AUTONOMOUS AGRICULTURAL BOT

International Journal of Scientific Research and Engineering Development-– Volume 2 Issue 6, Nov- Dec 2019
Available at www.ijsred.com
ISSN : 2581-7175 ©IJSRED: All Rights are Reserved Page 266
Abstract:
With the advancement of science and recent
technologies the attention of scientist is getting
directed towards two field – Farming and
Robotics System. But the combination of two
technologies can serve efficiently for many
problems by overcoming the limitation of
previous technologies. Robotics technologies
alone serve very well for the various problems in
the field of engineering, medical, military,
industry evolution and other various areas of
development and requirements, but here we pile
together the new advancement in agriculture
with robotics to develop the agriculture system
which can be used in more complex dynamic
systems. This technology provides optimum and
efficient solution for wide ranges of production
with their merits and demerits. This robotic
system is named as agricultural robot. We have
to develop a robot capable of performing
operations like automatic ploughing, seed
dispensing and watering. 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 Atmega
microcontroller that supervises the entire
process. Initially the robot tills the entire field
and proceeds to ploughing, simultaneously
dispensing seeds side by side. After seeding it
also levels the soil and waters the ground. For
manual control the robot uses the Bluetooth
pairing app as control device and helps in the
navigation of the robot inside 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.
It also has temperature sensors and moisture
sensor that sends data to the app. The water
sprinklers, if on, bring down the humidity level
thus providing an ideal growing environment to
crop. Farmers
today spend a lot of money on machines that
help them decrease labour 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 all operations and
automating it to increase yield on a large scale.
KEYWORDS:
Movement, Agricultural robot,, Arduino,
Robot Architecture, Agricultural Functions,
Android, Sensors.
INTRODUCTION:
Farmers today spend a lot of money on
machines that help them decrease labour 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 function.
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.
XUE Jinlin, XU Liming published a paper on
“Autonomous Agricultural Robot and its row
Guidance”, at the International Conference on
Measuring Technology. The objectives of this
paper are: to enable the farmer to plough large
areas of land in minimum amount of time, to
perform automated ploughing and simultaneous
AUTONOMOUS AGRICULTURAL BOT
Arati Nimbalkar, Anam Shaikh, Jayashree Hogale, Manisha Gite, Prof.R.S.Parte
RESEARCH ARTICLE OPEN ACCESS

seeding process using Advanced Virtual RISC
(AVR), to provide manual control with the help
of Bluetooth, to measure and control humidity in
the field using humidity sensors and water
sprinkler. Agriculture is humankind’s oldest and
still important economic activity, providing the
food, feeder, fibre 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. 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. We can also implement with
the advancement in sensors and control systems
that allow for optimal resource and integrated
disease and pest management. Alijanobi, A.A
published a paper titled “A set up of mobile
robotic unit for Fruit harvesting” at the 2010
19th International workshop. Yan Li, chunlei
Xia, Jangmyung Lee published a paper titled
"Vision based pest detection and automatic
spray in green 2015 IEEE International
Conference on Technological Innovations in
ICT for Agriculture and Rural Development
(TIAR 2015) 18 house plant”.Once the concept
of Automation and agriculture is accepted the
adoption rates will become high and the costs of
technology will come down. Autonomous
machines will be safer, more consistent with
more efficient plant agronomy. The robot in the
fig 1 shows how a robot is used in the
agricultural fields. With the help of robots,
autonomous agricultural operations such as
spraying, mechanical weed control, fruit picking,
watching the farm day and night, allowing
farmers to reduce the environmental impact,
increase precision in an effective manner. The
Advantage of Automated techniques are Robots
can work nonstop and in hazardous
environment, Robots can detect presence of
diseases, weed, insect infestations and other
stress. Due to the light weight of the robots they
do not compact the soil as large machinery does.
LITERATURE SURVEY:
Some of the real issues in the Indian agricultural
are mounting of input costs, approachability of
skilful labours, absence of water resources and
crop checking. To beat these issues, the
mechanization advancements with robots were
utilized as a part of agribusiness. The robotics
helps the farmers in agriculture to reduce their
efforts. The robot which performs functions like
automatic seeding system, automatic pest control
unit, automatic compost spraying etc is designed
to ease the work of the farmers and increase the
outcome. This beats the adversity of farmers in
farming their land irrespective of the weather
conditions. The Arduino is used for the software
implementation of the robot and the motor
direction is controlled using the driver L293D.
The robot is advanced with hardware parts such
as seed drum alongside channels and delving
system containing cutting edges in the
mechanical get together of the vehicle. The
sensors utilizing the Bluetooth module were
effective and demonstrated the capacity of the
equipment stage made out of sensors, and
microcontroller. The results with the Bluetooth
module constrained the information transmission
which are fundamentally the restricted range.
The integrated system of agribot uses Wi-Fi to
communicate between 2 robots which performs
activities like seeding, spraying of fertilizers and
insecticides. It uses ultrasonic proximity sensor
to avert the obstacles in the path. Single seed is
picked up from bulk of seeds and lead to
vacuum pump and in order to suck a seed inside
the funnel linear actuator is used. 100 2018
International Conference on Design Innovations
for 3Cs Compute Communicate Control 978-1-
5386-7523-6/18/$31.00 ©2018 IEEE DOI
10.1109/ICDI3C.2018.00030 Bluetooth module
and GSM directly speak with Arduino utilizing
I/O ports. Seed sowing are finished using
servomotor then the pole of servomotor can be
turned by the required degree which is
associated with the holder containing seeds that
point fall in the dirt. A level bar furnished with
various jagged teeth is fixed on it to loosen the
soil bed and ploughing the soil. Seed dispenser
is done using servo mechanism. Parameters such

as soil condition, area covered by the robot and
weight of the material for levelling are examined
for different motors. The advantages of these
robots are reducing human intervention,
ensuring proper irrigation and efficient
utilization of resources. These robots are
fundamentally helpful in automated weed
control; usage of fertilizers based on soil
condition, soil sensors for drip irrigation in rain
feed areas. The proposed design is mainly used
for crop establishment, plant care and selective
harvesting.
AIMS AND OBJECTIVES:
Automating ploughing
Automating sowing
Automating watering
Automating soil leveling
Reducing work of farmers
Increasing yield by proper maintenance
using sensors such as soil moisture,
temperature, humidity, water.
PROPOSED SOLUTION:
This project is an Autonomous Agriculture
Robot which is controlled over Bluetooth
protocol using an Android App. The Android
App consists of 5 buttons for movement of
robot. The actions that would be performed by
the robot are Forward, Backward, Right, Left
and Stop. It also consists of list picker for
selecting Bluetooth device connected to the
robot. Once the Android application establishes
a secure connection with the robot then the app
is ready for controlling the actions of robot. The
robot is capable of Digging, Sowing, Watering
and Soil Levelling. Digging is done using Motor
Drill. Sowing action will be performed using
Servo Motor for lock mechanism. Watering will
be done by Pump Motor. Levelling is done using
Flat leveller. The Android App has a button for
Starting all these processes. The robot also has
sensors like the DHT11 sensor, water sensor and
Soil Moisture sensor. The sensor values are
automatically sent to Android App. The DHT11
sensor is used for measuring the temperature and
humidity in the surrounding of the robot. The
water sensor is used for detecting the water level
of the container used for watering. The soil
moisture sensor is used to sense the moisture
content of the soil. The robot works in two
modes. In the first mode the robot performs
actions such as ploughing, sowing, watering and
soil levelling along with movement of robot. In
the second mode the robot performs only
watering action by sensing the soil moisture
content. First mode of operation is used in the
initial stages while the second mode of operation
is used after the initial stage when the robot only
needs to water the field. The sensor data can also
be manually updated by the in-app Refresh
button.
Inputs: in1, in2, in3, in4, temp, hum, smoist,
wlvl.
Outputs: out1, out2, out3, out4, atemp, ahum,
asmoist, awlvl
Notations:
in1 = Input 1 to motor driver
temp = Value of Temperature sensor

hum = Value of Humidity sensor
smoist = Value of Soil Moisture sensor
wlvl = Value of Water Level sensor
out1 = Output 1 from Motor Driver
atemp = Alert from Temperature sensor
ahum = Alert from Humidity sensor
asmoist = Alert from Soil Moisture sensor
awlvl = Alert from Water Level sensor
Mathematics:
if (in1 == high) then generate high on out1.
else if (in1 == low) then generate low on out1.
if (temp > 27 C) then generate alert atemp.
if (hum < 45%) then generate alert ahum.
if (smoist < 40%) then generate alert asmoist
and switch on water pump.
if (wlvl <= 1L) then generate alert wlvl.
display temp, hum, smoist and wlvl to android
app.
SYSTEM ARCHITECTURE:
HARDWARE USED
1. Wheels
Used for movement of robot.
2. Chassis
Powder coated Metal chassis for robots. Easy to
mount the motors on place by using normal
motor mount nut. It can either be used in skid
steel configuration (4 motors). The body
contains perforated holes for easy mounting of

various size circuit boards and other mechanical
components.
3. Dummy wheels
It is used for replacing motors connected to the
chassis.
4. DC motor
DC Motor – 100RPM – 12Volts geared motors
are generally a simple DC motor with a gearbox
attached to it. This can be used in all-terrain
robots and variety of robotic applications. These
motors have a 3 mm threaded drill hole in the
middle of the shaft thus making it simple to
connect it to the wheels or any other mechanical
assembly. 100 RPM 12V DC geared motors
widely used for robotics applications. Very easy
to use and available in standard size.
5. L293D Motor Driver
L293D is a typical Motor driver or Motor Driver
IC which allows DC motor to drive on either
direction. L293D is a 16-pin IC which can
control a set of two DC motors simultaneously
in any direction. It means that you can control
two DC motor with a single L293D IC.
6.Soil moisture sensor
This Moisture Senor can be used for detecting
the moisture of soil or judge if there is water
around the sensor, let the plant in your garden
able to reach out for human's help when they are
thirsty. This sensor is very easy to use, you can
just simply insert in into the soil and read the
data.
7.Water sensor
A water detector is an electronic device that is
designed to detect the presence of water for
purposes such as to provide an alert in time to
allow the prevention of water leakage. A
common design is a small cable or device that
lies flat on a floor and relies on the electrical
conductivity of water to decrease the resistance
across two contacts. The device then sounds an
audible alarm together with providing onward
signalling in the presence of enough water to
bridge the contacts. These are useful in a
normally occupied area near any infrastructure
that has the potential to leak water, such
as HVAC, water pipes, drain pipes, vending
machines, dehumidifiers, or water tanks.

8.Arduino Mega
The Arduino Mega 2560 is a microcontroller
board based on the ATmega2560 (datasheet). It
has 54 digital input/output pins (of which 14 can
be used as PWM outputs), 16 analog inputs, 4
UARTs (hardware serial ports), 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 an AC-to-DC
adapter or battery to get started. The Mega is
compatible with most shields designed for the
Arduino Duemilanove or Diecimila.
The Mega 2560 is an update to the Arduino
Mega, which it replaces.
Specification
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 54 (of which 14 provide PWM
output)
Analog Input Pins 16
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 256 KB of which 8 KB used by
bootloader
SRAM 8 KB
EEPROM 4 KB
Clock Speed 16 MHz
9. Pump motor
It is a submersible motor which can be used to
pump liquid from one place to another.
10.Micro servo motor (SG90)
It is tiny and lightweight with high output
power. This servo can rotate approximately 180
degrees (90 in each direction), and works just
like the standard kinds but smaller. You can use
any servo code, hardware or library to control
these servos. It comes with a 3 horns (arms) and
hardware.
11.Jumper
A jump wire (also known as jumper wire, or
jumper) is an electrical wire, or group of them in
a cable, with a connector or pin at each end (or
sometimes without them – simply "tinned"),
which is normally used to interconnect the
components of a breadboard or other prototype
or test circuit, internally or with other equipment
or components, without soldering. Individual
jump wires are fitted by inserting their "end
connectors" into the slots provided in a

breadboard, the header connector of a circuit
board, or a piece of test equipment.
12.Solar panel
Photovoltaic solar panels absorb sunlight as a
source of energy to generate direct
current electricity. A photovoltaic (PV) module
is a packaged, connected assembly of
photovoltaic solar cells available in different
voltages and wattages. Photovoltaic modules
constitute the photovoltaic array of
a photovoltaic system that generates and
supplies solar electricity in commercial and
residential applications. The most common
application of solar energy collection outside
agriculture is solar water heating systems.
13.Bluetooth Module HC05
The HC-05 Bluetooth Module can be used in a
Master or Slave configuration, making it a great
solution for wireless communication. You can
use it simply for a serial port replacement to
establish connection between MCU and GPS,
PC to your embedded project, etc.
Features:
• Protocol: Bluetooth Specification
v2.0+EDR
• Frequency: 2.4GHz ISM band
• Modulation: GFSK
• Emission power: ≤4dBm, Class 2
• Sensitivity: ≤-84dBm at 0.1% BER
• Speed: Asynchronous: 2.1Mbps(Max) /
160 kbps, Synchronous: 1Mbps/1Mbps
• Security: Authentication and encryption
• Profiles: Bluetooth serial port
• Power supply: +3.3VDC 50mA
• Working temperature: -20 ~ +75
Centigrade
14.Temperature Humidity Sensor (DHT 11)
A humidity sensor senses, measures and
regularly reports the relative humidity in the air.
It measures both moisture and air temperature.
Relative humidity, expressed as a percent, is the
ratio of actual moisture in the air to the highest
amount of moisture air at that temperature can
hold. The warmer the air is, the more moisture it
can hold, so relative humidity changes with
fluctuations in temperature.
15.Arduino USB Cable
USB stands for Universal Serial Bus. It is used
as a data cable for programming Arduino Mega
board. It is also used to power Arduino Mega
board. It supplies 5V to the board.
16. 12V DC Power Supply

International Journal of Scientific Research and Engineering Development
ISSN : 2581-7175 ©IJSRED: All Rights are Reserved
12V power supplies (or 12VDC power supplies)
are one of the most common power supplies in
use today. In general, a 12VDC output is
obtained from a 120VAC or 240VAC input
using a combination of transformers, diodes and
transistors. 12V power supplies can be of two
types: 12V regulated power supplies,
unregulated power supplies.12V regulated
power supplies come in three styles: Switching
regulated AC to DC, Linear regulated AC to DC,
and Switching regulated DC to DC.
17. Header
A pin header (often abbreviated as
simply header) is a form of electrical connector.
It consists of one or more rows of male pins
typically spaced 2.54 millimetres (0.1
but common sizes also include 5.08 millimetres
(0.2 in), 5.00 millimetres (0.197
millimetres (0.156 in), 2.00 millimetres
(0.079 in), 1.27 millimetres (0.05
millimetre (0.04 in). The distance between pins
is commonly referred as pitch in the electronic
community.
18. Perf Board
Perfboard is a material for prototyping
circuits (also called DOT PCB). It is a thin, rigid
sheet with holes pre-drilled at standard intervals
across a grid, usually a square grid of 0.1 inches
(2.54 mm) spacing. These holes are ringed by
round or square copper pads, though bare boards
International Journal of Scientific Research and Engineering Development-– Volume 2 Issue 6
©IJSRED: All Rights are Reserved
12V power supplies (or 12VDC power supplies)
are one of the most common power supplies in
use today. In general, a 12VDC output is
obtained from a 120VAC or 240VAC input
using a combination of transformers, diodes and
transistors. 12V power supplies can be of two
types: 12V regulated power supplies, and 12V
unregulated power supplies.12V regulated
power supplies come in three styles: Switching
regulated AC to DC, Linear regulated AC to DC,
and Switching regulated DC to DC.
(often abbreviated as PH, or
m of electrical connector.
It consists of one or more rows of male pins
typically spaced 2.54 millimetres (0.1 in) apart,
but common sizes also include 5.08 millimetres
in), 5.00 millimetres (0.197 in), 3.96
in), 2.00 millimetres
in) and 1.00
in). The distance between pins
in the electronic
prototyping electronic
(also called DOT PCB). It is a thin, rigid
drilled at standard intervals
across a grid, usually a square grid of 0.1 inches
mm) spacing. These holes are ringed by
round or square copper pads, though bare boards
are also available. Inexpensive perfboard may
have pads on only one side of the board, while
better quality perfboard can have pads on both
sides (plate-through holes). Since each pad is
electrically isolated, the builder makes all
connections with either
miniature point to point wiring
Discrete components are soldered to the
prototype board such as resistors
and integrated circuits. The substrate is typically
made of paper laminated with
resin (such as FR-2) or a fiberglass
epoxy laminate (FR-4).
19. Battery Snap
It is used to connect 9V battery to the pins to
provide power supply.
20. Drill Motors
An electric motor is an electrical machine
converts electrical energy
energy. Most electric motors operate through the
interaction between the motor's
field and winding currents to generate force in
the form of rotation. The drill motor is a heavy
torque motor with a drill bit connected to it.
Software Requirements:
Volume 2 Issue 6, Nov- Dec 2019
www.ijsred.com
Page 273
are also available. Inexpensive perfboard may
side of the board, while
better quality perfboard can have pads on both
). Since each pad is
electrically isolated, the builder makes all
tions with either wire wrap or
point to point wiring techniques.
are soldered to the
resistors, capacitors,
. The substrate is typically
made of paper laminated with phenolic
) or a fiberglass-reinforced
used to connect 9V battery to the pins to
electrical machine that
electrical energy into mechanical
. Most electric motors operate through the
interaction between the motor's magnetic
to generate force in
. The drill motor is a heavy
torque motor with a drill bit connected to it.

International Journal of Scientific Research and Engineering Development
ISSN : 2581-7175 ©IJSRED: All Rights are Reserved
1.Arduino IDE
2.MIT app inventor2:
HIGH LEVEL DESIGN:
International Journal of Scientific Research and Engineering Development-– Volume 2 Issue 6
©IJSRED: All Rights are Reserved
1.Arduino IDE DATA FLOW DIAGRAM:
CONCLUSION: 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 labour costs and restrictions on the
number of daily working hours significantly
improved. Thus, it has made possible to
automate the most significant working routines.
Multipurpose autonomous agricultural robot has
successfully implemented and tested for various
functions like ploughing, seeding, levelling and
water spraying. It was develo
agricultural robot with C programming.
REFERENCES:
1. Xue Jinlin, XU Liming, “Autonomous
Agriculture Robot and its row guidance”, IEEE,
International Conference on Measuring
Technology, 2010, published
2. Aljanobi.A,”A set up of mobile
for fruit harvesting”, IEEE International
workshop, 2010, references.
3. Yan Li, chunlei Xia, Jangmyung Lee, “Vision
based pest detection and automatic spray in
green house plant”, page no 920
International Symposium, references.
4. Ashish Lalwani, mrunmai Bhide, S. K. Shah,
A Review: Autonomous Agribot For Smart
Farming, 46th IRF International Conference,
2015
Volume 2 Issue 6, Nov- Dec 2019
www.ijsred.com
Page 274
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 labour costs and restrictions on the
number of daily working hours significantly
ved. Thus, it has made possible to
automate the most significant working routines.
Multipurpose autonomous agricultural robot has
successfully implemented and tested for various
functions like ploughing, seeding, levelling and
water spraying. It was developed by integrating
agricultural robot with C programming.
1. Xue Jinlin, XU Liming, “Autonomous
Agriculture Robot and its row guidance”, IEEE,
International Conference on Measuring
2. Aljanobi.A,”A set up of mobile robotic unit
for fruit harvesting”, IEEE International
3. Yan Li, chunlei Xia, Jangmyung Lee, “Vision
based pest detection and automatic spray in
green house plant”, page no 920-925,
International Symposium, references.
ish Lalwani, mrunmai Bhide, S. K. Shah,
A Review: Autonomous Agribot For Smart
Farming, 46th IRF International Conference,

5. Akhila Gollakota, M.B.Srinivas, Agribot-A
multipurpose agricultural robot, India
Conference (INDICON), IEEE, 2011.
6. Sandeep Konam, “Agricultural Aid for Mango
cutting (AAM),” Electronics & Communication
Engineering, RGUKT, R.K. Valley Kadapa,
India, 978-1-4799-3080-7 IEEE 2014.
7. Rasin, Z., H. Hamzah and M.S.M. Aras, 2009.
Application and evaluation of high power
Zigbee based wireless sensor network in water
irrigation control monitoring system.
Proceedings of the IEEE Symposium on
Industrial Electronics and Applications, Volume,
2, October 4-6, 2009, Kuala Lumpur, Malaysia,
pp: 548-551.

AUTONOMOUS AGRICULTURAL BOT

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