Design and Development of Autonomous Mobile Robot

for Agriculture Applications

Project phase-II report submitted

In
Partial fulfillment of requirement for the award of degree of

Bachelor of Engineering
in
Electronics & Telecommunication Engineering

by
Mr. Nakul Pandhare Mr. Mukul Mangde
Mr. Mukesh Mahule Mr. Manthan Patil
Mr. Mohit Moon
Guide
Dr. Kapil Jajulwar
Assistant Professor
Department of Electronics and Telecommunication Engineering
G H R C E, Nagpur

Department of Electronics & Telecommunication Engineering

G H Raisoni College of Engineering, Nagpur
(An Autonomous Institute affiliated to Rashtrasant Tukadoji Maharaj Nagpur University, Nagpur)
Accredited by NAAC with “A+” Grade
th
Ranked 130 by NIRF, MHRD in the Engineering Category for India Ranking 2021,
Ranked 2nd by ARIIA 2020, MHRD in Private or Self Finance Institutions, 5 Star Rating
by MIC, MHRD 2021

June 2022
1
Design and Development of Autonomous Mobile Robot
for Agriculture Applications

Project phase-II report submitted

In
Partial fulfillment of requirement for the award of degree of

Bachelor of Engineering
in
Electronics & Telecommunication Engineering

by
Mr. Nakul Pandhare Mr. Mukul Mangde
Mr. Mukesh Mahule Mr. Manthan Patil
Mr. Mohit Moon
Guide
Dr. Kapil Jajulwar
Assistant Professor
Department of Electronics and Telecommunication Engineering
G H R C E, Nagpur

Department of Electronics & Telecommunication Engineering

G H Raisoni College of Engineering, Nagpur
(An Autonomous Institute affiliated to Rashtrasant Tukadoji Maharaj Nagpur University, Nagpur)
Accredited by NAAC with “A+” Grade
Ranked 130th by NIRF, MHRD in the Engineering Category for India Ranking 2021,
Ranked 2nd by ARIIA 2020, MHRD in Private or Self Finance Institutions, 5 Star Rating
by MIC, MHRD 2021

June 2022

2
 © G H Raisoni College of Engineering, Nagpur, Year 2022

Declaration

We, hereby declare that the project report titled “Design and Development of
Autonomous Mobile Robot for Agriculture Applications” submitted herein has been
carried out by us towards partial fulfillment of requirement for the award of Degree of
Bachelor of Engineering in Electronics and Telecommunication Engineering. The work is
original and has not been submitted earlier as a whole or in part for the award of any
degree / diploma at this or any other Institution / University.

We also hereby assign to G H Raisoni College of Engineering, Nagpur all rights

under copyright that may exist in and to the above work and any revised or expanded
derivatives works based on the work as mentioned. Other work copied from references,
manuals etc. are disclaimed.

Name of student Mobile No Mail ID Signature

Mr. Nakul Pandhare 7558341782 nakulmain23@gmail.com

Mr. Mukul Mangde 9881998978 mukulmangde3@gmail.com
Mr. Mukesh Mahule 9359307541 mukesh_mahule2@gmail.com

Mr. Manthan Patil 8308544123 manthanpatil101@gmail.com

Mr. Mohit Moon 9561807799 moonmohit@gmail.com

Place- Nagpur

Date

3
 Certificate

The project phase-II report entitled as “Design and Development of

Autonomous Mobile Robot for Agriculture Applications” submitted by Nakul
Pandhare, Mukul Mangde, Mukesh Mahule, Manthan Patil, and Mohit Moon for
the award of Degree of Bachelor of Engineering in Electronics and Telecommunication
Engineering has been carried out under our supervision. The work is comprehensive,
complete and fit for evaluation.

Dr. Kapil Jajulwar Mr. Dharmaveer Choudhari

Guide Project Incharge
Assistant Professor Assistant Professor
Department of Electronics and Department of Electronics and
Telecommunication Engineering Telecommunication Engineering
G H R C E, Nagpur G H R C E, Nagpur

Dr. Kalyani Akant Dr. Sachin Untawale

Head Director
Department of Electronics and G H R C E, Nagpur
Telecommunication Engineering
G H R C E, Nagpur

4
 ACKNOWLEDGEMENT

The success of this project involves a lot of hard work, guidance, and learning. However, it
would not have been possible without the kind support and help of many individuals and our
college. We would like to extend our sincere thanks to all of them.
We are highly indebted to our guide Prof. Dr. Kapil Jajulwar for his guidance, patience and
constant supervision as well as for providing necessary information regarding the project &
also for their support in completing the project. We are obliged to have support from Tecxtra
Technologies Private limited, Technoventor Innovations Pvt. Ltd.’s (Fablab, Nagpur), and
for providing guidance and all the required facilities required in completion of this project.
We would like to express our gratitude towards Dr. Kalyani Akant Head of Department
Electronics and Telecommunication Engineering, G.H.R.C.E, Nagpur, the entire team, and
the member staffs of G. H. Raisoni College of Engineering for their kind co-operation and
encouragement which help us in completion of this project.
We express our sincere thanks to Dr. Sachin Untawale, Director, G.H.R.C.E., Nagpur, for
cheering all the students and giving us this wonderful opportunity that gave us lots of
experience, confidence, and team work experience.
Our thanks and appreciation goes to all the people who have willingly helped us out with
their abilities. Finally, as one of the team members, I would like to appreciate all my group
members for their support and coordination.

Sr. Name Of Students Mobile Email Id

No. Number

1 Manthan Patil 8308544123 patil_manthan.et@ghrce.raisoni.net

2 Mohit Moon 9561807799 moon_mohit.et@ghrce.raisoni.net

3 Mukesh Mahule 9359307541 mahule_mukesh.et@ghrce.raisoni.net

4 Mukul Mangde 9881998978 mangde_mukul.et@ghrce.raisoni.net

5 Nakul Pandhare 7558431782 pandhare_nakul.et@ghrce.raisoni.net

1
 ABSTRACT

Agriculture is the science, technique, and art of cultivation of land, growing crops, and
raising livestock. It plays a major role in the country's economy. India’s 70 percent of rural
population depends upon agriculture for their livelihood. Agriculture had employed more
than 50% of the Indian workforce and contributes 17–18% to the country's GDP.
Agriculture provides us with food, grains, and various type of raw materials. To yield a
high-quality product, suitable soil, climate and season are not sufficient. It requires a set of
procedures that needed to be followed. The measures which are followed to raise crops are
called agricultural practices. These practices include soil preparation, sowing, fertilizing,
irrigation, weeding, harvesting, and lastly storage of the yield. From the very first step to the
last step, each and every activity requires skilled and hardworking labor.
Nowadays due to the increasing population, the demand for these products is increasing day
by day. On the other hand, farmers are facing many problems such as the insufficient supply
of water, improper storage facilities, over-dependence on traditional crops and techniques,
unskilled laborers, payment of daily wages of laborers, lack of availability of laborers as
many people from villages are migrating to cities for earning for their livelihood. Hence,
there is a need developed to introduce the latest trends of technology in this field and
automate this process to meet up with the existing demands. Farm automation practices are
making agriculture more profitable while also reducing the ecological footprint of farming at
the same time. In this project, we are designing a multipurpose agriculture robot that can be
used for tasks such as seed sowing, medicine spraying, and surveillance. The robot will
follow a particular path to cover the entire field for doing these tasks autonomously. The
number of seeds to be sown in every column will be the same and would be user input. This
project aims to automate the process of agriculture using the latest technology to meet the
current increasing demands. We till now have developed a POC of our device and have
planned to scale it up to a product that can run on any kind of land. This robot will help in
increasing the production and efficiency of farming. It will also help to save man working
hours and reduce labor dependency and human errors.

2
 LIST OF FIGURES

Sr. No. Figure Name Page No

1. Block diagram with PID controlling 13

2. Working flow of exchangeable batteries pack 15

3. Charging batteries at the home base and operating the tractor in the field 15
using the on-board battery pack.
4. Path for the movement of the robot in the field 25

5. Working flow chart of the robot. 27

6. Arduino IDE 35
7. Circuit Diagram 37
8. Circuit on Universal PCB 38

9. Chassis Design 38

10. Drilling mechanism 39

11. Seed dropping Mechanism 39

12. Prototype Model 40

13. One Complete loop 43

14. Calculations done by the Ide 43

15. Field Testing 45

ii

3
 LIST OF TABLE

Sr. No. Table Name Page No

1. Component List and Description 29

2. Case Study Report 44

iii

4
LIST OF PUBLICATIONS/ PROJECT COMPETITIONS/
PATENTS FILED

I. PUBLICATION

1. Paper Title- “Design of Multipurpose Agro System using Swarm Intelligence” Name
of Conference- IEEE International Conference on Computational Intelligence and
Computing Applications-21 (IEEE-ICCICA-21)

II. Patent
1. Project Title- “Design of Multipurpose Agro System using Swarm Intelligence”
Patent Applied GHRCE, Nagpur at 10/08/2021 (202221018432)

III. Awards and Recognitions

1. Best Paper Award at IEEE ICCICA-21, organized by GHRCE Nagpur –

November,2021
2. First Prize in GramTech 2022 organized by Gramayan Pratishthan under RTMNU,
Nagpur University – March, 2022
3. First Prize in Mechtrons under Technorion, Antaragini an annual techfest of
GHRCE, Nagpur – March, 2022
4. First prize in INTECH 2K22 a National level project competition organized by K J
Somaiya College of Engineering, Mumbai. – April, 2022
5. Second Prize under the Industry, Innovation, and Infrastructure theme in VISAI 2022
organized by VelTech, Chennai – February, 2022
6. Presented this project at Science exhibition held at VNIT, Nagpur and got
appreciation from Hon. Shri Nitin Gadkari – February, 2022

iv

5
 INDEX
Sr. No. Chapter Page No.
1. Introduction
1.1 Problem Statement 7-10
1.2 Problem Solution
2. Literature Review
2.1 Development of straight-line robot using Digital Compass Module
2.2 Exploring GPS Data for Operational Analysis of Farm Machinery
2.3 Automatic Seed Planter Punching Type
2.4 Real-time monitoring of GPS-tracking tractor based on ZigBee …
2.5 A Study of Solar Electric Tractors for Small Scale Farming
2.6 Solar Operated Automatic Seed Sowing Machine
2.7 Smart Agriculture Robot 11-24

2.8 Design of Multipurpose Agro System using Swarm Intelligence

2.9 Automatic Nursery Seed Sowing Machine
2.10 GUI Controlled Arduino
2.11 Agricultural Based Seed Sowing Machine for Intercrop Fields
2.12 Design and Fabrication of Multipurpose Sewing Machine
2.13 Automatic Seed Sowing Robot
3. Methodology 25-28
4. Tools And Platform Used
4.1 Hardware 29-36
4.2 Software
5. Design & Implementation
5.1 Circuit Design 37-41
5.2 Mechanical Design
6. Testing & Summary
6.1 Calculation and Testing 42-46
6.2 Summary
7. Conclusion 47-48
8. Future Scope 49-50
9. References 51-52

6
 CHAPTER 1
INTRODUCTION

1. Introduction

7
Agriculture is the first occupation of human beings. What began as a method of survival has
today emerged as a major economic activity all over the world. India’s 70 percent of rural
population depends upon agriculture for their livelihood. Agriculture employs more than
50% of the Indian workforce and contributes 17–18% to the country's GDP. Agriculture
provides us with food, grains, and various types of raw materials required in several
activities. There are certain parameters to be considered for practicing farming activities,
such as the type of crop, properties of soil, climate, etc. These parameters help farmers to
decide which crops are to be cultivated and the time for cultivation. Moreover, to yield a
high-quality product, suitable soil, climate and season are not sufficient, it involves various
agricultural practices to successfully cultivate the land and produce a good yield. These
practices include soil preparation, sowing, fertilizing, irrigation, weeding, harvesting, and
lastly storage of the yield.
There were lots of machines and robots introduced sooner. It costs a lot of money to make or
buy the robots. They need maintenance to keep them running, the robot can change the
culture / the emotional appeal of agriculture and the energy issues are costly. Through this
project and introducing automation in farming, the Indian agriculture industry can definitely
experience a boom in production and also gain a more profitable business. This will also
help farmers solve the problems like labor dependency and unavailability of skilled labors.
Nowadays due to the increasing population, the demand for these types of products is
increasing day by day. On the other hand, farmers are facing many problems such as the
insufficient supply of water, improper storage facilities, over-dependence on traditional
crops and techniques, lack of availability of laborers, unskilled laborers, payment of daily
wages, etc. as many people from villages are migrating to cities for earning for their
livelihood. Hence, there is a need to introduce the latest trends of technology in this field
and automate this process to meet up with the existing demands.
Agriculture requires a lot of activities such as seed sowing, spraying medicines, watering,
etc. which need a lot of manpower and hard work. Many farmers are still doing these
farming tasks in the old-traditional ways. One of the main tasks is seed sowing, which is the
process of planting the seed in the soil to germinate and enlarge into a plant. For sowing the
seed Digging or Ploughing is a major step, it ruptures up the soil, making it light enough for
seeds. Further, irrigation is the process of watering plants. And finally, pesticides/medicines

8
are used to keep safe plants/crops from various pests and disease carriers, such as rats,
mosquitoes, mice, ticks. It is used in agriculture to manage weeds, insect infestation, and
diseases. In traditional methods seed sowing is done manually, opening furrows by a plow
and dropping seeds by hand.
This project aims to make an autonomous agricultural robot using IoT and Swarm
Intelligence. This proposed system focused on performing various tasks like digging soil,
sowing seed, watering, spraying pesticides/medicine, and surveillance. This automated robot
will be a helping hand for farmers, and make their process of farming and work on the
concept of precision farming. [1]

1.1. Problem Statement

Agriculture is a huge sector in India and involves various types of practices. It plays a major
role in the country's economy. India’s 70 percent of rural population depends upon
agriculture for their livelihood. Agriculture provides us with various vegetables, fruits,
grains, spices and raw materials. At present, due to the increasing population, the demand
for these types of products is also increasing day by day. Seed sowing is a practice that
requires skills and proper study to acquire a good yield. If the seeds are not properly sown, it
can result in low production and can also damage crops. The depth at which the seed is to be
placed and the distance between each seed are different for different types of crops. The
whole process of seed sowing, that is, plowing, placing the seeds, covering it with soil, and
lastly watering it consumes a lot of time, and if not done with study, is less effective. We
through this project are trying to solve these problems of farmers by making an autonomous
robot that will be a helping hand for the farmers. The problems are,
 Lack of availability of skilled laborers and insufficient production of the yield.
 Many people from villages are migrating to cities, resulting in decreasing the
availability of skilled labor in the villages for farming activities.
 Damaging of plants/crops due to improper surveillance.

1.2. Problem Solution

9
As said, “There is always a solution to every problem”, the solution for the problems stated
above, according to us, is to make an autonomous mobile robot that would carry out some of
the agricultural practices and perform them with good accuracy. The idea is to make a
helping hand robot for the farmers. Taking into thought all the above listed problems, we are
trying to make a multipurpose mobile robot that can be used for agricultural activities which
requires manpower, skilled labor, and hard work. The robot will perform tasks like seed
sowing, watering the field, and pesticides spraying. It will cover the entire field following a
path pre-defined to it, for performing all the activities. This robot will be a farmer friendly
product that will not require much technical knowledge to handle it and would run on solar
energy with rechargeable batteries connected to it. To carry out all the activities properly the
robot will be working on the concept of precision farming and precision planting.

Precision farming refers to introducing a suite of technologies that may help reduce input
costs by providing the farm operator with detailed spatial information that can be used to
optimize field management practices (National Research Council, 1997). Besides reducing
the cost of input use, precision farming technologies also help in increasing the production
of yields.
 Autonomous working- All the tasks will be performed autonomously after the
instruction is given to it.
 Customizable- Number of seeds to be sown in every column will be the same, user
input and can be customized on the basis of crops/seeds.
 Multipurpose- Robot will perform multiple tasks such as seed sowing, ploughing,
and medicine/water spraying and covering the entire field.
 Value for Money- One time investment product for farmers and will also help in
increasing the production of yield resulting in increasing profit.[2]

10
 CHAPTER 2
LITERATURE REVIEW

2. Literature Review

11
Agriculture is one of India's most important industries. People have been making strides in
farming technologies and methods. As the population increases, so does the food supply and
grains, demanding the automation of agricultural practice. Many researchers have been
working hard to improve the agriculture sector to have a good farming experience and to full
fill the demands of farmers. Some of the research work done previously is stated below.

2.1. Development of straight-line robot movement using Digital Compass Module

The goal of this project is to create linear motion for a four-wheeled autonomous vehicle. In
this project, a Drive systems motor will be used to manage the motion of two driving
wheels, while the servo motor will control the robot's heading. The PIC was chosen as the
brain board controller because of its ability to react and respond to data received from the
Digital Compass Module to detect and determine the intended position. Internal PID
algorithm implementation is mostly utilized to return the system to the intended set-point
position. Using a Digital Compass Module in combination with a PID control algorithm can
order the servo motor to move on a linear platform in the appropriate set-point direction [3].
This robot will be able to come back to its original position if it gets diverted by its path.
There have been various mechanical robots built to assist people in completing daily jobs
that are difficult for humans to complete. Many straight-moving bots are being created using
a closed-loop approach that relies solely on the motor or leg for movement. Another
technique for straight robots is to build a line follower, which requires the creation of a robot
movement track [3]. To assure that the robot drives in a straight line, close-loop systems
must be built with a compass module.
A solution, proposed in this project is to develop a mobile robot that can move in straight
lines without the use of line-following devices. With the use of a PID controller with a
compass module as a predefined set-point is given to it, with the help of its reference it
maintains its path and does not get diverted from its path. If in case it gets diverts it
automatically comes to the original path that has been given to it with help of PID. For
controlling the servo motor has been used which is connected to the front wheels of the bot
[3]. Since the robot may frequently wobble or deviate to one side, the servo motor is
responsible for returning the steering wheels to their initial straight-line position. A digital

12
compass module has been installed to ensure that the robot moves at a constant angle.
Because of its control algorithm, Proportional-Integral-Derivative (PID) control has been
used to insert and program the microcontroller. This may be credited in part to its durable
performance and functional simplicity. The PID controller is scalable and tunable [3].

Fig.2.1. Block diagram with PID controlling

2.2. Exploring GPS Data for Operational Analysis of Farm Machinery

This research paper concentres on how to read and process raw GPS data for operational
analysis of farm machinery [4]. The Global Positioning System (GPS) has greatly evolved in
different aspects of modern farming. Today, a growing percentage of crop growers are
practicing site-specific management (SSM) and precision agriculture with the help of GPS
and other sophisticated electronic and computer technology [4]. This technology has the
potential to revolutionize agricultural mechanization by giving farmers a sophisticated tool
for measuring yield on much smaller scales, as well as accurately determining and
automatically storing variables like field time, working area, machine travel distance and

speed, and fuel consumption, and yield data. Highly advanced computer components,
autonomous control, object tracking, mobile computing, enhanced information processing,
and telecommunications are all examples of GIS (Gibbons, 2000). With these technological
advancements, it is now possible to assess yield on much smaller scales. Besides that, GPS

13
is widely used in precision agriculture, with applications such as crop exploring, yield
mapping, field perimeter mapping, soil sampling, soil property mapping, weed and pest
control and mapping, vehicle guidance, navigation control, and so on. This paper explains
the idea of geo-referenced data and how to use it in site-specific and farm machinery
management to boost field production.

2.3. Automatic Seed Planter Punching Type

Compared to the old method, the study found that using a seed sowing machine for wheat
crops resulted in a 13.025 per cent increase in yield, a 69.96 per cent reduction in man
working hours, and a 55.17 per cent reduction in man working hours cost. This article
demonstrated that using robots in agriculture is both beneficial and profitable [5].

2.4. Real-time monitoring of GPS-tracking tractor based on ZigBee multi-hop mesh

network

This project is part of a smart farm system that is used in precision agriculture. Over a year,
the system was built and tested [6]. To communicate over a large territory, the tractor
tracking system uses the Global Positioning System (GPS) and a ZigBee wireless network
based on mesh topology. Router nodes are used in the network to re-transmit data. A
program was created to collect data from a tractor, store it, and show it in real-time on a
website [6].

2.5. A Study of Solar Electric Tractors for Small Scale Farming

This research focuses on how we might generate solar energy for small-scale or family
farming on a local level. In many regions of the world, it is still a major source of food.
Farms in underdeveloped areas, on the other hand, frequently lack the necessary equipment
to carry out agricultural activities in a state-of-the-art manner, i.e. with the aid of motorized
machinery. They do, however, have a reliable renewable energy source, primarily in the

14
form of solar radiation, especially in tropical areas. The project's goal is to look into the
viability of a small electric agricultural tractor to help farmers boost their returns in an
environmentally friendly way. This project is to study an electric tractor system employing
various technical solutions to maximize running time and compare the tractor's tractive
power and hourly operating cost to that of a combustion engine tractor with a similar power
rating.
The technical characteristics of the electric motor and its controls, as well as the tractor's on-
board energy source, must be considered while designing an electric tractor [7]. This paper
study helps to make the solar power tractor that can power here batteries that will be
connected to the solar panel will be self-charging and swappable as per requirement.

Fig.2.2. Working flow of exchangeable batteries pack [7]

Fig.2.3. Charging batteries at the home base and operating the tractor in the field
using the on-board battery pack. [7]

15
 2.6. Solar Operated Automatic Seed Sowing Machine

In this paper, the solar panel is used to collect solar energy for charging the battery by
converting the solar energy into electrical energy, which provides the necessary power to all
the components. This power is used by the motor to drive the wheels. IR sensors are used for
avoiding obstacles while the movement of the robot in the field. Four post sensors are used
to define the territory; the robot senses the length and pitch of the track for line-to-line
movement. In this project the machine is powered by solar energy so as to reduce the fuel
dependency, save fuel cost, and this system an eco-friendly robot. [8]

2.7. Smart Agriculture Robot

The robots in this study are designed to execute a variety of agricultural tasks, including
seed sowing, ploughing, obstacle detection, and watering. The robot's entire operation is
controlled through a WIFI network. The intelligent agriculture robot can travel in any
direction [9]. The user can demand these directives by clicking on the appropriate options on
the webpage. The robot is not self-contained; it is controlled by humans.
We can see from the above literature review that a lot of work has been done on this topic.
Every work, however, has some restrictions. This project is designed to minimize these
constraints and is a useful product in the agricultural industry. Our goals in creating this
robot are as follows:
Automate the steps in agriculture.
 Reduce human error.
 Reduce human dependency on agriculture.
 Speed up the process of seed sowing.

16
 2.8. Design of Multipurpose Agro System using Swarm Intelligence

The process of cultivating land, growing crops, and raising livestock is known as
agriculture. It is extremely important to the country's economy. Agriculture is a lengthy
process with numerous steps. Every activity, from the very first step to the very last,
necessitates skilled and devoted workers. They are attempting to create a versatile farm
robot that can be utilized for a variety of tasks that need a large amount of personnel and
hard effort in this study. Seed sowing, watering plants, spraying medicines, and surveillance
will all be possible with the robot. The authors have proposed the idea that how can we use
swarm intelligence in farming to help the farmers and to introduce the latest technology in
farming which can help them to increase the yield
In this paper they have worked on how can we make it user friendly and easy to maintain an
autonomous tractor, the whole process will be done by a bot after the farmer will give some
parameters i.e. length of the column, seed too sown in Colum, and how many times the loop
will run, giving this input the bot will start its work. This was the previous work done in this
project. [10]

2.9. Automatic Nursery Seed Sowing Machine

A nursery is a location where plants are spread out and grown to the desired maturity level.
Some plants should be started in a plug tray and then replanted in the field once they have
grown to their full potential. In manufacturing, the manual seeding procedure for

kindergarten seedlings does not work properly. It is common knowledge that electronics
improve the accuracy and efficiency of any process. As a project in the Mechatronics
domain, we will solve existing difficulties. Empty trays are inserted into the transmission
mechanism, which is also known as the transmitter, in a slow procedure.
The potting mixture is poured into these empty trays, and seeds are sprinkled on top. After
that, another potting mix is applied. This is accomplished through the use of machine-based
mechatronics, which consists of active motors, a sensor, a tiny controller, and other

17
components. We want to be a part of its growth. This work will substantially aid the young
nursing and farmer industries. The major goal of the project is to automate the seed sowing
method in the nursery at a low cost to reduce manual labour.

The seeds are mechanically sown in individual regions of the tray. This machine's brain is a
PIC18f4550 microprocessor. It is a slow process in which we utilize a hopper, a conveyor, a
seed tray, cocopeat (a particular sort of material created from dried coconut husk and used
for sowing kindergarten seeds), and seeds (chilli, tomato), and so on. The following lines
serve as a summary of the entire project. We place the empty tray (plug tray) on a conveyor
that rotates. The carrier comes to a halt when the tray reaches the IR area. After that, a
hopper (a container for pot mixing, such as cocopeat) is added, and the technique of feeding
the seeds begins. The flap is used to control how much cocopeat is distributed from the

hopper. A seed feeder, on the other hand, is a machine-driven system that drops one seed at
a time at each point along a line. Continue onward after completing the first line of the tray,
and the next row will follow the same filing procedure as the previous row. This procedure
is repeated on each of the tray's lines.

The microcontroller must be properly programmed for the machine to run smoothly. It
directs and coordinates the operation of all of the machine's components. It is common
knowledge that electronics improve the accuracy and efficiency of any process. As a project
in the Mechatronics domain, we will solve existing difficulties. Empty trays are inserted into
the transmission mechanism, which is also known as the transmitter, in a slow procedure.
These trays are all empty.

After that, another potting mix is applied. This is accomplished through the use of machine-
based mechatronics, which consists of active motors, a sensor, a tiny controller, and other
components. We want to be a part of its growth. This work will substantially aid the young
nursing and farmer industries. The major goal of our project is to automate the seed sowing
method in the nursery at a low cost to reduce manual labour.

18
The following is the algorithm for the code which is self-explanatory:

 START

 Conveyor start IR detectors (conveyor stops for some delay).

 Flaps open (some amount of cocopeat falls into the tray)

 Flap close feeder mechanism on (drops seeds in the tray)

 Feeder mechanism off

 Flap open (remaining cocopeat falls into the tray)

 Flap close

 STOP

 The conveyor starts again.

This process keeps looping till all the rows in the tray are filled. In this way, the machine
automates the process of sowing in the nursery. It also helps in increasing productivity and
decreases labour costs.
2.10. GUI Controlled Arduino

The author's aim for this project is to establish a connection between the Graphical User
Interface and the Arduino board, which is the bot's driving force. As previously said, the
system is an Embedded System, which is comprised of both software and hardware. The
GUI is the software component, while the Microcontroller with Arduino is the hardware
component. Both parts contain various modules, which will be described in more detail later
in this work. This system includes voice recognition, which allows the user to communicate

19
more effectively. Bluetooth module, Arduino Board with Microcontroller, and Graphical
User Interface created with Java Code are some of the modules utilized in this project [12].
Users are expected to follow a standard protocol for Bluetooth modules because they have
employed this system for a specific domain with a specific range [12].
Arduino is open-source, the hardware is inexpensive and the development software is free.
One of the most useful features of the Arduino is that you can write control software on your
host PC, download it to the Arduino and it will run automatically. If you disconnect the USB
wire from the PC, the software will continue to run from the top each time the reset button is
pressed. The goal of this project is to provide wireless communication between the
Graphical User Interface and the Arduino board. A Bluetooth device with a certain range of
connectivity can accomplish this. This range changes depending on the module. This range
is determined by a set of predetermined protocols. In the software section of the project, we
will create an android application utilizing JAVA GUI programming [12]. On the other side,
we must develop C/C++ code for the Arduino board for it to function properly. The
Bluetooth module establishes a connection between software and hardware. This protocol
gives the user access to the bot's control panel.
The most used wireless communication in electronics system systems Bluetooth module.
Bluetooth is a short-range wireless communication method that attempts to eliminate the
need for cords to link portable devices.
Bluetooth has several advantages, including resilience, low power consumption, and low
cost. Bluetooth technology was created to accommodate simple wireless networking devices
such as cell phones, wireless headsets, wireless mice, and personal digital assistants (PDAs).
It's worth noting that Bluetooth only works over short distances. Bluetooth devices typically
communicate at a speed of less than 1 megabit per second (Mbps ) [12]. For Bluetooth to
work, devices must have a low-cost transceiver chip. One of Bluetooth's disadvantages is
that its maximum range is only 10 meters. The HC-05 embedded Bluetooth serial
communication module (also known as a module) has two modes of operation: order
response and automatic connection. In the automated connection work mode, there are three
work roles (Master, Slave, and Loopback).

20
 2.11. Agricultural Based Seed Sowing Machine for Intercrop Fields

In ancient times a person lived in caves and ate the available food. He throws seeds of that
food next to her. They begin to grow and provide food benefits. Later he saw this and began
to sow seeds in some weeds Thus began agriculture. As the years went by, he began using
animals, such as bulls and oxen, to use the plough. Later technology changed the face of
agriculture that is; modern practices and machinery entered the field. They made a huge
impact and began the transformation. Equipment that reduced workload for farmers and
animals by tractors, rotators, lawnmowers, weed removal machines, etc.
Seed sowing is one of the most important issues in crop farming. Sowing seeds means
planting seeds somewhere and covering them with soil. At that time, farmers should plough
the soil before one or two weeks of planting and should plow the soil at sowing time. This
means that they have to cultivate the soil at least twice during the planting season. Planting
is the art of placing seeds in the ground so that they can grow well and plant plants.
Complete sowing provides
 The right amount of seed in each area.
 Planting at proper depth.
 Correct space between row and row and crop to crop.
 Correct seed quality.
For the distance between the two 9-inch tractor plows, we also provided the same distance
between the two routes.
The machine is therefore centred exactly on the path of the stadium. The dc motor is placed
at the end of the frame. When power is supplied to a dc motor by a battery, it begins to
provide rotational power in the gear it is fitted to. The main shaft is supplied with 2 gears of
the same size. The first gear of the main shaft will be in the same gear line centred on the dc
motor. Then with a chain saw, the power generated by the dc motor is transferred to the main
shaft. Now at the end of the second frame, the required level of the height based on the
container one gear is mounted on a small shaft. This gear and the second major shaft are
aligned in the same line so that the power will flow smoothly. Then through a chain, the
power generated by the first gear of the main shaft is transmitted to the small shaft by the
second gear to the main shaft. A small shaft is provided with two disks each for each

21
container. A strip is provided between the space of the container and the disk so that the
seeds cannot get inside the container. Now, when the battery is started the dc motor provides
power to the holes and the discs start to rotate in the containers.
The funnel is provided with a full range of seeds. For the seeds to fall easily they must be in
a certain way from time to time. The plate from the back of the frame covers or covers the
soil so that it does not expose the outside atmosphere. Later the plant emerges from those
seeds. This project of fabricating a seed sowing machine for intercrop fields has an excellent
capability of sowing seeds with the right amount at a particular location line of planting.
This machine can sow the seeds by maintaining the interspacing distance between the lines
of the location of planting. The diameters of the holes through which the seeds are released
are manufactured perfectly. The machine fabricated in this project also ploughs the soil
before sowing and covers the seed with soil after sowing. It also reduces the considerable
amount of time and effort of farmers. Fertilizers can also be distributed evenly in the crop
fields by utilizing the outcome of the project. Seeds of different diameters can be sowed by
incorporating adjustable funnels in this machine.

2.12. Design and Fabrication of Multipurpose Sewing Machine

The production and production of minced nuts, corn, etc., was very low when India gained
independence in 1947. Production was not enough to feed the Indians. The country was
importing in large quantities to meet the needs of our people from many countries. The
reasons for the low productivity were the lack of equipment in the agricultural sector. In
India, much of the work in agriculture is done in person compared to foreign countries.
There were no sowing machines like groundnuts, or corn at that time, and only human
power was produced. The cost of human energy was high and the speed of operation was
very low.
When smallholder farmers with limited resources or financial assets try to improve their
productivity, they have limited options. The only service they can add to their knowledge is
poor. In support of the above statement, Mr Shivraj founded the first bull-driven sowing
machine in 1987 in Madhya Pradesh to improve his production. It was lightweight and could
do up to six agricultural activities. India is a world leader in peanut farming, with an

22
estimated 8 million cultivated areas in 2003. Peanut cultivation grew from 6.8 million
hectares in 1980 to 8 million hectares in 2003. Groundnut is widely grown in five provinces
of Andhra Pradesh. Gujarat, Tamilnadu, Karnataka, and Maharashtra together make up about
90 per cent of all crops. Sowing time is a very important non-monetary investment that
contributes to production. Delays of sowing by one week result in a significant loss of 21
yields.
The results obtained from all integrated research projects in India reveal that in most parts of
the country, sowing should be done between the first week of June and the last week of July.
Two-week planting improvement by irrigation before sowing was found to increase yield. In
this chapter, it is proposed to define how seeds are sown with minimal effort. It is usually
best to use it for smallholder farmers. A proposed built-in sowing machine is displayed. The
whole multi-component sowing system is connected to the tractor with the equipment
provided on the machine. If the tractor moves forward, the lower wheel will rotate. The
rotating motion of the lower wheel will be transmitted to the measuring machine by a power
transfer system. The bottom of the hopper consists of a smooth plate. A smooth plate is used
to remove the seeds from the hopper and to leave the seeds in the seed distribution pipes.
Flexible seed distributors are attached to the legs of the tile. Here the tiller is used to prepare
the field that will be ready for sowing.
Thus, the seeds are transported to prepared land. Depending on the type of seed, we may
change the layout of the measurement method. Provisions are provided to change the rating
method easily. Therefore, we can use this multi-purpose sowing machine to sow different
types of seeds at a very low cost. White paint is applied over the machine after the surface
has been applied smoothly using a paint spray. This last feature of milky white paint gives it
a nice and fun look and prevents effective rust.

A multipurpose sowing machine is designed for small farmers to improve their productivity.
In this machine, a common seed storage place is introduced to reduce the cost of the
machine. The existing sowing machine had an individual storage place and separate seed
metering mechanism which leads to more cost.

23
The drawbacks in the existing sowing machine are rectified successfully in our machine. It
will be more useful for small farmers and the agricultural society. The cost of the machine
comes around Rs 6000/- INR.

2.13. Automatic Seed Sowing Robot

The proposed method consists of a system that provides quick loosening of the soil, sowing
seeds, and the robot going forward automatically. Here is manual mode, the robot moves
forward, backward, left, and right with the remote control on which the RF module is used.
A 12v battery is used to power the system. Arduino Uno is used to using motorists. DC
motor is used in robotic systems. Here we can use the L293D driver motor to control two
engines.
The L293D car driver is used to control two engines in both directions. The left and right
side motors are used to drive the engine from left to right. Equipment setup is used to loosen
the soil and sow seeds. System Architecture provides a complete overview of the project and
how the components of the system are connected and thereby play a role in the project.
Arduino, you have the main technology used in this project. 12V power supply supplied and
transferred to the controller for conversion to 3.3v and supplied to Arduino Uno. Input
provided as embedded code „C‟ on Arduino device connected to L293D motor driver IC
and output from this supply engine. Motors attached to the wheels move the robot and the
seeding process is carried out. By placing seeds and fertilizers in rows at the desired depth
and separating the seeds from the seeds, cover the seeds with soil, and provide proper
compaction over the seeds.

24
The recommended seed distribution to seed and the depth of seeding varies according to the
plants and plants and different agricultural conditions to achieve the best yield. In each
complete rotation of the rotating wheel, there is a seed that falls into the seed bin and the
process of planting the seed takes place smoothly without damage to the seed. The sowing
disc rotates around the seed chamber, the seed falling into the seed chamber through the seed
storage tank. Seed buckets collect seeds from the chamber and sow in the ground at the
required depth with the help of a plough. And any obstacle coming in front of the sowing
machine The IR sensor detects that obstacle and indicates a buzzer.

CHAPTER 3
METHODOLOGY

25
 3. Methodology

Agriculture is one of India's most important industries. People have been making strides in
farming technologies field that involves various activities such as ploughing, sowing seeds,
irrigation, spraying pesticides, etc. which require hard work, skills, and manpower. Years
ago, all these practices we done manually, and now many new machines and tools have been
innovated for practicing these activities. Robots in agriculture are used for executing these
kinds of activities in order to reduce labor dependency and to carry out the process
efficiently and smoothly.
In this project we are making an autonomous multipurpose robot that will be performing
tasks such as seed sowing, medicine spraying, and watering the field. This is a user input
model wherein the distance between each seed, length of the column where the seed is to be
sown, and the number of times the given loop is to be repeated, all would be taken from the
user. Once this information is obtained by the machine it would process the data and start its
working autonomously.

26
Fig.3.1. Path for the movement of the robot in the field. Fig.3.2 working flow chart

The machine will be developing a path for its movement shown in the figure above after
getting all the required information. The points x0, x1 … are the turning points for the robot
and y0, y1, y2… are the points where the robot will be performing all its operations. The
GUI will be asking for the length of column, and the number of seeds to be sown in one
column, using this information it will be calculating the distance between each seed using
the basic formula,

Length of Column (in meters)

Distance between two seeds = ------------------------------------------…….. (A)
Number of Seeds to be sown

After getting the distance between each seed, the system will use it to calculate the delay to
be given to the motors for moving the robot to that distance. As we are using Arduino IDE,
for the movement of the robot we have provide with the delay for turning the motor ON and
OFF, distance can’t be given there. So we will calculate the delay required to move the
particular distance, using the formula,

27
 Let’s assume,
Distance between each seed = x,
Diameter of the wheels = d,
Rpm of the motors = 60
The motor rotates 1 rotation per second
Circumference of the wheels, Cw = 2*pi*r………(r = d/2)
Therefore,
With this configuration we can say that the machine will move Cw distance in 1 second.
So here speed = Cw/1,
So by using the formula speed = distance/time, we can calculate the required delay for
moving a particular distance.
An example of this calculation is given in the paper below in the testing part.

The system will put the delay in the code wherever required, after getting it from the above
formula. All this is done by the system; there is no need of any human involvement here.
The code runs and repeats a loop continuously for the execution.
For selecting the operation to be performed the system will ask the user and the will perform
its operation likewise. For example, for seed sowing operation the robot will move to every
point and then first drill then drop a seed following it the robot will water that part and then
move to the next point; for spraying pesticide and watering the field purpose the robot will
move to these points and turn on the pumps.
This robot will be having two different modes, automatic and semi-automatic. The
automatic mode will be useful for the fields that are in a proper rectangle shape. In the
automatic mode the robot will be performing all the tasks, covering the entire field
autonomously by following the path as shown in the figure, the seed and water tank will
need to be refilled by the farmer. In the semi-automatic mode the farmer would have to enter
the data, i.e., the length of the column and the no. of seeds to be sown in that column, for
every column. This mode will be used for the fields that are not in proper rectangle shapes
and every column has a different length in the entire field. For every column the farmer
would have to enter the data and check the availability of seeds and water in their respective
tanks.

28
As this is an autonomous robot, to avoid deviation from the path and to maintain its
movement in a straight direction we are working on the integration of compass module and
PID controller. PID is a proportion, integral and derivative controllers that maintains a set
point by adjusting these three parameters. This will be closed feedback loop, where the input
will be given by the compass module and PID controllers will adjust the motors.
This machine will be a solar powered and battery operated robot, to reduce the pollution,
fuel dependency, and make an eco-friendly robot. For this model we have used two lithium
ion batteries, one for the microcontroller and one to power all the motors. These batteries on
a single run can last up for 10-12hours which is more than sufficient for our purpose. They
can be recharged using adaptors within 2-3 hours.
This is a simple and farmer friendly robot that would not require much technical knowledge
to operate it.

CHAPTER 4
TOOLS & PLATFORMS USED

29
 4. Tools and Platform Used

Construction of any project involves various tools, sensors, applications, and equipment. In
this project we have used some of the sensors and actuators of different specifications. To
program these sensors and actuators an arduino application has been used. The requirements
of this project can be classified into two main categories namely software and hardware. The
description of the two categories is given below,

4.1. Hardware

The hardware section consists of all the sensors and actuators used in this project. Every
component has been assigned their particular task, such as for drilling high torque motor is
used, for movement of the robot geared motors are used, for seed dropping mechanism servo
motor is used, and for watering purpose 5v submersible pumps are used. For controlling all
the actions and the components relay and arduino modules are used. Details and
specification of every component is given below,

30
 Table4.1. Component List and Description
Sr. Component Specification Details Image
No. Name
1. Geared Motors 60 rpm Geared This 12 v geared motors are
(04 Nos.) Motor used for the wheels for
movement of the robot in the
field. The gear assembly
helps in increasing the torque
and reducing the speed.
Using the correct
combination of gears in a
gear motor, its speed can be
reduced to any desirable
figure.
2. High Torque 10 rpm geared This high torque geared
Geared Motor motor motor is used for the drilling
purpose. This motor is a side
shaft motor that rotates at a
low speed but a very high
power to dig a hole in the
ground. The gear assembly
helps in increasing the torque
and reducing the speed. Input
voltage for this motor is 12v.
3. Water pump 5v These are submersible
Submersible pumps that can take up to
Pumps 150 liters per hour with a
very low current
consumption. The water
pump works using water
suction method which drains

31
 the water through its inlet
and released it through the
outlet. This pump is used for
the spraying of water and
medicines.
4. Servo Motor Micro Servo A servomotor is a rotary
9g actuator or linear actuator
SG90-5v that allows for control of
angular or linear
acceleration. In this project
the servo motor is used for
seed dropping mechanism.
5. Microcontroller ATMEGA32 A microcontroller is a
(Arduino Uno) chip compact integrated circuit
microcontroller designed to govern a specific
operation in an embedded
system. A typical
microcontroller includes a
processor, memory and
input/output (I/O) peripherals
on a single chip.
Microcontrollers are used in
automatically controlled
products and devices. In this
project we have used the
microcontroller for
controlling and processing of
all the operations. All the
devices are interconnected to
each other through it.

32
6. Relay Module 5V 4-Channel A power relay module is an
Relay electrical switch that is
operated by an
electromagnet. The
electromagnet is activated by
a separate low-power signal
from a microcontroller. In
this project we have used
relays for controlling the
geared motors for wheels and
drill.

7. Lead-Screw 300mm The lead screw has good

Trapezoidal 4 wear resistance and strength,
Start Lead high accuracy, hard to rust
Screw 8mm and has good performances
Thread 2mm due to low friction
Pitch Lead coefficients and long usage
Screw with spans. This Trapezoidal Lead
Copper Nut Screw with Copper Nut is a
new type of screw that is
mainly used in stepper
motor, machine tool rails and
other types of equipment.
This is used in project in the
drilling mechanism.

8. Wheels 110 mm high Wheels are used for the

grip wheels movement of the robot for
one point to other. In this

33
 project we have used 110mm
diameter wheels with a
rubber grip.

9. Bearings LM12UU 12 Linear bearings are used in

MM Linear machine tool applications
Motion where reducing friction and
Bearing guiding linear motion is
needed. In this project linear
bearings are used in the
drilling mechanism.
10. Batteries 12v 2 amp, and Batteries are used to power
12v 8 amp all the components and
sensors. The lead-acid
battery is a rechargeable
battery. Their ability to
supply high surge currents
means that the cells maintain
a relatively large power-to-
weight ratio. In this project
we have used two lead acid
batteries. A 12v 2 amp
battery is used to power the
microcontroller and another
12v 8amp battery is used to
supply power to all the
motors.

34
11. Compass GY-271 HW-127 HMC5883L 3-axis
Module HMC5883L 3- Electronic Compass Module
axis Electronic Magnetic Field Sensor is
Compass designed for low field
Module magnetic sensing with a
Magnetic Field digital interface and it is
Sensor perfect to give precise
heading information. In this
project we are using this
module for maintaining the
straight direction movement
of the robot with integration
with PID controllers.
12. Solar Panel 1.5W 12V A solar panel is actually a
Solar Cell collection of solar (or
Module photovoltaic) cells, which
Polysilicon can be used to generate
Flexible DIY electricity through
Solar Panel photovoltaic effect. This is
Power Bank 12V 1.5W solar panel
Battery module we have connected
Charger with in our model to provide a
Clip backup to the batteries. The
solar panels help the batteries
to run for a longer time.

11. Acrylic Sheet 6 mm milky Acrylic sheets are used in

white acrylic this to make the body and
sheet. various parts of the project.

35
 12. Open PCB Universal PCB Universal PCB is made from
Board Red fiberglass material making it
more durable compared to
phenolic paper PCB (Brown
Colored Boards). The holes
are also tinned, preventing
oxidation, thus making
soldering less difficult.

These are all the hardware components used in this project. All these components are
connected and controlled by the microcontroller. For providing instructions and data we use
software that is explained below.
4.2. Software

The software part comprises of the applications and the software used for programming the
machine and for the making the Graphical user interface for the system. For programming
the machine we have used Arduino Ide. The Arduino Integrated Development
Environment - or Arduino Software (IDE) - contains a text editor for writing code, a
message area, a text console, a toolbar with buttons for common functions and a series of
menus. It connects to the Arduino hardware to upload programs and communicate with
them. [16] The programming in the IDE is done using embedded C language.

36
Fig.4.1. Arduino IDE

37
 CHAPTER 5
DESIGN AND IMPLEMENTATION

5. Design of Project
In this project, the Designing has been done in two parts
 Circuit Designing
 Mechanical Designing

5.1. Circuit Designing

In these project different types of, electronic components and Actuators have been used. The
electronics components consist of Arduino Uno, 5v relay, servomotor, 60 rpm dc motor, and
10 rpm high torque motor, and 5v submersible pump.
60rpm dc gear motor is used for the movement of the robot in forward and backward
direction, 10rpm high torque motor is used for drilling purpose which helps drill to move

38
smoothly up and down, 4 relay module is connected to the 60rpm dc gear motor for
switching purpose while moving in the field in forward and backward direction and 2 relay
module is connected to the high torque motor which helps dc gear motor to move in up and
down. 5v submersible pump is in the water container for watering purposes, And all these
connections are connected to the Arduino Uno a (Microcontroller) it is the brain of this
project which is responsible for the operation of all the components, a 12 volt 2 amp battery
is used to powering the Arduino and 12 volt 8 amp battery is connected to relay modules to
power up the motors. The solar panel is connected to the battery to give backup while the
bot is working on the field. All these connections are done on universal PCB (dotted PCB).

Fig.5.1. Circuit Diagram

Fig.5.2. Circuit on Universal PCB

5.2. Mechanical Designing

39
The mechanical design includes the structural designing of the robot. The structural
designing includes design and development of various different parts such as chassis,
drilling mechanism, seed dropping mechanism, wheels pattern, and the overall body of the
robot. The detailed description of these parts is given below,

5.2.1. Chassis
The chassis design is basic, which is rectangular shaped (40cm*200cm), and has legs to
connect motors. It has a hole in its centre for the up and down movement of the drill.

Fig.5.2. Chassis Design

5.2.2. Drilling Mechanism

The drilling mechanism is made using the lead screw mechanism technique for the up and
down movement of the drill. It is placed at the centre of the chassis above the hole. For
digging the soil a 30mm drill bit is used. This mechanism can go around 10cm inside the
soil. The fig below shows a pictorial as well as sketch view of the drilling mechanism.

Fig.5.3. Drilling mechanism

5.2.3. The seed dropping system

40
The seed dropper is designed in such a way at one time only one or two seeds should drop
on the ground to avoid the wastage of seeds. A circular system was designed that carried one
seed from the container and drops it on the ground. The fig below shows the seed dropping
system.

Fig.5.4. Seed dropping Mechanism

The final model is made by combining the mechanical designs and the circuit design. The
drilling mechanism, water tank, and seed the dropping mechanism along with the motors
and wheels have been mounted on the chassis. All these components are inter-connected
through the circuit, the motors for wheels and for drill are connected to the relay module.
The seed dropper is controlled using a servo motor which helps to collect the seed from the
container and drop it on the ground. All the instructions to the relays, servo motor, and the
water pumps are given by the brain of this system the Arduino Uno. The farmer has to give
some instructions to a microcontroller like the length of the column, the seed to sow, and
how many times the loop will run. Given all these parameters successfully automatically the
robot will start working. Below is a final look of the prototype.

Prototype Model

“Design and Development of Autonomous Mobile Robot for Agriculture Applications”

41
Fig.5.5.1 Assembling Fig.5.5.2 Field testing

Fig 5.5.3 Lab Testing

42
 CHAPTER 6
TESTING AND SUMMARY

6. Testing and Summary

6.1. Calculations and Testing

This is an autonomous robot that would start its working after getting the required
information from the user and performing all the calculations by itself. The system will take
length of the column of the field where the seeds are to be sown and the number of seeds to

43
be sown in that column, and then would be calculating distance at which the seeds are to be
sown using the basic formula as stated above. An example of this if given below,

Enter the number of seeds to be sown in every column /

प्रत्येक कॉलम में बोए जाने वाले बीजों की संख्या दर्ज करें: 35

Enter length of column (in meters) / कॉलम की लंबाई दर्ज करें (in meters): 100

Therefore the distance between two seeds = 100/35 = 2.86 meters

After calculating this as we are using arduino Ide, we cannot give distance to the program
for the movement of the robot, hence we have to calculate the delay for which the motors
should be turned ONN to move that particular distance. This calculation is based on the rpm
of motors and the dimension of the wheels used. Using the distance above the systems
performs the calculations by itself to get the delay. The calculations for this machine are as
follows,

In this project we have used 110 mm diameter wheels, and the motors used are of 60 rpm.
That means the motor rotates 1 rotation per second.
In one rotation with 110mm diameter wheels the machine moves a distance of =
2*3.14*(110/2)
So, the machine with this configuration moves 345.4 mm distance in 1 sec.
That means 0.345 m in 1sec,

Therefore to travel 2.68 meters it requires (2.86*1/0.345) = 8.27198 seconds.

As arduino takes time in milliseconds, delay = 8.2802*1000 = 8271.98 milliseconds.
This is the delay that will be given to the arduino for the forward movement of the robot for
the seed sowing operation as well as the medicine spraying operation. Lastly, then the robot
will be asking for the number of loops to be repeated for the fully automatic loop. One loop
will be as follows,

44
 Fig.6.1. One Complete loop

All these calculations will be done by the arduino Ide only. The picture below shows a
snapshot of the calculation done by the Ide itself,

Fig.6.2. Calculations done by the Ide

After doing all these calculations the machine starts its working autonomously. For seed
sowing the process includes moving towards a point, drill a hole in the ground using the
drilling mechanism, drop seed in the hole with the help of seed dropping tool, and lastly
watering the place, following which it will move to next point and repeat the same
operation.
While testing this machine on the ground we found that the machine runs properly on the
ground. The requirement of the land for this machine is that the land should be ploughed and
the soil has to be loosened. Generally, in the farms the ploughing is done on the field twice
before sowing seeds to loosen the soil. When we tried this machine on a garden with loose
soil, the drilling mechanism drilled a hole successfully and a seed was also dropped in the
hole created. After which the pumps watered the place and moved to the next point. Some of
the observation we had were,

45
  For one complete cycle of sowing seed at one place the machine required 18-20
seconds. That means within an hour this robot can sew up to 150 seeds.
 The lead acid batteries on a continuous run can last for approximate 6-7 hours on
a continuous run with a single charge. With a solar panel connected to it the
battery life can be increased.
 The code is designed in such a way that it also shows the status of number of
seeds sown by the robot.
 This system works on the concept of precision farming that helps farmers to
increase the production on their field in order to earn an increased profit.

With all these advantages and results there were some of the limitations of the robot that we
observed. These limitations can be minimized by working on them. The problems that we
observed were,
 Locking of seed dropping mechanism.
 Refilling of the water and seed tanks.
 Deviation from the path while taking turns.
After testing the bot on the field, we did a case study and got the following results,
Table.No.2 Case Study Report
Testing Length of Column Number of seeds Time required for Time Required for
No (in meters) One Column One Loop

1. 100 45 21 min 44 min

2. 70 60 25 min 52 min
3. 200 80 40 min 82 min
4. 50 15 8 min 18 min
5. 348 98 53 min 108 min

Field Testing

46
 Positon 1. Straight Path Position 2. Drilling Operation

Position 3. Seed Dropping Operation

Fig 6.3. Field testing

6.2. Summary
After looking to the problems faced by the farmers these days we worked on a concept that
will help the farmers to solve their problems. Working on the idea and the concept we
figured out to make a multipurpose robot that would be a helping hand for the farmers and
will perform some of the agricultural activities autonomously without any human
requirement. The designing of the project is done in a way that it is an easy to maintain
product. This is an easy to use autonomous mobile robot that runs automatically once the
required information is given to it. This robot worked properly according to the tasks given
to it. Many changes were done in it after testing and observing some problems and solving
them, to make it more efficient. This project can prove to be a successful product and can
help farmers to help increase their profits from the fields.

47
 CHAPTER 7
CONCLUSION

7. Conclusion

48
 Agriculture is the science, technique, and art of cultivation of land, growing crops,
and raising livestock and plays a major role in the country's economy.
 Agriculture involves practices like soil preparation, sowing, fertilizing, irrigation,
weeding, harvesting, and lastly storage of the yield. All these activities require hard
work, manpower, and skilled labours.
 At present, due to the increasing population, the demand for the agricultural products
is increasing day by day and farmers are not able to cope up with these demands.
 Farm automation practices are making agriculture more profitable while also
reducing the ecological footprint of farming at the same time.
 Hence there is a need developed to introduce latest trends and technologies in the
field of agriculture like robotics, automation, etc.
 As a solution to the problem faced by the farmers, in this project we designed and
developed an autonomous mobile robot (AMR) as a helping hand for the farmers.
 This AMR will be able to perform multiple agricultural activities like seed sowing,
pesticide spraying and watering the field.
 It is a farmer friendly easy to use and easy to maintain robot, that would not require
much technical knowledge to operate it.
 This robot works on the concept of precision farming that will help farmers to
increase the production in the field, resulting in increasing profits.
 Successful and expected results were obtained after testing the prototype model of
this idea.
 Therefor we can conclude that this product can prove to be very helpful for the
farmers to solve the problem of labour dependency and help them to earn a good
profit. This can be the future of farming in India.

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 CHAPTER 8
FUTURE SCOPE

8. Future Scope

50
Looking at the rate of growth of technology in all the sectors in the world and their positive
results and feedback we can say that technology is helping a lot in solving the problems face
in respective sectors as well as giving people more profitable businesses. Due to the
increasing population the demand for food, grains are also increasing day by day and on the
other hand, as many people from villages are migrating to cities for earning purposes,
farmers are facing the problem of lack of manpower and skilled laborers. Hence there is a
strong need to take technology into the farming sector to help the farmers.

This project is a helping hand for the farmers and a lot of work can be done in it to make it a
more efficient product. Future work in this project to be done is,

 To design and develop a mini tractor and implant all the circuits in it.

 To make a proper GUI for this system, that will be also an education guide for the

farmers having information about the precision farming concepts for different seeds.

 To introduce manual and semi-automatic mode in this robot.

 To implement the PID controller, servo motor, and compass module for maintaining

the path in fully automatic and semi-automatic mode.

 To make the seed dropper more efficient and precise, as well as make the drill a

distance based drill.

References

51
[1] Sai Prasanth, Sathish Kumar, Sattanathan periyasamy, Shaolin Mathew “Design &
Development of Automatic Seed Sowing Machine by Utilizing Solar Energy” International
Journal of Scientific & Engineering Research Volume 11, Issue 10, October-2020 ISSN
2229-5518
[2] Swetha, S., & Shreeharsha, G. H. (2015). Solar Operated Automatic Seed Sowing
Machine. International Journal of Advanced Agricultural Science and Technology, 4(1), 67.
[3] Ghazali, Mohd Riduwan & Ibrahim, Wan & Mohd Tumari, Mohd Zaidi & Hong, C.W..
(2012). Development of straight-line robot movement using Digital Compas Module. 1409-
1413. 10.1109/SCIS-ISIS.2012.6505042.
[4] Shamshiri, Redmond. (2013). Exploring GPS Data for Operational Analysis of Farm
Machinery. Research Journal of Applied Sciences, Engineering, and Technology. 5. 3281-
3286. 10.19026/rjaset.5.4568.
[5] Singh et al “Automatic Seed Planter Punching Type” International Journal of Emerging
Technology & Research Volume 1, Issue 3, 2014) ISSN (E): 2347-5900 ISSN(P): 2347-
6079
[6] N. Watthanawisuth, N. Tongrod, T. Kerdcharoen, and A. Tuantranont, "Real-time
monitoring of GPS-tracking tractor based on ZigBee multi-hop mesh network," ECTI-
CON2010: The 2010 ECTI International Conference on Electrical Engineering/Electronics,
Computer, Telecommunications, and Information Technology, 2010, pp. 580-583.
[7] Vaidya, Amit. (2018). A Study of Solar Electric Tractor for Small Scale Farming.
10.21275/ART20196356.
[8] Swetha.S et al “Solar Operated Automatic Seed Sowing Machine”, International Journal
of Advanced Agricultural Sciences and Technology 2015, Volume 4, Issue 1, pp. 67-71
[9] M.ARUN, R. PRATHIPA, PRIYANKA S, AKSHAYA ANAND, CHANDRIKA N
(2018), “SMART AGRICULTURE ROBOT”, International Journal of Pure and Applied
Mathematics, Volume 119 No. 15 2018, 1901-1906
[10] N. Pandhare, M. Mangde, K. Jajulwar, M. Mahule, and M. Patil, "Design of
Multipurpose Agro System using Swarm Intelligence," 2021 International Conference on
Computational Intelligence and Computing Applications (ICC), 2021, pp. 1-5, DOI:
10.1109/ICCICA52458.2021.9697192.

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[11] Swetha, S., & Shreeharsha, G. H. (2015). Solar Operated Automatic Seed Sowing
Machine. International Journal of Advanced Agricultural Science and Technology, 4(1), 67.
[12] Hatagundi, Mrityunjaya. (2016). GUI Controlled Arduino. 5. 662 - 665.
10.17148/IJARCCE.2016.53162.
[13] PRAKASH, V. BHANU. "AGRICULTURAL BASED SEED SOWING MACHINE
FOR INTERCROP FIELDS." (2020).
[14] Vimal, VM Martin, A. Madesh, S. Karthick, and A. Kannan. "Design and fabrication of
multipurpose sowing machine." International Journal of Scientific Engineering and Applied
Science (IJSEAS), ISSN (2015): 2395-3470.
[15] Yadav, Vidya, Punam Bhosale, Jyoti Shinde, and Jagdish Hallur. "Automatic Seed
Sowing Robot." International Research Journal of Engineering and Technology 6 (2019):
2005-2007

53
 Project Certificate & Award
1. Best Paper Award at IEEE ICCICA organized by GHRCE, Nagpur

2. First Prize (Winner) at INTECH2k22 organized by K.J Somaiya Institute of

Engineering, Mumbai

3. First Prize in GramTech 2022 organized by Gramayan Pratishthan under RTMNU,

Nagpur

54
 4. Second Prize at VISAI 2022 organized by Vel Tech Rangarajan Dr. Sagunthala
R&D Institute of Science and Technology, Chennai.

5. Participate in VNIT PROJECT Exhibition and Got Special Recognition by

Honorable Shri NITIN JI GADKARI.

Picture with Dr. Sachin Untawle, Director GHRCE, Nagpur and our project guide Dr. Kapil
Jajulwar.

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