Smart agriculture using voice controlled robot 2024-25

CHAPTER 1

1. INTRODUCTION
In India generally, the traditional seed sowing methods includes the use of animal drawn funnel and pipes
driller or drilling using tractor. Earlier method requires labor and a very time and energy consuming. Whereas
in tractor-based drilling operators of such power units are exposed to high level of noise and vibration, which
are detrimental to health and work performance. The emphasis in the development of autonomous Field Robots
is currently on speed, energy efficiency, sensors for guidance, guidance accuracy and enabling technologies
such as wireless Bluetooth communication.
In olden days technology was not developed that much. So, they were seeding by hand. But nowadays
technology is developed. So now it’s not necessary to do seeding in sunlight. By using robot technology, one
can sit in a cool place and can-do seeding by monitoring the robot motion.
In recent years, robotics in agriculture sector with its implementation based on precision agriculture concept is
the newly emerging technology. The main reason behind automation of farming processes are saving the time
and energy required for performing repetitive farming tasks and increasing the productivity of yield by treating
every crop individually using precision farming concept. Designing of such robots is modeled based on
particular approach and certain considerations of agriculture environment in which it is going to work. These
considerations and different approaches are discussed in this paper. Also, prototype of an autonomous
agriculture robot is presented which is specifically designed for seed sowing, ploughing, levelling, sprinkling
pesticides and water task.

1.1 DESCRIPTON
The robotic systems play an immense role in all sections of societies, organization and industrial units. The
basic idea in this study is to develop a mechanized devise that helps in on-farm operations like seeding/seed
sowing at pre-designated distances and depths with all applicable components for controlling.
This system has two main sections, monitoring station and control station, which are inter-communicated using
aided by the wireless Bluetooth communication technologies. The control station as well as robotic station
possesses the amenities which is seed dispenser, and seed storage, robotic system with motors, Arduino
microcontroller, relay, and power supply.
The microcontroller is brain of this system, which can dedicate the order of suggestions received to all the
networks, and sensible factors processed by their corresponding embedded programs. Robotic mechanism

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plays by their internal motors and motor drivers that drive the motors in desired directions. The Bluetooth
wireless protocol used for signal transmitting and receiving functions. The ADC is approximation analog to
digital converter and helps in processing of analog factors in the microcontroller.
Here the one will monitor the robot and send the signal. According to the received signal the robot will move
in the direction and it will place the seed on field for specified distance.

1.2 METHODOLOGY
Many of the system designed for agriculture operations of digging, seeding, leveling and fertilizer spraying
are based on the machine vision. The navigation of the vehicle is based on voice command, bluetooth and
remote-controlled system. Use of these systems can achieve the level of accuracy but the final cost of the
product is very high. The system proposed in this paper is cost effective and does not require the costly
equipment’s for its navigation; it is designed to be automatic and light weight. These advantages make it real
aid to farmers.

1.3 WORKING
Automation in seeding operation provides the accuracy in these spatial distance requirements of crops than
traditional methods. Spatial requirement for each crop must be satisfied to have equal access of air, light, ground
moisture, etc. Seed sowing in proposed system is as follows: digging the soil at a crop specific depth, dropping
of seeds in the hole, covering it by soil and then pouring water on it.

1.4 EXISTING SYSTEM

In India generally the traditional seed sowing methods includes the use of animal drawn funnel and pipes driller
or drilling using tractor. Earlier method requires laborand a very time and energy consuming. Whereas in tractor
based drilling operators of such power units areexposed to high level of noise and vibration, which are
detrimental to health and work performance.

1.5 MOTIVATION AND SCOPE

The central principle of this project is to explore the efficacy of agricultural applications. The focus on major
application is self-governing robot navigation.

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This is achieved by addressing the following research objectives.

1. Explore the role of features to improve the detection accuracy.
2. Development of agricultural yield and reduce the human work.
3. Develop a sensor model to be used as measurement model.

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CHAPTER-2

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.
Around ten papers reviewed who are worked under this area.

[1]Sunitha.Mhas carried out seeding robotics for the irrigation system. Some of the major problems in the Indian
agricultural are rising of input costs, accessibility of skilled labors, lack of water resources and crop monitoring.
To overcome these problems, the automation technologies with robots were used in agriculture. The automation
in the agriculture could help farmers to reduce their efforts.

[2] M.Priyadarshinihas found on the robot which performs operation like soil, moisture testing, seeding,
spraying pesticides, removes compost from the field, which also performs obstacles avoidance operation and
metal detection in the path. The robot is controlled using cell phone using DTMF technique. Because of using
DTMF technique it overcomes the range or distance problem of using Bluetooth or RF module which having
limited working range. Agribot integrated system which uses Bluetooth to communicate between two robots
which perform activities like seeding, weeding, spraying of fertilizers and insecticides. It is controlled using
Arduino Atmega2560 controller and powerful Raspberry pi minicomputer to control and monitor working of
robot. It has hexapod body which can move in any direction as per required. It has ultrasonic proximity sensor
to avoid the obstacles in the path, and underbody sensor system to detect that seed is planted or not. It can dig a
hole in soil plant seed in it and cover the hole again with soil and necessary pre-emergence fertilizers applies on
it and move on along with communicating with another robot near to it using Bluetooth. Command based self-
guided digging and seed sowing rover, 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.

[3]Ankit Singhwas focused on rover's navigation is performed by remote guiding devices fortified with the
positioning system. It uses Arduino Atmega2560 controller and ultrasonic radar sensor for obstacle avoidance.
It is controlled using wireless module that can be control by PC/TAB/Mobile. It gives acknowledgement

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massage of seed tank empty or full to the farmer. The agribot which perform only two operations like digging
hole in field that is ploughing in the field and then planting a seed at a regular interval and cover the plough area
with soil. To drop the seed stepper motor is used and to dig a hole, spike wheel is used.

[4]N. Firthous Begum, gave the motivation of this research is to decrease harvesting cost and increase the
productivity. Conventional harvesting method is highly labor intensive and inefficient in terms of both economy
and time. Machine harvesting systems by robot are a partial solution to overcome these issues by removing fruits
from the trees efficiently. Thus reduce the harvesting cost to about 35-45% of total production cost. An agribotis
designed to reduce harvesting cost.

[5] Buniyamin N, has said that Mobile robot path planning has a few main properties according to type of
environment, algorithm and completeness. The properties are whether it is static are dynamic local or global and
complete or heuristic. The static path planning refer to environment which contains no moving objects or
obstacles other than a navigating robot and dynamic path planning refers to environment which contains
dynamic moving and changing object such as moving obstacle.

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CHAPTER-3
PROJECT MODELLING
3.1 PROPOSED MODEL FOR AGRICULTURE AUTOMATION
System requirements specification is to specify in detail the system components, both hardware and software,
which are needed for the system implementation, along with operational requirements, as anticipated from the
system.
The whole system of the robot works with the battery. The robot requires 12V battery to operate the system.
The base frame consists of four wheels connected to four arms and the rear wheel is driven by dc motor. One
end of the frame, cultivator is driven by dc motor which is made to dig the soil. The seeds are dropped through
drilled hole on the shaft by the linked mechanism with dug soil processing. A leveler is made to close the seeds
and water pump sprayer is used for spray the water. Bluetooth technology through smart phone is used to control
the entire operation of robot for ploughing, seeding and irrigation systems.
The Heart of the proposed system is microcontroller, Bluetooth module, DC motors relays are interfaced to the
microcontroller to provide various operations like ploughing, seeding, digging, leveling and water spraying. The
entire mechanism of the system is controlled by Bluetooth module from Android smart phone. The wireless
communication of Bluetooth technology enables the robot to move in four directions as forward, back, right and
left. Various commands can be used to move robot into forward, reverse, stop, left, and right. The
microcontroller in the proposed model enables various functions in the field according to the commands received
from smart phone.
Agriculture robot is capable of performing operations like automatic ploughing, seed sowing, and water
sprinkling. The qualitative development of this project is request for a system which minimizes the working cost
and reduces the time for digging task and these entiretasks run by battery source also we can adopt solar energy
system. Development aim of this system is that these devices can atomically actions on agricultural operations.
Now a day’s formers pay lot of money for machines that help them to decrease labor and increase income of
crops but efficiency and profit are less.Hence automation is the ideal solution to decrease all the failing by
development of machines that performs one operations and automating to increasing the income on a large
value.

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3.2 BLOCK DIAGRAM

The below fig 3.1 shows the block diagram of Agriculture robot. It explains the operation of whole agricultural
automation system.

The main reason behind automation of farming processes are saving the time and energy required for
performing repetitive farming tasks and increasing the productivity of yield by treating every crop individually
using precision farming concept. Designing of such robots is modeled based on particular approach and certain
considerations of agriculture environment in which it is going to work. These considerations and different
approaches are discussed in this paper. Also, prototype of an autonomous Agriculture Robot is presented which
is specifically designed for seed sowing task only. It is a four wheeled vehicle. Its working is based on the
precision agriculture which enables efficient seed sowing at optimal depth and at optimal distances between
crops and their rows, specific for each crop type.

3.3 MAIN COMPONENTS

This section gives details of the hardware components required for the system implementation and deployment.
Agricultural robot requires the following hardware components:
1. Arduino Uno

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2. Bluetooth module

3. DC motor

4. Battery

5. Relay circuit

3.3.1.0 ARDUINO UNO

Arduino is an open source computer hardware and software that designs single-board
microcontrollers and microcontroller kits for building digital devices and interactive objects that can sense and
control objects in the physical and digital world. The project's products are distributed as open-source
hardware and software, which are licensed under the GNU Lesser General Public License (LGPL). Arduino
oards are available commercially in preassembled form or by designing the kits with respect to different
application.Figure 3.2 and 3.3 shows the Arduino Uno board and pin diagram respectively.
The different types of Arduino Uno are Arduino Nano,Arduino Pro Mini,Arduino Mega, Arduino Due, and
Arduino Leonardo.

Fig 3.2:Arduino Uno board

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Fig 3.3:Arduino Uno board pin diagram

3.3.1.1PIN DESCRIPTION

Table 3.1: The pin descriptionArduino Uno board.

Pin Category Pin Name Details

Vin: Input voltage to Arduino when
using an external power source.
Power Vin, 3.3V, 5V, GND
5V: Regulated power supply used
to power microcontroller and other
components on the board.
3.3V: 3.3V supply generated by on-
board voltage regulator. Maximum
current draw is 50mA.
GND: ground pins.
Reset Reset Resets the microcontroller.
Analog Pins A0 – A5 Used to provide analog input in the
range of 0-5V

Input/output Pins Digital Pins 0 - 13 Can be used as input or output pins.

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Serial 0(Rx), 1(Tx) Used to receive and transmit TTL

serial data.

External 2, 3 To trigger an interrupt.

Interrupts
PWM 3, 5, 6, 9, 11 Provides 8-bit PWM output.

SPI 10 (SS), 11 (MOSI), 12 Used for SPI communication.

(MISO) and 13 (SCK)

SPI 10 (SS), 11 (MOSI), 12 Used for SPI communication.

(MISO) and 13 (SCK)

Inbuilt LED 13 To turn on the inbuilt LED.

TWI A4 (SDA), A5 (SCA) Used for TWI communication.

AREF AREF To provide reference voltage for

input voltage.

3.3.1.2 ARDUINO UNO TECHNICAL SPECIFICATION

Table 3.2: Arduino Uno technical specification

Microcontroller ATmega328P – 8 bit AVR family microcontroller

Operating Voltage 5V

Recommended Input
7-12V
Voltage

Input Voltage Limits 6-20V

Analog Input Pins 6 (A0 – A5)

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

DC Current on I/O Pins 40 mA

DC Current on 3.3V
50 mA
Pin

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Flash Memory 32 KB (0.5 KB is used for Bootloader)

SRAM 2 KB

EEPROM 1 KB

Frequency (Clock
16 MHz
Speed)

3.3.1.3 OVERVIEW

Arduino Uno is a microcontroller board based on 8-bit ATmega328P microcontroller. Along with
ATmega328P, it consists other components such as crystal oscillator, serial communication, voltage regulator,
etc. to support the microcontroller. Arduino Uno has 14 digital input/output pins (out of which 6 can be used as
PWM outputs), 6 analog input pins, a USB connection, A Power barrel jack, an ICSP header and a reset button.

3.3.1.4 HOW TO USE AURDINO BOARD

The 14-digital input/output pins can be used as input or output pins by using pin Mode (), digital Read () and
digital Write () functions in Arduino programming. Each pin operates at 5V and can provide or receive a
maximum of 40mA current and has an internal pull-up resistor of 20-50 K Ohms which are disconnected by
default. Out of these 14 pins, some pins have specific functions as listed below:

1. Serial Pins 0 (Rx) and 1 (Tx): Rx and Tx pins are used to receive and transmit TTL serial data. They
are connected with the corresponding ATmega328P USB to TTL serial chip.
2. External Interrupt Pins 2 and 3: These pins can be configured to trigger an interrupt on a low value,
a rising or falling edge, or a change in value.
3. PWM Pins 3, 5, 6, 9 and 11: These pins provide an 8-bit PWM output by using analog Write () function.
4. SPI Pins 10 (SS), 11 (MOSI), 12 (MISO) and 13 (SCK): These pins are used for SPI communication.
5. In-built LED Pin 13: This pin is connected with built-in LED.When pin 13 is high, then LED willON
and when 13 pin is low, it represent led is OFF.

There are 14digital pins and 6 analog input pins, each of which provides 10 bits of resolution, i.e. 1024 different
values. They measure from 0 to 5 volts but this limit can be increased by using AREF pin with analog reference
() function.

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Analog pin 4 Serial Data Access(SDA) and pin 5 scratch controlling aurduino(SCA) also used for TWI
communication using wire library.Arduino Uno has a couple of other pins as explained below:

1. AREF: Used to provide reference voltage for analog inputs with analog Reference () function.
2. Reset Pin: Making this pin LOW, resets the microcontroller.

3.3.1.5 COMMUNICATION

Arduino can be used to communicate with a computer, another Arduino board or other microcontrollers. The
ATmega328P microcontroller provides UART TTL (5V) serial communication which can be done using digital
pin 0 (Rx) and digital pin 1 (Tx). An ATmega16U2 on the board channels this serial communication over USB
and appears as a virtual com port to software on the computer. The ATmega16U2 firmware uses the standard
USB COM drivers, and no external driver is needed. However, on Windows, a in file is required.

The Arduino software includes a serial monitor which allows simple textual data to be sent to and from the
Arduino board. There are two RX and TX LEDs on the Arduino board which will flash when data is being
transmitted via the USB-to-serial chip and USB connection to the computer (not for serial communication on
pins 0 and 1). A Software Serial library allows for serial communication on any of the Uno's digital pins. The
ATmega328P also supports I2C (TWI) and SPI communication. The Arduino software includes a Wire library
to simplify use of the I2C bus.

3.3.1.6 ARDUINO UNO TO ATMEGA328 PIN MAPPING

When ATmega328 chip is used in place of Arduino Uno, or vice versa, the image below shows the pin
mapping between the two.

3.3.1.7 SOFTWARE

Arduino IDE (Integrated Development Environment) is required to program the Arduino Uno board.

3.3.1.8 ARDUINO PROGRAMMING

Once Arduino IDE is installed on the computer, connect the board with computer using USB cable. Now open
the Arduino IDE and choose the correct board by selecting Tools>Boards>Arduino/Genuine Uno and choose

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the correct Port by selecting Tools>Port. Arduino Uno is programmed using Arduino programming language
based on Wiring. To get it started with Arduino Uno board and blink the built-in LED, load the example code
by selecting Files>Examples>Basics>Blink. Once the example code (also shown below) is loaded into the IDE,
click on the ‘upload’ button given on the top bar. Once the upload is finished, it should see the Arduino’s built-
in LED blinking. Below is the example code for blinking.

// the setup function runs once it press reset or power the board

void setup () {

// initialize digital pin LED_BUILTIN as an output.

pin Mode (LED_BUILTIN, OUTPUT);

void loop () {

digital Write (LED_BUILTIN, HIGH); // turn the LED on (HIGH is the voltage level)

delay (1000); // wait for a second

digital Write (LED_BUILTIN, LOW); // turn the LED off by making the voltage LOW

delay(1000); // wait for a second

3.3.1.9APPLICATIONS

1. Prototyping of Electronics Products and Systems

2. Multiple DIY Projects.
3. Easy to use for beginner level DIY and makers.
4. Projects requiring Multiple I/O interfaces and communications.

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3.3.1.10 ARDUINO UNO 2D MODEL

Fig 3.4 Arduino Uno 2D Model

3.3.2.0 Bluetooth module

Ever wanted to control your Mechanical Bots with an Android Phone or design the robots with custom
remote, here in this tutorial we will learn about a Bluetooth Module HC-05 used for the above mentioned and
many other cases. Here we will be understanding the connection and working of a HC-05 module and also its
interfacing with custom android app.

Wireless communication is swiftly replacing the wired connection when it comes to electronics and
communication. Designed to replace cable connections HC-05 uses serial communication to communicate
with the electronics. Usually, it is used to connect small devices like mobile phones using a short-range
wireless connection to exchange files. It uses the 2.45GHz frequency band. The transfer rate of the data can
vary up to 1Mbps and is in range of 10 meters.The HC-05 module can be operated within 4-6V of power
supply. It supports baud rate of 9600, 19200,38400, 57600, etc. Most importantly it can be operated in Master-
Slave mode which means it will neither send or recive data from external source.

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Fig.3.5 Bluetooth module

3.3.2.1 Advantages

1. Wireless Transmission of Data

2. Extensive Availability and Accessibility

3. Convenience From Ease of Use

3.3.3 DC MOTORS
Electric motors are everywhere! almost every mechanical movement that can see around is caused by an AC
(alternating current) or DC (direct current) electric motor. Let us start by looking at the overall plan of a simple
two- pole DC electric motor. A simple motor has six parts, as shown in the diagram below:
1. Armature or rotor
2. Commutator
3. Brushes
4. Axle
5. Field magnet
6. DC power supply of some sort
7. Armature or rotor
8. Commutator
9. Brushes

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10. Axle
11. Field magnet
12. DC power supply of some sort

An electric motor is all about magnets and magnetism: A motor uses magnets to create motion. If that have
ever played with magnets about the fundamental law of all magnets: Opposites attract and likes repel. So have
two bar magnets with their ends marked "north" and "south," then the north end of one magnet will attract the
south end of the other. On the other hand, the north end of one magnet will repel the north end of the other (and
similarly, south will repel south). Inside an electric motor, these attracting and repelling forces create rotational
motion.

In the figure 3.5 shows two magnets in the motor,the armature (or rotor) is an electromagnet, while the field
magnet is a permanent magnet (the field magnet could be an electromagnet as well, but in most small motors it
isn't in order to save power).To understand how an electric motor works, the key is to understand how the
electromagnet works.

Fig 3.6:Principle of working of motor

An electromagnet is the basis of an electric motor. It’s understood how things work in the motor by imagining
the following scenario. Say that created a simple electromagnet by wrapping 100 loops of wire around a nail
and connecting it to a battery. The nail would become a magnet and have a north and south pole while the battery
is connected. Now say that take the nail electromagnet, run an axle through the middle of it and suspend it in
the middle of a horseshoe magnet as shown in the figure below. If were to attach a battery to the electromagnet
so that the north end of the nail appeared as shown, the basic law of magnetism tells that what would happen:
The north end of the electromagnet would be repelled from the north end of the horseshoe magnet and attracted

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to the south end of the horseshoe magnet. The south end of the electromagnet would be repelled in a similar
way. The nail would move about half a turn and then stop in the position shown.

Fig 3.7: Electromagnet in horse magnet

This is half-turn of motion is simply due to the way magnets naturally attract and repel one another. The key
to an electric motor is to then go one step further so that, at the moment that this half-turn of motion completes,
the field of the electromagnet flips. The flip causes the electromagnet to complete another half-turn of motion.
it flip the magnetic field just by changing the direction of the electrons flowing in the wire . If the field of the
electromagnet were flipped at precisely the right moment at the end of each half-turn of motion, the electric
motor would spin freely.

3.3.3.1 ARMATURE, COMMUTATOR AND BRUSHES

Consider the image shown below. The armature takes the place of the nail in an electric motor. The armature
is an electromagnet made by coiling thin wire around two or more poles of a metal core.

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Fig 3.8: Armature

The armature has an axle, and the commutator is attached to the axle. In the diagram to the right, can see three
different views of the same armature: front, side and end-on. In the end-on view, the winding is eliminated to
make the commutator more obvious. It shows that the commutator is simply a pair of plates attached to the axle.
These plates provide the two connections for the coil of the electromagnet.

Fig 3.9:Brushes and commutator

The "flipping the electric field" part of an electric motor is accomplished by two parts: the commutator and the
brushes.

Figure 5.4shows how the commutator and brushes work together to let current flow to the electromagnet, and
also to flip the direction that the electrons are flowing at just the right moment. The contacts of the commutator

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are attached to the axle of the electromagnet, so they spin with the magnet. The brushes are just two pieces of
springy metal or carbon that make contact with the contacts of the commutator.

3.3.3.2 PARTS OF MOTOR PUT TOGETHER

Fig 3.10:Commutator action

In the figure 5.5, the armature winding has been left out so that it is easier to see the commutator in action. The
key thing to notice is that as the armature passes through the horizontal position, the poles of the electromagnet
flip. Because of the flip, the north pole of the electromagnet is always above the axle so it can repel the field
magnet's North Pole and attract the field magnet's South Pole.
If ever have the chance to take apart a small electric motor, will find that it contains the same pieces described
above: two small permanent magnets, a commutator, two brushes, and an electromagnet made by winding wire
around a piece ofmetal. Almost always, however, the rotor will have three poles rather than the two poles as
shown in this article. There are two good reasons for a motor to have three poles:
It causes the motor to have better dynamics. In a two-pole motor, if the electromagnet is at the balance point,
perfectly horizontal between the two poles of the field magnet when the motor starts, imagine that the armature
getting "stuck" there. That never happens in a three-pole motor.
Each time the commutator hits the point where it flips the field in a two-pole motor, the commutator shorts out
the battery (directly connects the positive and negative terminals) for a moment. This shorting waste energy and
drains the battery needlessly. A three-pole motor solves this problem as well.

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It is possible to have any number of poles, depending on the size of the motor and the specific application it is
being used in. The motor being dissected here is a simple electric motor that would typically find in a toy:

Fig 3.11: Dissected motor

Fig 3.10 shows a small motor, about as big around as a dime. From the outside it can see the steel can that
forms the body of the motor, an axle, a nylon end cap and two battery leads. If hook of the battery leads of the
motor up to a flashlight battery, the axle will spin. If it reverse the leads, it will spin in the opposite direction.
Here are two other views of the same motor. (Note the two slots in the side of the steel can in the second shot -
- their purpose will become more evident in a moment.

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Fig 3.12:Nylon end caps

The nylon end cap is held in place by two tabs that are part of the steel can. By bending the tabs back, it can
free the end cap and remove it. Inside the end cap are the motor's brushes. These brushes transfer power from
the battery to the commutator as the motor spins.

3.3.3.3 MORE MOTOR PARTS

The axle holds the armature and the commutator. The armature is a set of electromagnets, in this case three.
The armature in this motor is a set of thin metal plates stacked together, with thin copper wire coiled around
each of the three poles of the armature. The two ends of each wire (one wire for each pole) are soldered onto a
terminal, and then each of the three terminals is wired to one plate of the commutator. The figures below make
it easy to see the armature, terminals and commutator.

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Fig 3.13:Other motor parts

The final piece of any DC electric motor is the field magnet. The field magnet in this motor is formed by the
can itself plus two curved permanent magnets. One end of each magnet rests against a slot cut into the can, and
then the retaining clip presses against the other ends of both magnets.

3.3.4.0 RELAY CIRCUIT

A relay is an electrically operated switch. Current flowing through the coil of the relay creates a magnetic
fieldwhich attracts a lever and changes the switch contacts. The coil current can be on or off so relays havetwo
switch positions and they are double throw (changeover) switches.

3.3.4.1 SPDT (SINGLE POLE DUAL THROUGH) RELAY

Fig 3.14 Typical SPDT relay

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3.3.4.2 RELAY CONSTRUCTION

Relays are amazingly simple devices. There are four parts in every relay:

1. Electromagnet

2. Armature that can be attracted by electromagnet

3. Spring

4. Set of electrical contacts

Relays allow one circuit to switch a second circuit which can be completely separate from the first.

For example, a low voltage battery circuit can use a relay to switch a 230V AC mains circuit. There is no
electrical connection inside the relay between the two circuits; the link is magnetic and mechanical.

The coil of a relay passes a relatively large current, typically 30mA for a 12V relay, but it can be as much as
100mA for relays designed to operate from lower voltages. Most ICs (chips) cannot provide this current and a
transistor is usually used to amplify the small IC current to the larger value required for the relay coil.

Relays are usually SPDT or DPDT but they can have many more sets of switch contacts, for example relays
with 4 sets of changeover contacts are readily available. Most relays are designed for PCB mounting but solder
wires directly to the pins providing to take care to avoid melting the plastic case of the relay.

The supplier's catalogue should shows the relay's connections. The coil will be obvious and it may be connected
either way round. Relay coils produce brief high voltage 'spikes' when they are switched off and this can destroy
transistors and ICs in the circuit. To prevent damage, it must connect a protection diode across the relay coil.

The animated picture shows a working relay with its coil and switch contacts. That can see a lever on the left
being attracted by magnetism when the coil is switched on. This lever moves the switch contacts. There is one
set of contacts (SPDT) in the foreground and another behind them, making the relay DPDT.

The relay's switch connections are usually labeled COM, NC and NO:

1. COM = Common, always connect to this; it is the moving part of the switch.

2. NC = Normally Closed, COM is connected to this when the relay coil is off.

3. NO = Normally Open, COM is connected to this when the relay coil is on

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3.3.4.3 DPDT (DUAL POLE DUAL THROUGH) RELAY

Fig 3.15 DPDT relay

This is similar to SPDT switch but it has pair of Normally Open (NO) and Normally Closed (NC) contacts.
When the relay is energized both side contacts will operate at a time. Thus, it is more use full at many
applications.

3.3.4.4 RELAY CONNECTED TO GEARED MOTOR

Fig 3.16 Relay and DC Motor Connection

As shown above initially the motor is connected to 12V supply. A DPDT relay requires 12V DC and 35mA of
Current to operate. An amplifier stage is required to drive DPDT relay, since microcontroller I/O provides only
25mA of current. ULN2803 IC is used for this purpose. It accepts signal from the microcontroller and amplifies
it operate DPDT relay. When microcontroller output becomes high, ULN 2803 turn on the DPDT relay. Hence
Motor gets connected to Supply and starts rotating.

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3.3.5 BATTERY

Fig 3.17: 12V battery

3.3.5.1 THE BATTERY (DRY CELL)

The common battery (dry cell) is a device that changes chemical energy to electrical energy. Dry cells are
widely used in toys, flashlights, portable radios, cameras, hearing aids, and other devices in common use.
A battery consists of an outer case made of zinc (the negative electrode), a carbon rod in the center of the cell
(the positive electrode), and the space between them is filled with an electrolyte paste. In operation the
electrolyte, consisting of ground carbon, Manganese dioxide, Sal ammoniac, and zinc chloride causes the
electrons to flow and produce electricity.
Battery is used for store the solar energy which can be further converted into electrical energy. The battery
should requires following properties,
(1) Long life

(2) High reliability

(3) Low cost

(4) High overall efficiency

3.3.5.2 BATTERY SECIFICATIONS

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Table 3.3:Explains the battery specifications.

Dimension (Body) 150*64*92 mm

Rechargeable yes

Weight 1 kg

Dimension (Battery terminals) 4.8*0.8 mm

Voltage 12V DC

Capacity 3Ah

Technology Seal lead acid

Cycle use 14.5 to 14.9V DC

Stand by use 1.6 to 13.8V DC

Initial current < 2.8 A

13.8 V
Stand by charge voltage
Estimated stand by time 3 hours

3.3.5.3 VOLTAGE REGULATOR 7805

Fig 3.18 Voltage regulator

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3.3.5.4 FEATURES
1. Output Current up to 1A.
2. Output Voltages of 5, 6, 8, 9, 10, 12, 15, 18, 24V.
3. Thermal Overload Protection.
4. Short Circuit Protection.
5. Output Transistor Safe Operating Area Protection.

3.3.5.5 DESCRIPTION
The LM78XX/LM78XXA series of three-terminal positive regulators are available in the TO-220/D-PAK
package and with several fixed output voltages, making them useful in a Wide range of applications. Each type
employs internal current limiting, thermal shutdown and safe operating area protection, making it essentially
indestructible. If adequate heat sinking is provided, they can deliver over 1A output Current. Although designed
primarily as fixed voltage regulators, these devices can be used with external components to obtain adjustable
voltages and currents.

Fig 3.19 Voltage Regulater

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CHAPTER -4

4. Testing

Testing is the process of evaluating a system or its component(s) with the intent to find whether it satisfies the
specified requirements or not. Testing is executing a system in order to identify any gaps, errors, or missing
requirements in contrary to the actual requirements.

4.1.1 Testing Principle

Before applying methods to design effective test cases, a software engineer must understand the basic principle
that guides software testing. All the tests should be traceable to customer requirements.

4.1.2 Testing Methods

There are different methods that can be used for software testing. They are,

1. Black-Box Testing

The technique of testing without having any knowledge of the interior workings of the application is called
black- box testing. The tester is oblivious to the system architecture and does not have access to the source
code. Typically, while performing a black-box test, a tester will interact with the system's user interface by
providing inputs and examining outputs without knowing how and where the inputs are worked upon.

2.White-Box Testing

White-box testing is the detailed investigation of internal logic and structure of the code. White-box testing is
also called glass testing or open-box testing. In order to perform white-box testing on an application, a tester
needs to know the internal workings of the code. The tester needs to have a look inside the source code and find
out which unit/chunk of the code is behaving inappropriately.

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4.2 Levels of Testing

There are different levels during the process of testing. Levels of testing include different methodologies
that can be used while conducting software testing. The main levels of software testing are:

➢ Functional Testing:

This is a type of black-box testing that is based on the specifications of the software that is to be tested. The
application is tested by providing input and then the results are examined that need to conform to the
functionality it was intended for. Functional testing of software is conducted on a complete, integrated system
to evaluate the system's compliance with its specified requirements. There are five steps that are involved
while testing an application for functionality.

• The determination of the functionality that the intended application is meant to perform.

• The creation of test data based on the specifications of the application.

• The output based on the test data and the specifications of the application.

• The writing of test scenarios and the execution of test cases.

• The comparison of actual and expected results based on the executed test cases.

➢ Non-functional Testing

This section is based upon testing an application from its non-functional attributes. Non-functional testing
involves testing software from the requirements which are non-functional in nature but important such as
performance, security, user interface, etc. Testing can be done in different levels of SDLC. Few of them are

4.2.1 Unit Testing

Unit testing is a software development process in which the smallest testable parts of an application, called
units, are individually and independently scrutinized for proper operation. Unit testing is often automated
but it can also be done manually.

Unit Testing Benefits

1.Unit testing increases confidence in changing/ maintaining code.

2.Codes are more reusable.

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3.Development is faster.
4.The cost of fixing a defect detected during unit testing is lesser in comparison to that of defects
detected at higher levels.
5.Debugging is easy.
6.Codes are more reliable.

Unit testing:

Sl # Test Case : - UTC-1

Name of Test: - Power on Test
Items being tested: - Arduino Sensors and DC Motors
Sample Input: - Power Input
Should Turn on and Display on LCD
Expected output: -

Display should work

Actual output: -

Remarks: - Pass.

Sl # Test Case : - UTC-2

Name of Test: - Seeding Function
Items being tested: - Seed sowing
Sample Input: - Manual input
Robot should do seeding
Expected output: -

Same as Expected
Actual output: -

Remarks: - Pass.

Sl # Test Case : - UTC-3

Name of Test: - Digging Function
Items being tested: - Digging

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Sample Input: - Manual input

Robot should do digging
Expected output: -

Same as Expected
Actual output: -

Remarks: - Pass.

Sl # Test Case : - UTC-5

Name of Test: - Ploughing Function
Items being tested: - Ploughing
Sample Input: - Manual input
Robot should do ploughing
Expected output: -

Same as Expected
Actual output: -

Remarks: - Pass.

4.2.2 Integration Testing:

Integration testing is a level of software testing where individual units are combined and tested as a group.
The purpose of this level of testing is to expose faults in the interaction between integrated units. Test drivers
and test stubs are used to assist in Integration Testing. Integration testing is defined as the testing of combined
parts of an application to determine if they function correctly. It occurs after unit testing and before validation
testing. Integration testing can be done in two ways: Bottom-up integration testing and Top-down integration
testing.

• Bottom-up Integration

This testing begins with unit testing, followed by tests of progressively higher-level combinations of units
called modules or builds.

• Top-down Integration

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In this testing, the highest-level modules are tested first and progressively, lower-level modules are tested
thereafter.

In a comprehensive software development environment, bottom-up testing is usually done first, followed
by top-down testing. The process concludes with multiple tests of the complete application, preferably in
scenarios designed to mimic actual situations. Table 8.3.2 shows the test cases for integration testing and
their results.

Sl # Test Case : - ITC-1

Name of Test: - Pump Test

Item being tested: - Water sprinkler

Sample Input: - Manual Input

Low Moisture and high moisture based pump switching

Expected output: -

Functioned Properly
Actual output: -

Remarks: - Pass.

Sl # Test Case : - ITC-2

Name of Test: - Pesticide sprinkilng

Item being tested: - sprinkler

Sample Input: - Manual Input

Pesticide sprinkling
Expected output: -

Functioned Properly
Actual output: -

Remarks: - Pass.

4.2.3 System testing:

System testing of software or hardware is testing conducted on a complete, integrated system to evaluate
the system's compliance with its specified requirements. System testing falls within the scope of black-box
testing, and as such, should require no knowledge of the inner design of the code or logic. System testing is

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important because of the following reasons:

1. System testing is the first step in the Software Development Life Cycle, where the application is
tested as a whole.
2. The application is tested thoroughly to verify that it meets the functional and technical
specifications.

3. The application is tested in an environment that is very close to the production environment where
the application will be deployed.
4. System testing enables us to test, verify, and validate both the business requirements as well as the
application architecture.

System Testing is shown in below tables

Sl # Test Case : - STC-1

Name of Test: - System testing
Item being tested: - Synchronization
Give Inputs From All Input Modules
Sample Input: -

Expected output: - Hardware and Software should work in synchronization

Actual output: - All Functions Worked Properly
Remarks: - Pass

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CHAPTER-5

5. RESULT &DISCUSSION

The agricultural robot will be using a chassis as a base to connect and assemble everything on it will be
consisting of four motors. Two of which are toy motors and the other being gear motors. The robot is capable
of doing three separate functions.

1. Digging
2. Hopper
3. Leveler
These will be working in different modes. Programming of different modes will be done separately the
different modes .The LCD will be displaying the input given to the robot by the user the measurements of
the length and breadth of the field are to be given in feet.

Fig 5.0 Model of agricultural robot

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5.1 POWER SUPPLY

When power supply is given to robot system, LCD will display AGRIBOT, by using smart phone through
Bluetooth can initiate the system.

Fig 5.1 Power supply board

5.2 MODE 1: DIGGING

Here obtained a new technology for sowing the seeds in a particular order. The seeds are placed with some
specific gap between them and which is different for every crop. So in order to overcome the problem, robot
which will itself dig the soil and place the seeds.Table 4.2 explains placement of seeding.

Table 4.2: The placement of seeding

Placement of seed(distance Farm land

between two seed)
Corn 7.2cm
Expected(6-8 cm)
Wheat 9 cm
Expected(8-10 cm)
Jowar 10cm
Expected(10-12 cm)
Soya bean 5.3 cm
Expected(5-6 cm)

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5.3 MODE 2: HOPPER

Hopper is used to carry seeds and to drop the seed at a particular hole that is being dig by agribot.

Fig 5.2 Hopper

5.4 MODE 3: LEVELER

Leveler is placed at front of the robot. This will help to make an uneven surface to a flat shape. This will
work simply by making Front actuators come down. When robot starts moving forward, the even surface
has up’s and down’s leveler will make all the area to flat surface. This is very compatible for leveling gardens,
small areas, closing gaps, etc.

Fig 5.3 Leveler

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5.5 MODE 4: SPRINKLER

Fig 5.4 Micro submersible pump

This is lightweight, small size, high efficiency, low consumption and low noise water pump.It has been
used widely; in household include cooking, cleaning, bathing, space heating and water flowers, etc.

5.5.1 FEATURES

1. High quality hall effect sensor

2. Compact, easy to install

5.5.2 SPECIFICATION
1. Working voltage: DC 10-13V
2. No load current:250ma
3. Temperature range:-30~0°C
4. Suction lift: 100mm
5. Spit out: 500mm
6. Flow rate range : 1.31±0.26L/Min

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5.5.3: DATA SHEET FOR MOISTURE LEVEL REQUIRED

Table 3.1: The data sheet of moisture level

Crops Humidity (%) Moisture level

Corn 65 33
Yellow corn 65 15.3
Soybean 65 12.6
Wheat 65 13.8
Barley 65 19
Jute 65 13.7
Paddy 65 24

Table:3.2:Table data sheet of moisture level required in the soil.

Fine(clay) 80-100 Below 60

Medium(loamy) 88-100 Below 70
Coares(sandy) 90-100 Below 80

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CHAPTER-6

6. ADVANTAGES
1. Time and manual power isreduced.
2. Used in various fields like agriculture, medicine, mining, and spaceresearch.
3. The machines could easily work around trees, rocks, ponds and other obstacles.
4. The robot willbe able to expose in different weatherconditions.

6.1 DISADVANTAGES
1. Robot cannot workmore effectively on unequal surface of the field.
2. It is necessary to set seeding space for particular seed.
3. As it works with battery supply,recharging of battery is time consumable.
4. A periodic human presence in the field is likely to be necessary.

6.2 FUTURE SCOPE

1. Automated disease prediction
2. Intimation to farmer
3. Water sprinkling based on moisture levels
4. Pesticides sprinkling automation
5. The robot can be designed with chain roller instead of normal wheel.

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CONCLUSION

Multipurpose autonomous agricultural robot” has successfully implemented and tested for various
functions like ploughing, seeding, leveling and water spraying. It was developed by integrating agricultural
robot with C programming. Application of inexpensive navigation sensors to the robot farming system makes
the system economically adaptable with the environment. With the development of robot farming system,
food production can be increased considerably and economically.
With fully-automated farms in the future, robots can perform all the tasks like mowing, fertilizing,
monitoring of pests and diseases, harvesting, tilling, etc. This also enables the farmers to just supervise the
robots without the need to operate them.The project can be enhanced to any other kinds of crop. Hence, it can be
applicable to the real time agricultural field.

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REFERENCE

[1] Sunitha .M, “Seeding Robot”, The Intl. Conf. on Information, Engineering, Management and Security
2014 (ICIEMS 2014).
[2] M. Priyadarshini, L. Sheela, “Command Based Self-Guided Digging and Seed Sowing Rover”,
International Conference on Engineering Trends and Science & Humanities (ICETSH-2015).
[3]Ankit Singh, Abhishek Gupta, AkashBhosale, SumeetPoddar, “Agribot: An Agriculture Robot”,
International Journal of Advanced Research in Computer and Communication Engineering Vol. 4, Issue 1,
January 2015.
[4] N. Firthous Begum, P. Vignesh, “Design, and Implementation of Pick and Place Robot with Wireless
Charging Application”, International Journal of Science and Research (IJSR-2013).
[5] Buniyamin N., Wan Ngah W.A.J., Sariff N., Mohamad Z, “A Simple Local Path Planning Algorithm For
Autonomous Mobile Robots”, International Journal Of Systems Applications, Engineering & Development
Issue 2, Volume 5, 2011.

Text books:

1. Theory of machine, Prof.R.S.Khurmi&Prof.J.KGuptha

2. Automation production, and Integrated manufacturing, Prof.M.P.Groover

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