms are a part of nature and nature is not uniform. It is not
like the robots that work in factories building cars. Factories are built around the job at
hand, whereas, farms are not. Robots on farms have to operate in harmony with nature.
Robots in factories don’t have to deal with uneven terrain or changing conditions.
Scientists are working on overcoming these problems.

Traditional methods include broadcasting manually. The common practice for digging
the fields are by using bull or by tractor and the method of sowing the seeds are by hand.
Later, the seeds are sowed in the furrow through a bamboo funnel attached to a country
plough. For example sowing seeds in small areas they employ dibbling method i.e.,
making holes or slits by a stick or tool and dropping seeds by hand is practiced. Later, the
multi row traditional seeding devices with manual metering of seeds are quite popular
with experienced farmers. It is a large time consuming approach. Besides being wasteful,
planting was very imprecise and lead to a poor distribution of seeds.
Robots in Agriculture – Agro-bots:

Agriculture is humankind’s oldest and still important economic activity, providing the
food, feeder, fiber and fuel necessary for our survival. The current trend in agricultural
robot development is to build more smart efficient machines that reduce the expense of
the farmer while still providing one more services and higher quality which is precisely
what we have done in this paper. Development of a robot that can perform automated
ploughing and seeding operation can be manually navigated by the farmer and stabilizes
the humidity in the environment.

Robotics and automation can play a significant role in enhancing agricultural production
needs. Automation can be done by man in operations such as pruning thinning and
harvesting, as well as mowing, spraying and weed removal. We can also implement with
the advancement in sensors and control systems that allow for optimal resource and
integrated disease and pest management. In this project, the rover is developed which is
used to automate the process of digging and sowing crops such as sunflower, baby corn,
groundnut and vegetables like beans, lady’s finger, pumpkin and pulses like black gram,
green gram etc. and to reduce the human effort and to increase the yield. All these
process are advanced by modifying the mechanism in farming which is self-guided by
giving commands in PC or mobile and sending through a wireless module. The obstacle
detector and sowing control sensor are also used.

A seed drill is a sowing gadget that definitely positions seeds in the dirt and afterward
covers them. Prior to the presentation of the seed bore, the regular practice was to plant
seeds by hand. Other than being inefficient, planting was extremely uncertain and
prompted to a poor appropriation of seeds, prompting to low efficiency. The utilization of
a seed bore can enhance the proportion of harvest yield by as much as nine
circumstances.
 TABLE1

COMPARISON BETWEEN SEED SOWING METHODS

S.no Parameters Manual Tractor Digging and seed

plantation
machine

1 Man Power More Moderate Less

2 Time Required More More Less

3 Digging and Sowing Manually Manually Automatically

technique

4 Adjustable seed No No Yes

Distance

5 Seed Wastage Moderate More Less

6 Energy High Very Less

Needed High
7 Pollution No More No
8 Alarm and Display No No Yes

As one of the trends of development on automation and intelligence of agricultural

machinery in the 21st century, all kinds of agricultural robots have been researched and
developed to implement a number of agricultural production in many countries, such as
picking, harvesting, weeding, pruning, planting, grafting, agricultural classification, etc. And
they gradually appear advantages in agricultural production to increase productivity.
Autonomous agricultural robots are an alternative to the tractors found on fields today.
Cultivation tasks like seeding, spraying, fertilizing and harvesting may be performed by fleets
of autonomous agricultural robots in the future. Independent of the actual design a serious
agricultural robot will be a complex and expensive vehicle – the challenge is therefore to
prove that it is competitive to traditional technology and may even bring a decisive lead.
One critical factor here is the optimal utilization of the robot over the day and over the year.
To reach a full utilization the agricultural robot needs to be a vehicle with some basic
capabilities and the possibility to support multiple applications. Among the basic capabilities
we surely require a navigation system for safe and autonomous navigation. India’s record of
progress over the past four decades in agriculture has been quite impressive. In the current
generation, man power shortage is a major problem specifically in agricultural sector and it
affects the growth of developing countries. In India at most 70% of people are dependent on
agriculture. The progressive invention in agriculture system is becoming an important task
because of rising demand on quality of agriculture products and declining labor availability in
rural farming areas.
Traditional methods include broadcasting manually. The common practice for digging the
fields are by using bull or by tractor and the method of sowing the seeds are by hand. Later,
the seeds are sowed in the furrow through a bamboo funnel attached to a country plough. For
example sowing seeds in small areas they employ dibbling method i.e., making holes or slits
by a stick or tool and dropping seeds by hand is practiced. Later, the multi row traditional
seeding devices with manual metering of seeds are quite popular with experienced farmers. It
is a large time consuming approach. Besides being wasteful, planting was very imprecise and
lead to a poor distribution of seeds.

In agriculture, the opportunities for robot-enhanced productivity are immense - and the
robots are appearing on farms in various guises and in increasing numbers. We can expect the
robots performing agricultural operations autonomously such as ploughing, seed sowing, mud
closing and water spraying. Watching the farms day & night for an effective report, allowing
farmers to reduce the environmental impact, increase precision and efficiency, and manage
individual plants in novel ways. The applications of instrumental robotics are spreading every
day to cover further domains, as the opportunity of replacing human operators provides
effective solutions with return on investment. This is specially important when the duties, that
need be performed, are potentially harmful for the safety or the health of the workers, or
when more conservative issues are granted by robotics. Heavy chemicals or drugs dispensers,
manure or fertilizers spreaders, etc. are activities more and more concerned by the
deployment of unmanned options.
 Ploughing is one of the first steps in farming. During this process we till the land and make
it ready for the seed sowing. By tilling we mean that a plough will be used which will have
teeth’s like structure at the end and will be able to turn the top layer of soil down and vice-
versa.

Seed sowing comes next where the seeds need to be put in ground at regular intervals and
these needs to be controlled automatically. Limiting the flow of seeds from the seeds
chamber is typically doing this.

Mud leveler is fitted to close the seeds to the soil and to level the ground.

Water pump sprayer is used to spray the water)

PATH CONTROL MECHANISM:

1.Obstacle Is Present: - If obstacle (like hard stone) is present in the path of the vehicle, then
infrared sensor along with TSOP receiver is get triggered. So the microcontroller understand
that it’s time to turn the vehicle in 270o in the forward direction and again come back in the
same column to process it further. Figure 3 shows the trajectory of robot if the obstacle is
present.

Figure. Trajectory of vehicle

Completion of ploughed land: -

Vehicle moves up to the Dyke in the same column if there is no obstacle in the path. At this
position vehicle take a turns like 90o right→ 90o left (or vice versa depending on condition)
and occupies the next column and move forward in reverse direction. Now it again check for
first condition and move further. And it continuously follow these two conditions. When the
vehicle moves in forward direction the seed get burned at a particular distance.

Figure. Turning System

Previously the vehicle moves in straight line of first column and after end of ploughed land,
the vehicle rotate 180o and select second column and proceed further. When obstacle is
detected, the vehicle turns by 90o first and check for another obstacle and turns by 90o
towards right or left, depending upon condition.

Purpose of seed planter machine.

The basic objective of sowing operation is to put the seed and fertilizer in rows at desired
depth and seed to seed spacing, cover the seeds with soil and provide proper compaction over
the seed. The recommended seed to seed spacing and depth of seed placement vary from crop
to crop and for different agro-climate conditions to achieve optimum yields.
Factors affecting seed emergence
Mechanical factors, which affect seed germination and emergence, are:
_ Uniformity of depth of placement of seed.
_ Uniformity of distribution of seed along rows.
_ Transverse displacement of seed from the row.
_ Prevention of loose soil getting under the seed.
_ Uniformity of soil cover over the seed.
_ Mixing of fertilizer with seed during placement in the furrow.
To achieve the best performance from a seed drill or planter, the above factors are to be
optimized by proper design and selection of the components required on the machine to suit
the needs of the crops. The seed drill or planter can play an important role in manipulating the
physical environment.

1.1 PROBLEM STATEMENT:

Design and development of an agricultural robot, which can be able to plough and dispense
seeds in agricultural field. The control of this agro-bot should be wireless and can be able to
show digging and seeding operations. Fabricate the model operated by wireless control which
able to show operations likes ploughing and seeding. Also design and analyse a real time
system for this robot to give a solution and propose a model which can be used in real time
field.

1.2 OBJECTIVES:

 To Design and develop an agricultural robot which can be able to digging and seeds
like operations carried out in agricultural field.
 To control of this agri-robot should be wireless and can be able to show above
operations.
 To propose a low cost but effective real time agri-robot system.

1.3 SCOPE
By using this robot in the field of agriculture it can help the farmers in the initial stage of
agriculture. i.e., during digging and seed sowing. This robot is a small scale effort but the
same can be implemented with enormous results in a large scale that benefits all farmers.
Apart from ploughing, seed dispensing, spraying pesticides and fruit picking other farming
process like harvesting, irrigation etc. can also be implemented in one robot thus making the
machine capable of multi-tasking. Also looking forward to learn about and implement
agricultural based agro-bots like Nursery bot, Herder bot, Wine bot, Bee bot, and Hamster
bots that would qualify the standards from the current precision to autonomous farming
methodologies. This robot can be a better substitute for the human who performs the seeding
and fertilizing. This robot is very useful for the farmers who are interested to do agriculture
activity but facing the labour problem.

1.4 METHODOLOGY:

Design concept generation refers to the actual conceptual design where the design concept is
an approximate description of the technology, working principles and form of the product. It
has a detailed description on how the product will satisfy and meet customer requirements.
Existing design constraints may even be solved by having a good development in the design
concept.

For this project, many alternative concepts have been generated. The various generated
concepts were then individually evaluated to find the most appropriate concept for the
product. The concepts that gave the most advantages were considered as the best concept and
a waits further evaluation. The product sketch for the chosen concept was further drafted.

Design concept generation is usually expressed in the form of sketches or rough 3-D model
sand often accompanied by a brief textual description for the overall design concepts.

 Literature review
 Identification of the problem
 Finding solution of the problem
 Data collection
 Energy conversion representation
 Design of product
 Market survey for required components
 Purchase of required components system
 Manufacturing and assembly
 Testing and experimentation.
 Evolution of result of the project.
 CHAPTER 2

LITERATURE REVIEW:

In the current scenario most of us have come across the atomization in various fields as the
advancement of technology has to a lead tremendous development in the industrial products
that have made our lives a lot easier and helpful than what our ancestors faced. The
advancements especially in the field of agriculture have helped evolve a new era of
development and growth of different developing countries. The atomization in this field has
been a trademark for the people who are completely dependent on agriculture for their
survival and other needs. Accordingly a report made says that most of the agriculture
equipments that are been projected in various fields, that is either by researchers or by the
engineers are practically very difficult to implement. These equipments made are mostly very
complex in terms of field operation or are either less efficient as they are implemented based
upon on the basic concept from the design point of view. Many of the other devices
developed based upon the concept of seed sowing and fertilizing are either a single
application devices or they are very less efficient. As these devices are developed taking in
point the present scenario in the field of agriculture these devices are hence forth based upon
the basic concept model and are practically inefficient to implement as these are designed to
work in single rows which can be done more efficiently using manpower.
Thus in order to overcome these issues we are making an effort to develop a model which
could be more efficient when being implanted on the practical basis.
2.1. DESIGN AND IMPLEMENTATION OF SEEDING AND FERTILIZING
AGRICULTURE ROBOT

ShivaprasadB ,Ravishankara M N, B N Shoba

In modern globalization, many technologists are trying to update a new development based
on automation which works very rigidly, high effectively and within short time period. The
progressive invention in agriculture system is becoming an important task especially because
of rising demand on quality of agriculture products and declining labor availability in rural
farming areas. The designed system is seeding and fertilizing agriculture robot using
microcontroller. The aim of the designed system is to seeding, fertilizing and soil ph,
temperature, moisture, humidity checking. The robot is controlled by remote. The designed
system involves navigation of robot to the destination successfully and does the above
functions. The direction of the robot is controlled via remote. The robot and the remote
system are connected through internet system. 6 DC motors are used for navigation of the
robot. The speed of the DC motors is controlled using controller. The solenoid is used to
control seeding and fertilizing.

The measurement of the moisture of soil, temperature of soil and ph value of soil, performing
of the seeding and fertilizing in agriculture field is designed in the agriculture Robot. Instead
of using line follower, obstacle detecting sensor in the proposed system camera is used for
live streaming. Agriculture robot can be control by the internet using raspberry pi. Live
steaming can see by computer by typing ip address of raspberry pi and password then it can
be control the robot by pressing controlling key in the system. Rhex rover robot is replaced
by the wheeled robot.

Rhex rover having 6 legs, in which 3 legs can move instantly at a time and other 3 legs at
next time. It can move like a cockroach using 3leg moves at time. Synchronous between legs
are maintain by using IR sensor and feedback sensor therefore its can operate in agricultural
field easily. Seed and fertilizer can be drop to field by using solenoid switch in seed dispenser
and fertilizer dispenser. LDR is used for indicating seeds and fertilizer in the dispenser by
glowing theLED. If seeds and fertilizer is empty then led stop glowing.

The measurement of the moisture of soil, temperature of soil and ph value of soil, performing
of the seeding and fertilizing in agriculture field is designed in the agriculture Robot. Instead
of using line follower, obstacle detecting sensor in the proposed system camera is used for
live streaming. Agriculture robot can be control by the internet using raspberry pi. Live
steaming can see by computer by typing ip address of raspberry pi and password then it can
be control the robot by pressing controlling key in the system. Rhex rover robot is replaced
by the wheeled robot. Rhex rover having 6 legs, in which 3 legs can move instantly at a time
and other 3 legs at next time. It can move like a cockroach using 3leg moves at time.
Synchronous between legs are maintain by using IR sensor and feedback sensor therefore its
can operate in agricultural field easily. Seed and fertilizer can be drop to field by using
solenoid switch, which is in the seed dispenser and fertilizer dispenser. LDR is used for
indicating seeds and fertilizer in the dispenser by glowing the LED, if seeds and fertilizer is
empty then led stop glowing.

2.2.Agricultural Robot for Automatic Ploughing and Seeding

1.AmritaSneha.A, 2Abirami.E, 3 Ankita.A,4 Mrs.R.Praveena, 5 Mrs.R.Srimeena

2015 IEEE International Conference on Technological Innovations in ICT for

Agriculture and Rural Development (TIAR 2015)

This paper strives to develop a robot capable of performing operations like automatic
ploughing, seed dispensing, fruit picking and pesticide spraying. It also provides manual
control when required and keeps tabs on the humidity with the help of humidity sensors .The
main component here is the AVR At mega microcontroller that supervises the entire process.
Initially the robot tills the entire field and proceeds to ploughing, simultaneously dispensing
seeds side by side. The device used for navigation is an ultrasonic sensor which continuously
sends data to the microcontroller. On the field the robot operates on automated mode, but
outside the field is strictly operated in manual mode. For manual control the robot uses the
Bluetooth pairing app as control device and helps in the navigation of the robot outside the
field.

The field is fitted with humidity sensors placed at various spots that continuously monitor the
environment for humidity levels. It checks these levels with the set point for humidity and
alerts the farmer. The alerting mechanism is GSM module that sends a text message to the
farmer informing him about the breach in set point. The farmer then responds via SMS to
either switch on the water sprinklers or ignore the alert. The water sprinklers, if on, bring
down the humidity level thus providing an ideal growing environment to crop. The concept
of fruit picking and pesticide spraying is described under the process domain. Farmers today
spend a lot of money on machines that help them decrease labor and increase yield of crops
but the profit and efficiency are very less. Hence automation is the ideal solution to overcome
all the shortcomings by creating machines that perform one operations and automating it to
increase yield on a large scale.
The farming using this kind of device is called precision farming. The main parts of the robot
are the tiller, plougher and the wheels section. Three cameras are present for praying
pesticides and for fruit picking. The tiller is a horizontal bar with a number of jagged teeth’s
fixed on it to aerate or loosen the soil bed. Cong Ming, in Ligang and Fag Bo [4] published a
paper titled “Intelligent robot Mowers: A review”, Robot, Vol. 29, no 4.From this we can say
that the plougher is similar to a tiller but has sharper and longer blades to turn over the soil.
Both the tiller and plougher are crafted of sheet metal for the prototype model. The robot
section consists of 7 motors out of which 5 are dc motors and 2 are servo motors. Four dc
motors are attached to wheels strung on either side such that each side is driven by two
motors each. The plougher is attached with another dc motor which aids polar movement in
the plougher. However the tiller is fitted with more sophisticated servo motor for precise
angular movement of the tiller. The servo motor serves its optimum purpose in the speed
dispensing box where it is placed to slide the opening exactly for few inches in order to let
the seeds fall in the soil. The AVR microcontroller and the other interfacing hardware are all
mounted on the robot for convenience.

An initial outcome of this study indicates that most of these systems that which work
autonomously are more flexible than traditional systems. The benefits of reduction in labor
costs and restrictions on the number of daily working hours significantly improved. Thus it
has made possible to automate the most significant working routines. However some have
failed due to the requirement of accuracy of specific tasks. In addition, at this stage of
development, the initial investment and annual costs of expensive GPS system are still
relatively high but it seems possible to design economic viable robotic systems for grass
cutting, crop scouting and autonomous weeding. Findings show that there is a significant
potential for applying these systems if it’s possible to impose adequate control and safety
regulations systems at reasonable costs. Moreover, a comparison between different European
countries indicates that labor costs, cost rotation and farm structure may have a tremendous
impact on the potential use of these systems.

2.3.Seed Sowing Using Robotics Technology

Swati D.Sambare, S.S.Belsare

In India, near about 70% people are dependent upon agriculture. So the agricultural system in
India should be advanced to reduce the efforts of farmers. Various number of operations are
performed in the agriculture field like seed sowing, weeding, cutting, pesticide spraying etc.
Very basic and significant operation is seed sowing. But the present methods of seed sowing
are problematic. The equipment’s used for seed sowing are very difficult and inconvenient to
handle. So there is a need to develop equipment which will reduce the efforts of farmers. This
system introduces a control mechanism which aims to drop seeds at particular position with
specified distance between two seeds and lines while sowing. The drawbacks of the existing
sowing machine will be removed successfully in this automatic machine.

The system is beneficial to the farmers for the basic seed sowing operation. The mode of
operation of this machine is very simple even to the lay man. Low germination percentage
leading to wastage of seeds can be reduced by the use of this system. Creation of gap due to
non-germination of seeds can be avoided. Total yield percentage can be increased effectively.
Labor problem can be reduced. As compared to the manual and tractor based sowing time,
energy required for this robot machine is less. Also wastage of seed is less. So this system
will be a better option for the farmers who want to perform the seed sowing operation in a
well-organized manner.

2.4. Mechatronics Based Remote Controlled Agricultural Robot

Vijaykumar N Chalwa1, Shilpa S Gundagi2

In this project work an engineering solution to the current human health hazards involved in
spraying potentially toxic chemicals in the confined space of a hot and steamy glasshouse or
agricultural field is achieved by the design and construction of an autonomous mobile robot
for use in pest control and disease prevention applications in commercial greenhouses. For
this a mechanical robot is designed. The effectiveness of this platform is shown by the
platforms ability to successfully navigate itself down rows of a greenhouse, while the
pesticide spraying system efficiently covers the plants evenly with spray in the set dosages.

A robot which could spray chemicals under grapevine trellis was developed and
experimented. From the experimental results, it was observed that the robot system made
precise spraying operation and its precise operation record possible. Based on the precise
operations and records, an optimum management of chemicals could be expected, that is,
necessary amount of chemicals would be sprayed only at necessary considered that this robot
would be able to contribute the minimum input maximum output production system by
establishment of trace ability system in grape production. In this regard here is a demo model
of such equipment, which performs the operation very effectively. Such types of robots,
which are used in the agricultural fields, are called as Agro-bots. Here in this module we have
designed a robot, which can be controlled by using a remote for spraying the pesticides in the
field or greenhouse. By the development of these agro-bots lot of manual labor will also be
decreased. Here in this project a remote is designed with the help of RF transmitter, which
encodes the data to the robot for controlling the movement as well as spraying the pesticide.
The robot is equipped with RF receiver, which decodes and controls it. The transmitting and
receiving modules are constructed using micro-controllers.

The robot for agricultural purpose an Agri-robot is a concept for the near the performance
and cost of the product once optimized, will prove to be work through in the agricultural
spraying operations. They have been successful in developing a robot whose construction is
enough to withstand the challenges of the field. They are sure that once this concept is
presented in a manner suitable to Indian market, it will definitely help in bringing down the
15% molality rate found in the Indian formers associated with the agricultural spraying
operation.

2.5. Robotic Agriculture Machine

GholapDipak Dattatraya1, More Vaibhav Mhatardev2, LokhandeManojkumar

Shrihari3, Prof. Joshi S.G
This paper presents a system with high speed of operation for an advanced agriculture
process which includes cultivation based on robotic platform. The robotic system is an
electromechanical (conveys a sense that it has agency of its own) and artificial agent which is
steered by DC motor which has four wheels. The farm is cultivated by the machine,
depending on the crop considering particular rows & specific columns. The infrared sensor
detects the obstacles in the path and it also senses turning position of vehicle at end of land.
The seed block can be detected and solved using water pressure. The machine can be
controlled remotely and solar panel is used to charge DC battery. Assembly language is used
in programming the microcontrollers. The microcontroller is used to control and monitor the
process of system motion of vehicle with the help of DC motor. The result of implemented
unit is also presented.

The main requirement of Automation is to reduce man power in our country; the buzzword in
all industrial firms generally involves electrical, electronic component as well as mechanical
part. Automation saves a lot of tedious manual work and speeds up the production processes.
Now a day we have lack of man power. Energy required for this machine is less as compared
with tractors or any agricultural instrument Pollution is also a big problem which is
eliminated by using solar plate. A manual farm consumes more time & leads to more
pollution. So it is a time to automate the process of sowing. Another is also need is to
increase high speed of operation.

2.6. DESIGN AND IMPLEMENTATION OF SEEDING AGRICULTURAL ROBOT

P.Usha1,V. Maheswari2, Dr.V.Nandagopal3

In Modern world, Automation robot is used in many of the fields such as defense,
surveillance, medical field, industries and so on. In this paper, the robot system is used to
develop the process of cultivating agricultural land without the use of man power. The aim of
the paper is to reduce the man power, time and increase the productivity rate. All the basic
automation robot works like weeding, harvesting and so on. Here the designing systems like
plough the land, sowing the seed, watering the plant or spraying the fertilizer and navigate the
vehicle motion are preferred by this autonomous robot using microcontroller. Based on
movement of this robot in the land, the ultrasonic sensor helps in obstacle detection, thereby
performs turning the position of robot either in left or right or forward direction. The
navigation part has been done in simulation with the help of proteus.

In this project, it is presenting that the farm cultivation process in autonomous agriculture
system which is controlled by microcontroller assembly. The technique of seed preparation in
ploughed land is based on row per column depending on the types of cultivation. The main
part of the robot technique is sensor part. The sensor perform to identifying obstacles as well
as the completion of farm for end of the land and then turn the position of robot either in left
or right or forward direction.

The block diagram of robotic system in autonomous agriculture system is shown in figure 1.
The system includes three ultrasonic sensors; six motor and whole parts are controlled by
microcontroller. The heart of the system is microcontroller. It is the main control block and
other control blocks are interfaced with the controller. The battery power supply goes to the
microcontroller with the help of voltage regulator by convert the constant power.

Fig:4 Block diagram of Seeding Robot

The objective of this paper is to develop a microcontroller based system that helps in on farm
activities like seeding, closing the seed pit, spraying the fertilizer and watering the plants at
designated the autonomous robot. The process of seeding is done by using the DC motor. The
aim of the paper is reducing the man power and increases the productivity rates.
This paper is mainly based on minimizing man power and cost of the equipment, which can
be affordable to all farmers. Most of the present successful agro-bot models represent use of
powerful fuel based IC engines and heavy machineries, which require skilled technician and
causes unnecessary environmental pollution and also reduction in fossil fuel. In order to solve
this problem, the use of automation unmanned agro-bot is implemented by this work. This
project is developed to automatically cultivating the land. The project has consisted two
mechanisms. The first mechanism contains to navigate the assembly of the robot vehicle,
whereas second mechanism is preparing the plough the land, seeding and watering it. This
project can be very useful for farmers.

Solar Operated Automatic Seed Sowing Machine

Swetha S.1 and Shreeharsha G.H.2

The real power required for machine equipment depends on the resistance to the movement
of it. Even now, in our country 98% of the contemporary machines use the power by burning
of fossil fuels to run IC engines or external combustion engines. This evident has led to
widespread air, water and noise pollution and most importantly has led to a realistic energy
crisis in the near future. Now the approach of this project is to develop the machine to
minimize the working cost and also to reduce the time for digging and seed sowing operation
by utilizing solar energy to run the robotic machine. In this machine solar panel is used to
capture solar energy and then it is converted into electrical energy which in turn is used to
charge 12V battery, which then gives the necessary power to a shunt wound DC motor. This
power is then transmitted to the DC motor to drive the wheels. And to further reduction of
labor dependency, IR sensors are used to maneuver robot in the field. Here 4 post sensors are
used to define the territory and robot senses the track length and pitch for movement from
line to line. Seed sowing and digging robot will move on different ground contours and
performs digging, sow the seed and water the ground after closing.

In this machine a solar panel is used to capture solar energy and then it is converted into
electrical energy which in turn is used to charge 12V battery, which then gives the necessary
power to a shunt wound DC motor. This power is then transmitted to the rear wheel through
chain drives. Consequently, in this project an attempt is made to make the electric and
mechanical systems share their powers in an efficient way.

The basic objective of sowing operation is to put the seed and fertilizer in rows at desired
depth and seed to seed spacing, cover the seeds with soil and provide proper compaction over
the seed. The recommended row to row spacing, seed rate, seed to seed spacing and depth of
seed placement can vary from crop to crop and for different agro-climatic conditions to
achieve optimum yields. Typical application of seed sowing of Cereal's including ground nut,
all types of dal’s, oil seed crop’s etc.

A solar panel is a device that collects and converts solar energy into electricity or heat or
mechanical work. Solar energy is first used to charge a storage battery. An electric battery is
a device consisting of one or more electrochemical cells that convert stored chemical energy
into electrical energy. The solar energy stored in the battery is utilized to operate DC motor.
A DC motor is a device that converts direct current (electrical energy) into mechanical
energy. By using the bevel gear and Chain drive with sprockets power is transferred to the
wheels for their movement. AT89S52 Microcontroller is used to automatically control the
machine. IR Sensors are fitted to the machine for automatic turning operation and to sense the
obstacle in the moving path. An infrared sensor is an electronic instrument.

Fig.5 Experimental Setup

Performance Characteristics:
Prototype of the solar operated automatic seed sowing machine developed has the following
Performance characteristics.

 Working speed of the machine depends upon the DC motor and energy stored in the
battery.
 Prototype Machine can dig the soil in three rows up to 5 inch by rotating the digging
tool by the help of DC motor.
 Digging speed depends on the moisture content in the soil and tool tip.
 At the same instant from the seed dropper seed is placed in all the three rows at a
distance of 4 inch.
 No. of seed placing at an instant can be varied by altering the size of holes in the
dropper.
 By the help of 4 post sensors, machine will sense the track length of the field and
takes an automatic turning at the end of the boundary.
 In the future work this machine can also be further designed to detect obstacle present
in the path by using IR sensor.
 CHAPTER 3

SYSTEM DESCRIPTION

BLOCK DIAGRAM
 CHAPTER 4

WORKING PRINCIPLE

 The assembly of the robotic system is built using high torque DC motor, RF module
(transmitter receiver) for wireless communication , relay driver circuit, Battery
package and microcontroller module which is shown in block diagram above.

 When DC motor is started, the vehicle moves along the particular columns of
ploughed land for digging and sowing the seeds and its movement is controlled by
remote guiding device.

 LCD module is used to display the condition of the battery level. The remote control
transmitter and receiver is shown in block diagram.

 This system has two main sections, robot end and control section, which are
intercommunicated.
 CHAPTER 5

COMPONENTS AND DESCRIPTION

This Project work is divided into two modules.

1. Mechanical module

2. Electronic module

5.1 Mechanical Components

The mechanical parts of the robot are designed with the help of SOLIDWORKDesign
Software. The line diagram of the digging mechanism, seed sowing rotatory drum and bottom
of the robot is drawn and it is converted to three dimensional diagram.

The mechanical module of the rover consist of,

Seeder

Seeder is the part which used for seeding seeds after ploughing process. In this system seeder
is hollow pipe of fiber material. DC motor is connected to seeder in order to rotate it.

Gear

A gear or is a rotating machine part having cut teeth which mesh with another toothed part to
transmit torque. Geared devices can change the speed, torque, and direction of a power
source.

Chassis

Chassis is made of wood material on which all the components of system are assembled.
Wheels are connected to chassis by using L angle for movement of system in forward and
backward direction.

DC motors
A DC motor is any of a class of electrical machines that converts direct current electrical
power into mechanical power. The most common types rely on the forces produced by
magnetic fields. Nearly all types of DC motors have some internal mechanism, either
electromechanical or electronic; to periodically change the direction of current flow in part of
the motor. Most types produce rotary motion; a linear motor directly produces force and
motion in a straight line.

A DC motor is any of a class of electrical machines that converts direct current electrical
power into mechanical power. The most common types rely on the forces produced by
magnetic fields. Nearly all types of DC motors have some internal mechanism, either
electromechanical or electronic, to periodically change the direction of current flow in part of
the motor. Most types produce rotary motion; a linear motor directly produces force and
motion in a straight line.

DC motors were the first type widely used, since they could be powered from existing direct-
current lighting power distribution systems. A DC motor's speed can be controlled over a
wide range, using either a variable supply voltage or by changing the strength of current in its
field windings. Small DC motors are used in tools, toys, and appliances. The universal motor
can operate on direct current but is a lightweight motor used for portable power tools and
appliances. Larger DC motors are used in propulsion of electric vehicles, elevator and hoists,
or in drives for steel rolling mills. The advent of power electronics has made replacement of
DC motors with AC motors possible in many applications.

Gear motors are electric motors that utilize a type of gear system on the output of the motor.
This gearing arrangement is called a gear reducer or gearbox. The combination of an electric
motor and gearbox reduces design complexity and lowers cost, particularly for motors built
for high torque and low speed applications. In addition, gearboxes can be used as a means to
reorient the output shaft in a different direction.

Tank

For water spraying after seeding we required tank for storage of water.
  Length = 305 mm
 Breath = 534 mm
 Height = 381 mm
 Area = 305*534*381
= 62.05 *10^6 mm3

Water Pump

The pumping of water is a basic and practical technique, far more practical than scooping it
up with one's hands or lifting it in a hand-held bucket. This is true whether the water is drawn
from a fresh source, moved to a needed location, purified, or used for irrigation, washing, or
sewage treatment, or for evacuating water from an undesirable location. Regardless of the
outcome, the energy required to pump water is an extremely demanding component of water
consumption. All other processes depend or benefit either from water descending from a
higher elevation or some pressurized plumbing system.

The ancient concept of the aqueduct took simple and eloquent advantage of maintaining
elevation of water for as long and far a distance as possible. Thus, as water moves over great
distances, it retains a larger component of its potential energy by spending small portions of
this energy flowing down a slight gradation. Granted, a useful aqueduct system ultimately
depends on a fresh water source existing at a higher elevation than the location where the
water can be of use. Gravity does all the work. In all other instances, pumps are necessary.
In day-to-day situations, available water is often contaminated, unhealthy, or even naturally
poisonous, so that it is necessary to pump potable water from lower levels to higher levels,
where it can be of use. A fresh water source in a lower stream, river, pond, or lake is often
pumped to higher ground for irrigation, livestock, cooking, cleaning or other uses by humans,
who quite naturally need fresh water. This will purify mostly fresh water, and the treatment
of largely contaminated water refer endlessly to pumping.

Dc 12v. For Spray Purpose. Very good in small electronics and hobby projects.

Application:

Just connect tube pipe to the motor outlet, submerge it in water and power it. Make sure that
the water level is always higher than the motor. Dry run may damage the motor due to
heating and it will also produce noise.

Can be widely used in drinking fountains, medical equipment, water cooling system, water
circulation system, engineering project etc.

plough

a large farming implement with one or more blades fixed in a frame, drawn over soil to turn it
over and cut furrows in preparation for the planting of seeds. In out system this is slandered
part made up of mild steel. Its ploughing length is 150mm.

A plow or plough is a simple machine used in farming. A plow is pulled across the ground by
a human or animal. When pulled across the ground, the plow lifts up dirt and makes two lines
of dirt behind it. The dirt lifted by the plow is more loose than before. Ground that has been
plowed is a good place for a farmer to grow food

Worms and worms gear:

Higher speed reduction could be secured; speed reduction could be secured up to 300
1. Worm and worm gears operate silently
2. Worm and worm gears will have one characteristics i.e. self-locking. Reverse
movement will be restricted but this characteristic depends on lead angle and friction
angle, we have discussed this concept in our discussion in previous post during study
of worm and worm gear.
3. Worm and worm gear unit will be preferred to use if space is restricted as we
have already discussed that worm and worm gear unit could be used for heavy speed
reduction in compact space also.
4. Handsome output torque will be secured here with the application of worm
and worm gear.

A worm gear (or worm drive) is a specific gear composition in which a screw (worm)
meshes with a gear/wheel similar to a spur gear. The set-up allows the user to
determine rotational speed and also allows for higher torque to be transmitted. This
mechanism can be found in devices both at home and in heavy machinery; the
simplest form evident in the tuning mechanism of an acoustic guitar.

There are three different types of worm gear:

1.Non-throated – this involves a straight worm without a groove machined around the
circumference. A single moving point is what provides tooth contact, meaning this
particular type of worm gear is subjective to high unit load wear and tear.
2.Single-throated – concave helical teeth are wrapped around the worm for line
contact, meaning higher unit loads with less excessive wear.
3.Double-throated – usually called a cone of hourglass, this type has concave teeth on
both the worm screw and the gear itself. Increasing the contact area in such a way
allows for increased unit loads with lower wear and tear.

Applications of Worm Gears

Tuning Instruments – most guitars, basses, banjos and other stringed instruments use a
worm gear for the tuning mechanism to work. The gear’s force reduction is the main
reason for this, coupled with the locking capability that keeps the desired string
tightness in place. This type of worm gear is different to most as you can tune both up
and down; whereas most worm gears can only be turned in one direction.

Elevators/Lifts – worm gears can often be found in the machinery of common

elevators/lifts because of their compact size and non-reversible properties. As the
gear/load cannot transmit motion back through the worm/hoist, using this type of gear
can act as a secondary braking system. This means the load cannot free fall and load
speed is easily regulated.

Torsen Differentials – Large trucks or off-road vehicles, such as the Hummer, often
need to deliver different amounts of torque to the each wheel, depending on what
action the vehicle is performing. For example, wheels need to spin at different speeds
whilst turning a corner as the inside wheels travel a shorter distance. A vehicle’s
Torsen differential will handle this movement via a combination of worms and worm
gears that separate each individual wheel’s performance.

Gates and Conveyor Belts – Typical worm drives can only be turned in one direction,
which means that conveyor belts and security gates lock-up when not being used and
will not run backwards. Automatic security gates will often adopt two worm drives,
one to open and another to close. This means the gate can be locked in each direction
and cannot be breached or forced.
5.2 Electronic module:

Microcontroller (ARDUINO):

The Arduino Uno is a microcontroller board based on the ATmega328 (datasheet). It has 14
digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16
MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset button.
It contains everything needed to support the microcontroller; simply connect it to a computer
with a USB cable or power it with a AC-to-DC adapter or battery to get started.

The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega8U2 programmed as a USB-to-serial converter.

"Uno" means "One" in Italian and is named to mark the upcoming release of Arduino 1.0.
The Uno and version 1.0 will be the reference versions of Arduino, moving forward. The Uno
is the latest in a series of USB Arduino boards, and the reference model for the Arduino
platform; for a comparison with previous versions, see the index of Arduino boards.
 Technical Specifications:

Microcontroller ATmega328

Operating Voltage 5V

Input Voltage (recommended) 7-9V

Input Voltage (limits) 6-20V

Digital I/O Pins 14 (of which 6 provide PWM output)

Analog Input Pins 6

DC Current per I/O Pin 40 mA

DC Current for 3.3V Pin 50 mA

Flash Memory 32 KB (ATmega328) (0.5 KB used by

boot loader)

SRAM 2 KB (ATmega328)

EEPROM 1 KB (ATmega328)

Clock Speed 16 MHz

Power:
The Arduino Uno can be powered via the USB connection or with an external power supply.
The power source is selected automatically. External (non-USB) power can come either from
an AC-to-DC adapter (wall-wart) or battery. The adapter can be connected by plugging a
2.1mm center-positive plug into the board's power jack. Leads from a battery can be inserted
in the Ground and Vin pin headers of the POWER connector.
The board can operate on an external supply of 6 to 20 volts. If supplied with less than 7V,
however, the 5V pin may supply less than five volts and the board may be unstable. If using
more than 12V, the voltage regulator may overheat and damage the board. The recommended
range is 7 to 12 volts.
The power pins are as follows:
 VIN.The input voltage to the Arduino board when it's using an external power source
(as opposed to 5 volts from the USB connection or other regulated power source).
You can supply voltage through this pin, or, if supplying voltage via the power jack,
access it through this pin.
 5V.The regulated power supply used to power the microcontroller and other
components on the board. This can come either from VIN via an on-board regulator,
or be supplied by USB or another regulated 5V supply.
 3V3.A 3.3 volt supply generated by the on-board regulator. Maximum current draw is
50 mA.
 GROUND. Ground pins.

Memory:
The ATmega328 has 32 KB (with 0.5 KB utilized for the boot loader). It likewise has
2 KB of SRAM and 1 KB of EEPROM (which can be perused and composed with the
EEPROM library).

Info and Output:

Each of the 14 computerized sticks on the Uno can be utilized as an info or yield,
utilizing pin Mode advanced Write, and computerized Read capacities. They work at
5 volts. Each stick can give or get a most extreme of 40 mA and has an inside draw up
resistor (disengaged as a matter of course) of 20-50 kOhms. Furthermore, a few pins
have specific capacities:

 Serial: 0 (RX) and 1 (TX). Used to get (RX) and transmit (TX) TTL serial
information. These pins are associated with the comparing pins of the ATmega8U2
USB-to-TTL Serial chip.
 External Interrupts: 2 and 3. These pins can be designed to trigger a hinder on a low
esteem, a rising or falling edge, or an adjustment in esteem. See the connect Interrupt
() work for subtle elements.
 PWM: 3, 5, 6, 9, 10, and 11. Give 8-bit PWM yield with the simple Write () work.
 SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins bolster SPI
correspondence utilizing the SPI library.
 LED: 13. There is an inherent LED associated with advanced stick 13. At the point
when the stick is HIGH esteem, the LED is on, when the stick is LOW, it's off. The
Uno has 6 simple data sources, marked A0 through A5, each of which give 10 bits of
determination (i.e. 1024 distinct qualities). As a matter of course they measure from
ground to 5 volts, however is it conceivable to change the upper end of their range
utilizing the AREF stick and the simple Reference () work. Furthermore, a few pins
have particular usefulness:
 I2C: 4 (SDA) and 5 (SCL). Bolster I2C (TWI) correspondence utilizing the Wire
library.

There are several different sticks on the board:

 AREF.Reference voltage for the simple sources of info. Utilized with simple
Reference.
 Reset. Convey this line LOW to reset the microcontroller. Commonly used to
add a reset catch to shields which obstruct the one on the board.

Correspondence

The Arduino Uno has various offices for speaking with a PC, another Arduino, or
different microcontrollers. The ATmega328 gives UART TTL (5V) serial
correspondence, which is accessible on computerized pins 0 (RX) and 1 (TX). An
ATmega8U2 on the board channels this serial correspondence over USB and shows
up as a virtual com port to programming on the PC. The '8U2 firmware utilizes the
standard USB COM drivers, and no outside driver is required. Be that as it may, on
Windows, an .info record is required. The Arduino programming incorporates a serial
screen which permits straightforward printed information to be sent to and from the
Arduino board. The RX and TX LEDs on the board will streak when information is
being transmitted through the USB-to-serial chip and USB association with the PC
(yet not for serial correspondence on pins 0 and 1).

A Software Serial library takes into consideration serial correspondence on any of the
Uno's computerized pins.

The ATmega328 additionally underpins I2C (TWI) and SPI correspondence. The
Arduino programming incorporates a Wire library to rearrange utilization of the I2C
transport; see the documentation for points of interest. For SPI correspondence, utilize
the SPI library.

Programming

The Arduino Uno can be customized with the Arduino programming (download).
Select "Arduino Uno from the Tools > Board menu (as per the microcontroller on
your board). For subtle elements, see the reference and instructional exercises. The
ATmega328 on the Arduino Uno comes preburned with a boot loader that permits
you to transfer new code to it without the utilization of an outer equipment software
engineer. It imparts utilizing the first STK500 convention (reference, C header
records).
You can likewise sidestep the boot loader and program the microcontroller through
the ICSP (In-Circuit Serial Programming) header; see these guidelines for subtle
elements.
The ATmega8U2 firmware source code is accessible. The ATmega8U2 is stacked
with a DFU boot loader, which can be actuated by associating the patch jumper on the
back of the board (close to the guide of Italy) and afterward resetting the 8U2. You
can then utilize Atmel's FLIP programming (Windows) or the DFU software engineer
(Mac OS X and Linux) to stack another firmware. Or, on the other hand you can
utilize the ISP header with an outside software engineer (overwriting the DFU boot
loader). See this client contributed instructional exercise for more data.

Programmed (Software) Reset:

Instead of requiring a physical press of the reset catch before a transfer, the Arduino
Uno is planned in a way that permits it to be reset by programming running on an
associated PC. One of the equipment stream control lines (DTR) of the ATmega8U2
is associated with the reset line of the ATmega328 by means of a 100 Nano farad
capacitor. At the point when this line is attested (taken low), the reset line drops
sufficiently long to reset the chip. The Arduino programming utilizes this capacity to
permit you to transfer code by basically squeezing the transfer catch in the Arduino
condition. This implies the boot loader can have a shorter timeout, as the bringing
down of DTR can be all around composed with the begin of the transfer.
This setup has different ramifications. At the point when the Uno is associated with
either a PC running Mac OS X or Linux, it resets each time an association is made to
it from programming (by means of USB). For the accompanying half-second or
thereabouts, the boot loader is running on the Uno. While it is modified to overlook
twisted information (i.e. anything but a transfer of new code), it will block the initial
couple of bytes of information sent to the board after an association is opened. On the
off chance that a draw running on the load up gets one-time setup or other information
when it first begins, ensure that the product with which it conveys holds up a moment
in the wake of opening the association and before sending this information.

The Uno contains a follow that can be sliced to debilitate the auto-reset. The cushions
on either side of the follow can be patched together to re-empower it. It's marked
"RESET-EN". You may likewise have the capacity to cripple the auto-reset by
associating a 110 ohm resistor from 5V to the reset line; see this discussion string for
points of interest.

USB Over current Protection

The Arduino Uno has a resettable polyfuse that shields your PC's USB ports from
shorts and over current. Albeit most PCs give their own particular inside assurance,
the circuit gives an additional layer of security. On the off chance that more than 500
mA is connected to the USB port, the wire will naturally break the association until
the short or over-burden is expelled.

Physical Characteristics
 The greatest length and width of the Uno PCB are 2.7 and 2.1 inches separately, with
the USB connector and power jack reaching out past the previous measurement. Four
screw gaps permit the board to be connected to a surface or case. Take note of that the
separation between computerized pins 7 and 8 is 160 mil (0.16"), not an even several
of the 100 mil dividing of alternate pins.

 L293D motor driver :

The most common method to drive DC motors in two directions under control of a
computer is with an H-bridge motor driver. H-bridges can be built from scratch with
bi-polar junction transistors (BJT) or with field effect transistors (FET), or can be
purchased as an integrated unit in a single integrated circuit package such as the L293.
The L293 is simplest and inexpensive for low current motors, For high current
motors, it is less expensive to build your own H-bridge from scratch.

ITP Physical Computing has a terrific tutorial on using an Arduino and an L293 to
control a bi-directional motor.

The Twin Cities Robotics Club has an *excellent* tutorial on H-bridges, and
complete detail on how to build your own $5.00 H-bridge good for several amps.
From the same source is a detailed tech note on PWM speed control of a motor using
an H-bridge and a PIC microcontroller

The L293 is an integrated circuit motor driver that can be used for simultaneous,
bidirectional control of two small motors. Small means small. The L293 is limited to
600 mA, but in reality can only handle much small currents unless you have done
some serious heat sinking to keep the case temperature down. Unsure about whether
the L293 will work with your motor? Hook up the circuit and run your motor while
keeping your finger on the chip. If it gets too hot to touch, you can't use it with your
motor. (Note to ME2011 students: The L293 should be OK for your small motor but
is not OK for your gear motor.)

REALY:
RELAY:
What is a relay ?
A relay is usually an electromechanical device that is actuated by an electrical current. The
current flowing in one circuit causes the opening or closing of another circuit. Relays are like
remote control switches and are used in many applications because of their relative
simplicity, long life, and proven high reliability. Relays are used in a wide variety of
applications throughout industry, such as in telephone exchanges, digital computers and
automation systems. Highly sophisticated relays are utilized to protect electric power systems
against trouble and power blackouts as well as to regulate and control the generation and
distribution of power. In the home, relays are used in refrigerators, washing machines and
dishwashers, and heating and air-conditioning controls. Although relays are generally
associated with electrical circuitry, there are many other types, such as pneumatic and
hydraulic. Input may be electrical and output directly mechanical, or vice versa.

How do relays work?

All relays contain a sensing unit, the electric coil, which is powered by AC or DC current.
When the applied current or voltage exceeds a threshold value, the coil activates the
armature, which operates either to close the open contacts or to open the closed contacts.
When a power is supplied to the coil, it generates a magnetic force that actuates the switch
mechanism. The magnetic force is, in effect, relaying the action from one circuit to another.
The first circuit is called the control circuit; the second is called the load circuit.
There are three basic functions of a relay: On/Off Control, Limit Control and Logic
Operation.
On/Off Control: Example: Air conditioning control, used to limit and control a “high power”
load, such as a compressor
Limit Control: Example: Motor Speed Control, used to disconnect a motor if it runs slower or
faster than the desired speed
Logic Operation: Example: Test Equipment, used to connect the instrument to a number of
testing points on the device under test.

Types of relay-

1. Electromagnetic Relays

These relays are constructed with electrical, mechanical and magnetic components, and have
operating coil and mechanical contacts. Therefore, when the coil gets activated by a supply
system, these mechanical contacts gets opened or closed. The type of supply can be AC or
DC.
1.
2. DC vs AC Relays

Both AC and DC relays work on the same principle as electromagnetic induction, but the
construction is somewhat differentiated and also depends on the application for which these
relays are selected. DC relays are employed with a freewheeling diode to de-energize the coil,
and the AC relays uses laminated cores to prevent eddy current losses.

DC vs AC Relays

The very interesting aspect of an AC is that for every half cycle, the direction of the current
supply changes; therefore, for every cycle the coil loses its magnetism since the zero current
in every half cycle makes the relay continuously make and break the circuit. So, to prevent
this – additionally one shaded coil or another electronic circuit is placed in the AC relay to
provide magnetism in the zero current position.

3. Attraction Type
Electromagnetic Relays

Attraction Type Relays

These relays can work with both AC and DC supply and attract a metal bar or a piece of
metal when power is supplied to the coil. This can be a plunger being drawn towards the
solenoid or an armature being attracted towards the poles of an electromagnet as shown in the
figure. These relays don’t have any time delays so these are used for instantaneous operation.

4. Induction Type Relays

These are used as protective relays in AC systems alone and are usable with DC systems. The
actuating force for contacts movement is developed by a moving conductor that may be a
disc or a cup, through the interaction of electromagnetic fluxes due to fault currents.
 Induction Type Relays

These are of several types like shaded pole, watt-hour and induction cup structures and are
mostly used as directional relays in power-system protection and also for high-speed
switching operation applications.

5. Magnetic Latching Relays

These relays use permanent magnet or parts with a high remittance to remain the armature at
the same point as the coil is electrified when the coil power source is taken away.

2. 2. Solid State Relays

Solid State uses solid state components to perform the switching operation without moving
any parts. Since the control energy required is much lower compared with the output power
to be controlled by this relay that results the power gain higher when compared to the
electromagnetic relays. These are of different types: reed relay coupled SSR, transformer
coupled SSR, photo-coupled SSR, and so on.
 Solid State Relays

The above figure shows a photo coupled SSR where the control signal is applied by LED and
it is detected by a photo-sensitive semiconductor device. The output form this photo detector
is used to trigger the gate of TRIAC or SCR that switches the load.

3. 3. Hybrid Relay

These relays are composed of electromagnetic relays and electronic components. Usually, the
input part contains the electronic circuitry that performs rectification and the other control
functions, and the output part include electromagnetic relay.

4. 4. Thermal Relay

These relays are based on the effects of heat, which means – the rise in the ambient
temperature from the limit, directs the contacts to switch from one position to other. These
are mainly used in motor protection and consist of bimetallic elements like temperature
sensors as well as control elements. Thermal overload relays are the best examples of these
relays.
5. 5. Reed Relay

Reed Relay

Reed Relays consist of a pair of magnetic strips (also called as reed) that is sealed within a
glass tube. This reed acts as both an armature and a contact blade. The magnetic field applied
to the coil is wrapped around this tube that makes these reeds move so that switching
operation is performed.

Based on dimensions, relays are differentiated as micro miniature, subminiature and

miniature relays. Also, based on the construction, these relays are classified as hermetic,
sealed and open type relays. Furthermore, depending on the load operating range, relays are
of micro, low, intermediate and high power types.

Relays are also available with different pin configurations like 3 pin, 4 pin and 5 pin relays.
The ways in which these relays are operated is shown in the below figure. Switching
contacts can be SPST, SPDT, DPST and DPDT types. Some of the relays are normally open
(NO) type and the other are normally closed (NC) types.

Relay pin configurations

These are some of the different types of relays that are employed in most of the electronic as
well as electrical circuits. The information about the different types of relays serves readers’
purpose and we hope that they will find this basic information very useful.

 RF TRANSMITTER

An RF module (radio frequency module) is a (usually) small electronic device used to

transmit and/or receive radio signals between two devices. In an embedded system it is often
desirable to communicate with another device wirelessly. This wireless communication may
be accomplished through optical communication or through radio frequency (RF)
communication. For many applications the medium of choice is RF since it does not require
line of sight. RF communications incorporate a transmitter and/or receiver.

RF modules are widely used in electronic design owing to the difficulty of designing radio
circuitry. Good electronic radio design is notoriously complex because of the sensitivity of
radio circuits and the accuracy of components and layouts required achieving operation on a
specific frequency. In addition, reliable RF communication circuit requires careful
monitoring of the manufacturing process to ensure that the RF performance is not adversely
affected. Finally, radio circuits are usually subject to limits on radiated emissions, and require
Conformance testing and certification by a standardization organization such as ETSI or the
U.S. Federal Communications Commission(FCC). For these reasons, design engineers will
often design a circuit for an application which requires radio communication and then "drop
in" a pre-made radio module rather than attempt a discrete design, saving time and money on
development

 RF RECEIVER

An RF module (radio frequency module) is a (usually) small electronic device used to

transmit and/or receive radio signals between two devices. In an embedded system it is often
desirable to communicate with another device wirelessly. This wireless communication may
be accomplished through optical communication or through radio frequency (RF)
communication. For many applications the medium of choice is RF since it does not require
line of sight. RF communications incorporate a transmitter and/or receiver.
RF modules are widely used in electronic design owing to the difficulty of designing radio
circuitry. Good electronic radio design is notoriously complex because of the sensitivity of
radio circuits and the accuracy of components and layouts required achieving operation on a
specific frequency. In addition, reliable RF communication circuit requires careful
monitoring of the manufacturing process to ensure that the RF performance is not adversely
affected. Finally, radio circuits are usually subject to limits on radiated emissions, and require
Conformance testing and certification by a standardization organization such as ETSI or the
U.S. Federal Communications Commission(FCC). For these reasons, design engineers will
often design a circuit for an application which requires radio communication and then "drop
in" a pre-made radio module rather than attempt a discrete design, saving time and money on
development.
 CHAPTER 6

DESIGN CALCULATIONS

Motor selection for wheels

Given

Diameter for seeder=60mm

Weight of seeder is=1.42kg

Torque required for motor

Torque=force*radius of seeder pipe

=1.42*9.81*30

=417.9 NmNmm

=0.4179 Nm

=4.179kgcm

So torque required for seeder motor is =4.179kgcm

Therefore we are selecting motor with 5kgcm torque.

Power output of DC motor is =voltage *current

=12*0.3

=3.6 watt

Power=2*pi*N*torque/60

3.6=2*pi*N*4.179/60

N=8.23 rpm

We are selecting motor with 10rpm

Motor selection for wheels

Given

Diameter for plough=100mm

Weight of plough is=0.55kg

Torque required for motor

Torque=force*length of link

=0.55*9.81*100

=539.55 Nm

=0.53 Nm

=5.39kgcm

So torque required for seeder motor is =5kgcm

Therefore we are selecting motor with 5kgcm torque.

Power output of DC motor is =voltage *current

=12*0.3

=3.6 watt

Power=2*pi*N*torque/60

3.6=2*pi*N*5.39/60

N=6.37rpm

We are selecting motor with 10rpm

Centre of mass for system

In order to find the center of gravity we have to consider weight and coordinate of the mass
Weight will be consider as given in the table of weight of component

Total weight of plough assembly=wt.of motor+wt.of plough+wt.of gear assembly

=120+3000+130

=550gm=0.55kg

Total weight of seeder assembly=wt.of motor+wt.of seeder+wt.of aluminium strip

=120+1000+300

=1420gm=1.42 kg

Centre of gravity along x axis is=m1*x1+ m2*x2+ m3*x3+…..

m6*x6/(m1+m2+m3+…..m6)

=3*80+0.15*225+0.6*225+0.55*350+0.71*350+0.71*350

/(3+0.15+0.6+0.55+0.71+0.71)

=178.28 mm
Centre of gravity along x axis is=m1*y1+ m2*y2+ m3*y3+…..
m6*y6/(m1+m2+m3+…..m6)

=3*150+0.15*50+0.6*150+0.55*150+0.71*50+0.71*250/(3+0.15+0.6+0.55+0.71+0.71)

=147.38mm

Therefore centr of gravity is =(178.28,147.38)_

Given data:

Values for worm

D1=15mm

Z1=3

Vulues for worm gear

D2=40mm

Z2=26

1.to find the module of gear

d2 = m Z2

40= mx 26

m=1.54=2

Centre distance C= 0.5(d1+ d2) = 0.5(15+40) =27.5mm

Axial pitch: p = πm = 3.14x2 = 6.28 mm

Lead: L = p Z1 = 6.28 x 3 = 18.84 mm

V1 = Vm = (πd1n1/60000) = π x 15 x 10 / 60000 = 7.85*10^-3 m/s

n2 = n1/ i = {n1 (Z2/Z1)} = 10/ (26/3) = 1.15 rpm=2rpm

V2 = (πd2n2/60000) = πx128x184.38/60000 =4.188*10^-3

Answer
V1=7.85*10^-3 m/s
V =4.188*10^-3
2

n2=2rpm

Design of seeder

 We are going to use hollow pipe as a seeder.

 According to dimension of our prototype model the length of the seeder should be
approximately 250mm
 Hole will be made on the pipe for seeding purpose.
 The diameter of the seeder is approximately 50mm
 According to our requirement the no of holes formed are 6 at 50mm distance.
 Cap will be provided to the seeder for inserting or removing seeds from seeder.

SOFTWARE DESIGN
 CHAPTER 7

MATERIAL OF COMPONENTS

Sr. no Component Material

1 Wheel Rubber
2 Chassis Plywood
3 Plough Mild steel
4 Seeder Fiber
5 Tank Plastic
6 Hose pipe Rubber
7 Support to seeder Aluminum strip
8 Clamp Aluminum
9 Spur gear Fiber
10 Worm gear Fiber
 CHAPTER 8

PROJECT PLAN

C June July august Sept Oct Nov Dec Jan Feb Mar

Search for
project topic

Literature
Review

Background
Study

Mathematical
calculations

Software design

fabrication

Publication
 PROCESS SHEET

SR. NO. PROCESS ELAPSED TIME

1. Base frame cutting 15minutes

2. Base frame 15 minutes

Welding

3. Angle weeding 5 minutes

4. Plywood Cutting 5 minutes

5. Drills to plywood 30 minutes

6. Aluminium strip cutting 10 minutes

7. Seeder manufaturing 15 minutes

7. Assembly of gear mechanism, water motor 5hrs

and seeder
 CHAPTER 9

ADVANTAGES AND DISADVANTAGES

Advantages

1- It is one of the latest and sophisticated system

2- It control whole system automatically.

3- It is reliable and requires less maintenance.

4- It is Affordable.

5--The system working is simple and easy to use.

Disadvantages

1-Need DC power supply all time and quickly discharged.

2- Need of skilled workers to drive and for maintenance.

 CHAPTER 10

APPLICATIONS

1-The system or robot can be mainly use in agricultural field.

2-It is used in home gardening.

3-It is used in sports ground

4-It is used in fruit gardens.

 CHAPTER 11

FUTURE SCOPE AND CONCLUSION

FUTURE SCOPE:
In future, this project can be taken to the product level. To make this project as user friendly
and durable, I need to make it compact and cost effective. Going further, most of the units
can be embedded along with the controller on a single board with change in technology,
thereby reducing the size of the system. Solar panel can be provided for minimize the usage
of renewable sources.
The project can be improved with reference to the number of arms we are using in order to
sow the seed. If so, from 4 rows we can extend up to 6 or 8 rows at a time. This reduces the
time required for seed sowing, fertilizer spraying and also weed removal.

CONCLUSION
We made an effort to overcome some problems in agriculture. The rapid growth in the
industries is influencing the labours that are situating in the villages to migrate to the cities.
This creating the labour problem in agriculture. The wages for the labour is also more. As the
prices of commodities such as food grains, fuels, cloths and other essentials of daily life is
increasing rapidly the labours demand for the more wages from the owners. By using this
robot in the field of agriculture we can help the farmers in the initial stage of agriculture i.e.
during the seeding and fertilizing. This robot can be a better substitute for the human who
performs the seeding and fertilizing. This robot is very useful for the farmers who are
interested to do agriculture activity but facing the labour problem.
 REFERENCES

[1] Divya C. H., Ramakrishna, H. and PraveenaGowda (2013), “Seeding and fertilization
using an automated robot”, International journal of current research vol.5.

[2] Shrinivas R. Zanwar, R.D. Kokate (2012), “Advanced Agriculture System”, International
journal of robotics and Automation (IJRA).

[3] Fernando A. Auatcheein and Ricardo carelli(2013), “Agricultural Robotics- Unmanned

Robotic Service Units in Agricultural Tasks”, IEEE Industrial electronics magazine.

[4] XUE Jinlin, XU Liming (2010),” Autonomous Agricultural Robot and Its Row guidance”,
International Conference on Measuring technology and Mechatronics automation.

[5] Chengling Liu, Mingjunwang and Jun zhou(2008),”Coordinating control for an

Agricultural vehicle with Individual wheel speeds and steering angles”, IEEE control system
magazine.

[6] H.Pota, R.Eaton, J.Katupitiya, S.D.Pathirana (2007)”Agricultural Robotics: A

Streamlined approach to realization of autonomous farming”, Second international
conference on industrial and information systems, ICIIS, srilanka.

[7] Blackmore, B. S., Stout, W., Wang, M., and Runov, B. (2005).” Robotic agriculture – the
future of agricultural mechanization?”, 5th European Conference on Precision Agriculture.
ed. J. Stafford, V. The Netherlands, Wageningen Academic Publishers. Pp.621-628.

[8] Min HyucKo, Kyoungchul,kim, beomsahngryuh, abhijitsuprem and nitaigour p mahalik

(2013),” Development of Autonomous Traveling for agricultural robot drive platform by
using a single camera”, proceeding o f the world congress on engineering and computer
science , vol1.

[9] D. C. Slaughter, D. K. Giles, and D. Downey (2008), “Autonomous robotic weed control
systems: A review,” Comput. Electron.Agric.