CHAPTER 1

INTRODUCTION

1.1 OVERVIEW

The idea of applying robotics technology in agriculture is very new. In agriculture,

the opportunities for robot-enhanced productivity are immense-and the robots are
appearing on farms in various guises and in increasing numbers. We can expect the
robots performing agricultural operation autonomously such as spraying and
mechanical weed control, fruit picking, watching the farms day and night for an
effective report, allowing farmers to reduce environmental impact, increase
precision and efficiency, and manage individual plants in novel ways.

The application of instrumental robotics are spreading everyday to cover further

Domain , as the opportunity of replacing human operators provide effective
solutions with return on investment. This is especially important when the duties,
the need be perform, are potentially harmful for the safety or the health of the
workers, or more conservative issues are granted by the robotics. Heavy chemicals
or drugs dispensers, manure and fertilizer spreaders, etc. Are activities more and
more concerned by the deployment of unmanned options.

Conventional techniques depend on human power for lifting, dragging, weed

control, fruit picking. Humans are prone to work in hazardous environment while
spraying chemicals and pesticides. The tractor compact the soil, as they are larger
in weight. They cannot move in terrain conditions. These methods can not identified
the crop and soil in close proximity. In case of automated agriculture (which uses
the field robots) is exemplified from above problems. Robots can work restlessly in
all environments; all you have to do is set a program to perform the desired
activities. Although, large sized wheels are required in muddy soils, robots small
sized wheels perform well. Robot scouts are employed to get detail information
about the crop such as the presence of diseases, weeds, insect infestations and other
stress conditions. The lightweight of the robot is a major advantage, since they do
not compact the soil as larger machinery does Robo will roam on fields to take care

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 for plants.

1.2 PROPOSED METHOD

The idea of robotic agriculture (agricultural environments serviced by smart

machines) is not a new one. Many engineers have developed driverless tractors in
the past but they have not been successful as they did not have been successful as
they did not have the ability to embrace the complexity of the real world.

These machines do not have to be intelligent in the way we see people as intelligent
but must exhibit sensible behavior in recognized contexts. In this way they should
have enough intelligent embedded within them to behave sensibly for long periods
of time, unattended, in a semi-natural environment, whilst carrying out a useful
task. One way of understanding the complexity has been to identify what people do
in certain situations and decompose the actions into machine control. This is called
behavioral robotics and a draft method for applying this approach to agriculture is
given in Blackmore et. al. (2004b).

The approach of treating crop and soil selectively according to their needs by small
autonomous machine is the natural next step in the development of Precision
Farming (PF) as it reduces the field scale right down to the individual plant or
Phytotechnology (Shibusawa 1996). One simple definition of PF is doing the right
thing in the right place at the right time with the right amount. This definition not
only applies to robotics agriculture (RA) and Phytotechnology but it also implies a
level of automation

inherent in the machines automatic sensing and control (on-the-go) for each task is
also importance and many research papers have shows that these systems are
feasible but most are too slow, and hence not economically viable, to be operated
on a manned tractor.

Once these systems are mounted on an autonomous vehicle, they may well suddenly
become commercially viable.

By taking a systems approach, in which we consider a system in terms of its actions,

interactions and implications, we can develop a new mechanization system that

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 collectively deals with all the crop’s agronomic needs in a better way. To do this
we must stop defining plant care in terms of the current mechanisation but in terms
of what the plant needs. When we have defined the actual plant requirements we
are then free to design a better way of dealing with them.

The environmental implications would seem good. Minimised inputs to reduce

waste and pollution, controlled biodiversity by retaining non-competitive weeds,
more intelligent physical methods replacing chemical solutions are all examples of
how Phytotechnology could benefit the environment over traditional methods.
Economic factors include lower labour costs (a significant saving if they can be
made fully autonomous), incremental investment in, perhaps, a small machine each
year, rather than a single large machine every 5 years. These small vehicles could
be assembled from existing mass produced components such as car parts without
the need for specialised design and tooling. Consideration of social aspects shows
that the public are ready for small intelligent machines to be used in food
production, by the level of interest shown by the media and when being
demonstrated. Insurance and liability will be a lot easier with smaller autonomous
machines.

Modern agriculture uses a lot of energy. It comes in many forms from fertilisers
and chemicals to tractors and fuel. The Phytotechnology approach tries to target the
introduced energy to improve efficacy. Chamen (1994) identified that a 70% energy
saving can be made in cultivation energy by moving from traditional trafficked
systems (255 MJ/ha) to a non-trafficked system (79 MJ/ha). This was for shallow
ploughing and did not include any deep loosening. From this we estimate that 80 -
90% of the energy going into traditional cultivation is there to repair the damage
done by large tractors. It would be much better to not cause compaction in the first
place which is one of the reasons that leads us to consider using small light
machines.

Most of the current machinery is very weather dependant. Tractors cannot drive on
soil when it is wet, sprayers cannot work in high winds etc. Perhaps it will be
possible to develop smaller, less intrusive machinery that can allow more tasks to
be carried out in marginal conditions. An example might be an autonomous seeder
that could function well, while the soil is still wet in the springtime, provided that

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 the soil engagement mechanism is suitable arranged. This would allow the seeds to
be planted when optimal for the crop and not be limited by the soil’s ability to
support the tractor.

Safety is another important factor. Any autonomous vehicle is going to go wrong

at some time and the chance of catastrophic failure should be minimised within the
design process. A small light vehicle is inherently safer than a large one. Redundant,
self-checking systems should be built into the system architecture to allow graceful
degradation. The vehicle should be in continual communication with the base
station, giving data about current conditions and contexts. Many of the design
parameters are discussed in (Blackmore et al. 2004a)

This approach may not be economically justifiable in many broad acre crops but
will certainly be more attractive in high value crops where a smart machine can
replace expensive repetitive labour. If this approach were taken, it would appear
that the crop production cycle could be reduced to three stages: Seeding, Plant care
and (selective) harvesting.

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 CHAPTER 2

BLOCK DIAGRAM & WORKING PRINCIPLE

2.1 BLOCK DIAGRAM

The block diagram of Agricultural Robot based on ARDUINO UNO is shown in

figure below:

Fig. 2.1 Block Diagram of Agricultural Robot

HC-05 module designed for transparent wireless serial connection setup and is
connoted to the Arduino UNO.

The L298N motor driver used to control the speed and direction of two DC motors,
or control one bipolar stepper motor with ease.

12V power supply will be used to give power to the system.

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2.2 CIRCUIT DIAGRAM

The circuit diagram of Agricultural Robot is shown below:

Fig. 2.2 Circuit Diagram of the Agricultural Robot

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2.3 WORKING PRINCIPLE

When power supply is provided to the circuit, firstly we pair up the Bluetooth module with
our android phone, which is connected to the Arduino UNO board.

TX and RX pins of Bluetooth module are connected to the RX and TX pins of Arduino
respectively.

Vcc and ground pins are connected with 5V of ground of Arduino.

There are two motor drivers which are used to drive four DC motors. The Arduino UNO
gives command to both motor drivers by using pins D2-D9, to operate the four DC motors.

By using android phone we can change the direction of motors and can perform different
operations of Agricultural Robot. The application which is used to operate our robot is
Bluetooth robo control.

There are seven commands in this application, the four commands are used to change the
direction of motors and the two commands +360 and -360 degree are used to perform
seeding, digging, and watering operations.

One command is used to stop the motors

CHAPTER 3

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 COMPONENTS USED

3.1 COMPONENTS

 Power supply

 Microcontroller ATmega328P

 Arduino UNO

 Bluetooth Module(HC-05)

 Motor driver L298N

 DC Motor

3.2 POWER SUPPLY

3.2.1 ADAPTERS

The adapters are the device that has inbuilt circuitry for converting the 230V AC in to
desired DC like +5V adapter, +12V adapter, +9V adapter and many more. This consists of
inbuilt circuit for high AC to low voltage DC conversion.

Fig. 3.1 Adapter

3.3 MICROCONTROLLER ATMEGA328P

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 3.3.1 DESCRIPTION

The Atmega328 is a very popular microcontroller chip produced by Atmel. It is an 8-bit

microcontroller that has 32K of flash memory, 1K of EEPROM, and 2K of internal SRAM.

The Atmega328 is one of the microcontroller chips that are used with the popular Arduino
Duemilanove boards. The Arduino Duemilanove board comes with either 1 of 2
microcontroller chips, the Atmega168 or the Atmega328. Of these 2, the Atmega328 is the
upgraded, more advanced chip. Unlike the Atmega168 which has 16K of flash program
memory and 512 bytes of internal SRAM, the Atmega328 has 32K of flash program
memory and 2K of Internal SRAM.

Fig.3.2 Atmega328P

The Atmega328 has 28 pins.

It has 14 digital I/O pins, of which 6 can be used as PWM outputs and 6 analog input pins.
These I/O pins account for 20 of the pins.

3.3.2 PIN CONFIGURATION

The pinout for the Atmega328 is shown below.

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 Fig. 3.3 Pin Configuration

The table below gives a description for each of the pins, along with their function.

Pin
Description Function
Number

1 PC6 Reset

2 PD0 Digital Pin (RX)

3 PD1 Digital Pin (TX)

4 PD2 Digital Pin

5 PD3 Digital Pin (PWM)

6 PD4 Digital Pin

7 Vcc Positive Voltage (Power)

8 GND Ground

9 XTAL 1 Crystal Oscillator

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 10 XTAL 2 Crystal Oscillator

11 PD5 Digital Pin (PWM)

12 PD6 Digital Pin (PWM)

13 PD7 Digital Pin

14 PB0 Digital Pin

15 PB1 Digital Pin (PWM)

16 PB2 Digital Pin (PWM)

17 PB3 Digital Pin (PWM)

18 PB4 Digital Pin

19 PB5 Digital Pin

20 AVCC Positive voltage for ADC (power)

21 AREF Reference Voltage

22 GND Ground

23 PC0 Analog Input

24 PC1 Analog Input

25 PC2 Analog Input

26 PC3 Analog Input

27 PC4 Analog Input

28 PC5 Analog Input

Table. 3.1 Pin configuration

As stated before, 20 of the pins function as I/O ports. This means they can function as an
input to the circuit or as output. Whether they are input or output is set in the software. 14
of the pins are digital pins, of which 6 can function to give PWM output. 6 of the pins are
for analog input/output. The chip needs power so 2 of the pins, Vcc and GND, provide it
power so that it can operate. The Atmega328 is a low-power chip, so it only needs between
1.8-5.5V of power to operate.

2 of the pins are for the crystal oscillator. This is to provide a clock pulse for the Atmega

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 chip. A clock pulse is needed for synchronization so that communication can occur in
synchrony between the Atmega chip and a device that it is connected to.

The Atmega328 chip has an analog-to-digital converter (ADC) inside of it. This must be or
else the Atmega328 wouldn't be capable of interpreting analog signals. Because there is an
ADC, the chip can interpret analog input, which is why the chip has 6 pins for analog input.
The ADC has 3 pins set aside for it to function- AVCC, AREF, and GND. AVCC is the
power supply, positive voltage, that for the ADC. The ADC needs its own power supply in
order to work. GND is the power supply ground. AREF is the reference voltage that the
ADC uses to convert an analog signal to its corresponding digital value. Analog voltages
higher than the reference voltage will be assigned to a digital value of 1, while analog
voltages below the reference voltage will be assigned the digital value of 0. Since the ADC
for the Atmega328 is a 10-bit ADC, meaning it produces a 10-bit digital value, it converts
an analog signal to its digital value, with the AREF value being a reference for which digital
values are high or low. Thus, a portrait of an analog signal is shown by this digital value;
thus, it is its digital correspondent value.

The last pin is the RESET pin. This allows a program to be rerun and start over.

And this sums up the pinout of an Atmega328 chip.

3.3.3 DIP BASES

The case outlines of the plastic and ceramic Dual In-line Packages (DIPs) are nearly
identical. The lead configuration consists of two rows of leads, both with 100 mil pitch.
The plastic DIP is shown in Figure. If the DIP base is of 18 pin then 9 lines will be in one
side and 9 on other side. The IC bases of have round cut from the left of which the pin 1 of
base is considered similar is the case with integrated chips.

Fig. 3.4 DIP Base

Basically IC is sensitive to short circuit or voltage so in place of that we first install the
bases of the IC with same number of pins and before placing the IC‟s we check all voltage

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 points of the IC then mount the IC once proper configuration is assured. The DIP base
depends on number of pins of the IC and ranges from 4pin configuration to 40 pin
configuration. They are available in different pin configuration and size depending on IC
need.

3.4 INTERNAL ARCHITECTURE

Fig.3.5 Internal Architecture of ATmega328P microcontroller

3.4.1 The Microcontroller:-

It is important to understand that the Arduino board includes a microcontroller, and this

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 microcontroller is what executes the instructions in your program. If you know The
ATmega328 microcontroller is the MCU used in Arduino UNO R3 as a main controller.
ATmega328 is an MCU from the AVR family; it is an 8-bit device, which means that its
data-bus architecture and internal registers are designed to handle 8 parallel data signals.

[Link] ATmega328 has three types of memory:

 Flash memory: 32KB nonvolatile memory. This is used for storing application, which
explains why you don't need to upload your application every time you unplug arduino
from its power source.

 SRAM memory: 2KB volatile memory. This is used for storing variables used by the
application while it's running.

 EEPROM memory: 1KB nonvolatile memory. This can be used to store data that must
be available even after the board is powered down and then powered up again.

Let us briefly go over some of this MCU's specs:

[Link] Packages:

This MCU is a DIP-28 package, which means that it has 28 pins in the dual in-line package.
These pins include power and I/O pins. Most of the pins are multifunctional, which means
that the same pin can be used in different modes based on how you configure it in the
software. This reduces the necessary pin count, because the microcontroller does not
require a separate pin for every function. It can also make your design more flexible,
because one I/O connection can provide multiple types of functionality.

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 Fig.3.6 DIP-28

[Link] Power:

The MCU accepts supply voltages from 1.8 to 5.5 V. However, there are restrictions on the
operating frequency; for example, if you want to use the maximum clock frequency (20
MHz), you need a supply voltage of at least 4.5 V.

Table 3.2 Voltage reference selections for ADC

[Link] Digital I/O:

This MCU has three ports: PORTC, PORTB, and PORTD. All pins of these ports can be
used for general-purpose digital I/O or for the alternate functions indicated in the pinout
below. For example, PORTC pin0 to pin5 can be ADC inputs instead of digital I/O.

There are also some pins that can be configured as PWM output. These pins are marked
with “~” on the Arduino board.

Note: The ATmega168 is almost identical to the ATmega328 and they are pin compatible.
The difference is that the ATmega328 has more memory—32KB flash, 1KB EEPROM,
and 2KB RAM compared to the ATmega168's 16KB flash, 512 bytes EEPROM, and 1KB
RAM

[Link] ADC Inputs:

This MCU has six channels—PORTC0 to PORTC5—with 10-bit resolution A/D converter.
These pins are connected to the analog header on the Arduino board.

One common mistake is to think of analog input as dedicated input for A/D function only,
as the header in the board states ”Analog”. The reality is that you can use them as digital
I/O or A/D.

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 As shown in the diagram above (via the red traces), the pins related to the A/D unit are:

 AVCC: The power pin for the A/D unit.

 AREF: The input pin used optionally if you want to use an external voltage reference
for ADC rather than the internal Vref. You can configure that using an internal register.

[Link] UART Peripheral:

 A UART (Universal Asynchronous Receiver/Transmitter) is a serial interface. The

ATmega328 has only one UART module.

 The pins (RX, TX) of the UART are connected to a USB-to-UART converter circuit
and also connected to pin0 and pin1 in the digital header. You must avoid using the
UART if you’re already using it to send/receive data over USB.

[Link] SPI Peripheral:

 The SPI (Serial Peripheral Interface) is another serial interface. The ATmega328 has
only one SPI module.

 Besides using it as a serial interface, it can also be used to program the MCU using a
standalone programmer. You can reach the SPI's pins from the header next to the MCU
in the Arduino UNO board or from the digital header as below:
11<->MOSI
12<->MISO
13<->SCK

[Link] TWI:

 The I2C or Two Wire Interface is an interface consisting of only two wires, serial data,
and a serial clock: SDA, SCL.

 You can reach these pins from the last two pins in the digital header or pin4 and pin5 in
the analog header.

3.5 Arduino Uno :-

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 Arduino Uno is a microcontroller board based on the ATmega328P ( datasheet). It
has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog
inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an ICSP header
and a reset button. It contains everything needed to support the microcontroller;
simply connect it to a computer with a USB cable or power it with a AC -to-DC
adapter or battery to get started

Fig.3.7 Arduino Uno

"Uno" means one in Italian and was chosen to mark the release of Arduino
Software (IDE) 1.0. The Uno board and version 1.0 of Arduino Software (IDE)
were the reference versions of Arduino, now evolved to newer releases. The Uno
board is the first in a series of USB Arduino boards, and the reference model for
the Arduino platform; for an extensive list of current, past or outdated boards see
the Arduino index of boards.

3.6 COMPONENTS ON ARDUINO UNO BOARD

3.6.1 POWER JACK

Power Jack is basically a connector to connect the adapter output to the board directly. It
has the proper connection designed to connect with the adapter as well as out connection

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 to connect to the board. It has three terminals output 1 Vcc, 2 GND and 3 No connection.

Fig. 3.8 Power Jack

3.6.2 SWITCHES

In electrical engineering, a switch is an electrical component that can break an electrical

circuit, interrupting the current or diverting it from one conductor to another.

The most familiar form of switch is a manually operated electromechanical device with one
or more sets of electrical contacts, which are connected to external circuits. Each set of
contacts can be in one of two states: either "closed" meaning the contacts are touching and
electricity can flow between them, or "open", meaning the contacts are separated and the
switch is non-conducting. The mechanism actuating the transition between these two states
(open or closed) can be either a "toggle" (flip switch for continuous "on" or "off") or
"momentary" (push-for "on" or push-for "off") type.

A switch may be directly manipulated by a human as a control signal to a system, such as

a computer keyboard button, or to control power flow in a circuit, such as a light switch.
Automatically operated switches can be used to control the motions of machines, for
example, to indicate that a garage door has reached its full open position or that a machine
tool is in a position to accept another work piece. Switches may be operated by process
variables such as pressure, temperature, flow, current, voltage, and force, acting as sensors
in a process and used to automatically control a system. For example, a thermostat is a
temperature-operated switch used to control a heating process. A switch that is operated by
another electrical circuit is called a relay. Large switches may be remotely operated by a
motor drive mechanism. Some switches are used to isolate electric power from a system,
providing a visible point of isolation that can be padlocked if necessary to prevent
accidental operation of a machine during maintenance, or to prevent electric shock.

An ideal switch would have no voltage drop when closed, and would have no limits on
voltage or current rating. It would have zero rise time and fall time during state changes,

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 and would change state without "bouncing" between on and off positions.

Practical switches fall short of this ideal; they have resistance, limits on the current and
voltage they can handle, finite switching time, etc. The ideal switch is often used in circuit
analysis as it greatly simplifies the system of equations to be solved, however this can lead
to a less accurate solution. Theoretical treatment of the effects of non-ideal properties is
required in the design of large networks of switches, as for example used in telephone
exchanges.

There are varying types of switches:

 Micro Switch: This is small switch for interconnection. It has 4 terminals with 2 in pair
already connected. When you press the switch all four get connected.

Fig. 3.9 Micro Switch

Power Switch: This is 6 terminal switches for bidirectional connectivity on press.

Fig. 3.10 Power Switch

Toggle Switch: A toggle switch is a class of electrical switches that are manually
actuated by a mechanical lever, handle, or rocking mechanism. This is a two state switch
that is not connected, and connected. It remains in the state till not forced again to change
the state.

Fig. 3.11 Toggle switch

 DPDT Switch: A DPDT switch is a class of electrical switches that are manually
actuated by a mechanical rocking mechanism. This is a three state switch that is not
connected, connected to one and connected to second. It remains in the state till forced
in that particular state else goes to normal state.

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 Fig. 3.12 DPDT Switch

DIP Switches: These are combination of multiple small switches in one package to put
on/off multiple channels in circuitry. A DIP switch is a manual electric switch that is
packaged with others in a group in a standard dual in-line package (DIP). The term may
refer to each individual switch, or to the unit as a whole. This type of switch is designed
to be used on a printed circuit board along with other electronic components and is
commonly used to customize the behavior of an electronic device for specific
[Link] switches are an alternative to jumper blocks. Their main advantages are
that they are quicker to change and there are no parts to lose. These are available in
different configuration for example 8 pin configurations, 16 pin configuration and many
more.

Fig. 3.13 DIP Switches

3.6.3 CONNECTORS

Connectors are wire connection and interface to connect two different points. It has
different configuration like 2- pin connector, 3 -pin connector, 4- pin connector and many
more

Fig. 3.14 Connector

3.6.4 BERGE STRIP

Berge strip is also type of connector. It is of two types male or female. This is also used for
making electrical connections to mount some components. The come in different packages

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 and dimensions. Depending upon the need they can be purchased. These are used for
mounting certain modules, LCD etc

 Male connector: These have metallic rods for the connection.

Fig. 3.15 Male Berge Connector

Female connector: These have holes

Fig. 3.16 Female Berge Connector

3.6.5 DC CONNECTORS

A DC connector (or DC plug, for one common type of connector) is an electrical connector
for supplying direct current (DC) power.

Compared to domestic AC power plugs and sockets, DC connectors have many more
standard types that are not interchangeable. The dimensions and arrangement of DC
connectors can be chosen to prevent accidental interconnection of incompatible sources
and loads. Types vary from small coaxial connectors used to power portable electronic
devices from AC adapters, to connectors used for automotive accessories and for battery
packs in portable equipment.

Fig. 3.17 DC Connectors

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 3.6.6 CRYSTAL OSCILLATOR

A crystal oscillator is an electronic circuit that uses the mechanical resonance of a vibrating
crystal of piezoelectric material to create an electrical signal with a very precise frequency.
This frequency is commonly used to keep track of time (as in quartz wristwatches), to
provide a stable clock signal for digital integrated circuits, and to stabilize frequencies for
radio transmitters and receivers. The most common type of piezoelectric resonator used is
the quartz crystal, so oscillator circuits designed around them were called “Crystal
Oscillators”.

A crystal oscillator is an electronic circuit that produces electrical oscillations at a

particular designed frequency determined by the physical characteristics of one or more
crystals, generally of quartz, positioned in the circuit feedback loop. A piezoelectric effect
causes a crystal such as quartz to vibrate and resonate at a particular frequency. The quartz
crystal naturally oscillates at a particular frequency, its fundamental frequency that can be
hundreds of megahertz. The crystal oscillator is generally used in various forms such as a
frequency generator, a frequency modulator and a frequency converter. The crystal
oscillator utilizes crystal having excellent piezoelectric characteristics, in which crystal
functions as a stable mechanical vibrator. There are many types of crystal oscillators. One
of them is a crystal oscillator employing an inverting amplifier including a CMOS
(Complementary Metal Oxide Semiconductor) circuit, and used, for example, as a
reference signal source of a PLL (Phase Pocked Loop) circuit of a mobile phone. Crystal
oscillator circuits using crystal have a number of advantages in actual application since
crystals show high frequency stability and stable temperature characteristic as well as
excellent processing ability. Temperature-compensated crystal oscillators, in which
variation in oscillation frequency that arises from the frequency-temperature characteristic
of the quartz-crystal unit is compensated, find particularly wide use in devices such as
wireless phones used in a mobile environment. A surface mounting crystal oscillator is used
mainly as a frequency reference source particularly for a variety of portable electronic
devices such as portable telephones because of its compact size and light weight.

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 Fig. 3.18 Crystal Oscillator

[Link] CRYSTAL OSCILLATORS USED IN MICROCONTROLLERS

A microcontroller is disclosed that includes a crystal oscillator circuit that is programmable

to provide multiple different levels of start-up current. In the present embodiment, the
crystal oscillator circuit includes logic devices for receiving programming indicating one
of a plurality of different start-up current levels and a resistor chain. The logic devices are
coupled to the resistor chain for controlling the resistance of the oscillator circuit such that,
upon receiving programming indicating a particular start-up current level, the crystal
oscillator circuit generates a corresponding start-up current. In addition, the crystal
oscillator circuit includes provision for selecting one of a plurality of different levels of
capacitance. Furthermore, the crystal oscillator circuit includes a gate pass that includes
circuitry for assuring predetermined start-up conditions are met. A feedback loop that
includes an amplifier provides for steady-state operations that have low power
consumption.

A crystal oscillator is an electronic oscillator circuit that uses the mechanical resonance of
a vibrating crystal of piezoelectric material to create an electrical signal with a very precise
frequency. This frequency is commonly used to keep track of time (as in quartz
wristwatches), to provide a stable clock signal for digital integrated circuits, and to stabilize
frequencies for radio transmitters and receivers.

Virtually all microprocessors, micro-controllers, PICs and CPU's generally operate using a
quartz crystal oscillator as its frequency determining device to generate their clock
waveform because as we already know, crystal oscillators provide the highest accuracy and
frequency stability compared to resistor-capacitor(RC), inductor-capacitor (LC) oscillators.
Quartz crystals are manufactured for frequencies from a few kilohertz up to several hundred
megahertz.

3.7 BLUETOOTH MODULE

The Bluetooth module HC-05 is a MASTER/SLAVE module. By default the factory setting
is SLAVE. The Role of the module (Master or Slave) can be configured only by AT
COMMANDS. The slave modules cannot initiate a connection to another Bluetooth device,

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 but can accept connections. Master module can initiate a connection to other devices. The
user can use it simply for a serial port replacement to establish connection between MCU
and GPS, PC to your embedded project, etc.

Fig. 3.19 Bluetooth Module

3.7.1 Hardware Features :

 Typical ‐80dBm sensitivity.

 Up to +4dBm RF transmit power.

 3.3 to 5 V I/O.

 PIO(Programmable Input/Output) control.

 UART interface with programmable baud rate.

 With integrated antenna.

 With edge connector.

3.7.2 Software Features :-

 Slave default Baud rate: 9600, Data bits:8, Stop bit:1,Parity:No parity.

 Auto‐connect to the last device on power as default.

 Permit pairing device to connect as default.

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 Auto‐pairing PINCODE:”1234” as default.

3.7.3 Pin Description:-

 The HC-05 Bluetooth Module has 6pins. They are as follows:

ENABLE:-

When enable is pulled LOW, the module is disabled which means the module will not turn
on and it fails to communicate. When enable is left open or connected to 3.3V, the module
is enabled i.e. the module remains on and communication also takes place.

Vcc: -

 Supply Voltage 3.3V to 5V

GND:-

 Ground pin

TXD & RXD: -

 These two pins acts as an UART interface for communication

STATE:-

 It acts as a status indicator. When the module is not connected to / paired with any other
bluetooth device, signal goes Low. At this low state, the led flashes continuously which
denotes that the module is not paired with other device. When this module is connected
to/paired with any other bluetooth device, the signal goes high. At this high state, the led
blinks with a constant delay say for example 2s delay which indicates that the module
is paired. help of AT commands, the user can change the parameters of this module but
only when the module is not paired with any other BT device. If the module is connected
to any other Bluetooth device, it starts to communicate with that device and fails to work
in AT command mode.

3.8 MOTOR DRIVER L298N

In this tutorial we'll explain how to use our L298N H-bridge Dual Motor Controller Module

A.I.T.M Varanasi 25
 2A with Arduino. This allows you to control the speed and direction of two DC motors, or
control one bipolar stepper motor with ease. The L298N H-bridge module can be used with
motors that have a voltage of between 5 and 35V DC.

There is also an onboard 5V regulator, so if your supply voltage is up to 12V you can also
source 5V from the board

Fig.3.20 L298N Motor Driver

First we'll run through the connections, then explain how to control DC motors then a
stepper motor

3.8.1 Module pin outs

Consider the following image - match the numbers against the list below the image:

Fig.3.21 Pin Configuration of L298N motor driver

 DC motor 1 "+" or stepper motor A+

 DC motor 1 "-" or stepper motor A-

A.I.T.M Varanasi 26
 12V jumper - remove this if using a supply voltage greater than 12V DC. This enables
power to the onboard 5V regulator

 Connect your motor supply voltage here, maximum of 35V DC. Remove 12V jumper if
>12V DC

 GND

 5V output if 12V jumper in place, ideal for powering your Arduino (etc)

 DC motor 1 enable jumper. Leave this in place when using a stepper motor. Connect to
PWM output for DC motor speed control.

 IN1

 IN2

 IN3

 IN4

 DC motor 2 enable jumper. Leave this in place when using a stepper motor. Connect to
PWM output for DC motor speed control.

 DC motor 2 "+" or stepper motor B+

 DC motor 2 "-" or stepper motor B-

3.8.2 Controlling DC Motors

To control one or two DC motors is quite easy. First connect each motor to the A and B
connections on the L298N module. If you're using two motors for a robot (etc) ensure that
the polarity of the motors is the same on both inputs. Otherwise you may need to swap them
over when you set both motors to forward and one goes backwards!

Next, connect your power supply - the positive to pin 4 on the module and negative/GND
to pin 5. If you supply is up to 12V you can leave in the 12V jumper (point 3 in the image
above) and 5V will be available from pin 6 on the module. This can be fed to your Arduino's
5V pin to power it from the motors' power supply. Don't forget to connect Arduino GND
to pin 5 on the module as well to complete the circuit.

Now you will need six digital output pins on your Arduino, two of which need to be PWM
(pulse-width modulation) pins. PWM pins are denoted by the tilde ("~") next to the pin

A.I.T.M Varanasi 27
 number, for example:

Fig.3.22 Controlling DC Motor

Finally, connect the Arduino digital output pins to the driver module. In our example we
have two DC motors, so digital pins D9, D8, D7 and D6 will be connected to pins IN1,
IN2, IN3 and IN4 respectively. Then connect D10 to module pin 7 (remove the jumper
first) and D5 to module pin 12 (again, remove the jumper).

A.I.T.M Varanasi 28
 The motor direction is controlled by sending a HIGH or LOW signal to the drive for each
motor (or channel). For example for motor one, a HIGH to IN1 and a LOW to IN2 will
cause it to turn in one direction, and a LOW and HIGH will cause it to turn in the other
direction.

However the motors will not turn until a HIGH is set to the enable pin (7 for motor one, 12
for motor two). And they can be turned off with a LOW to the same pin(s). However if you
need to control the speed of the motors, the PWM signal from the digital pin connected to
the enable pin can take care of it.

This is what we've done with the DC motor demonstration sketch. Two DC motors and an
Arduino Uno are connected as described above, along with an external power supply.

3.9 DC MOTOR

Electrical motors are everywhere around us. Almost all the electro-mechanical movements
we see around us are caused either by a AC or a DC motor. Here we will be exploring DC
motors. This is a device that converts DC electrical energy to a mechanical energy.

3.9.1 Principle of DC Motor :

 This DC or direct current motor works on the principal, when a current carrying
conductor is placed in a magnetic field, it experiences a torque and has a tendency to
move. This is known as motoring action. If the direction of current in the wire is
reversed, the direction of rotation also reverses. When magnetic field and electric field
interact they produce a mechanical force, and based on that the working principle of DC
motor is established.

Fig. 3.23 DC Motor

 The direction of rotation of a this motor is given by Fleming’s left hand rule, which
states that if the index finger, middle finger and thumb of your left hand are extended

A.I.T.M Varanasi 29
 mutually perpendicular to each other and if the index finger represents the direction of
magnetic field, middle finger indicates the direction of current, then the thumb
represents the direction in which force is experienced by the shaft of the DC motor.

Fig 3.24 Fleming’s Left Hand Rule

 Structurally and construction wise a direct current motor is exactly similar to a DC

generator, but electrically it is just the opposite. Here we unlike a generator we supply
electrical energy to the input port and derive mechanical energy from the output port.
We can represent it by the block diagram shown below.
Here in a DC motor, the supply voltage E and current I is given to the electrical port or
the input port and we derive the mechanical output i.e. torque T and speed ω from the
mechanical port or output port.

 The input and output port variables of the direct current motor are related by the
parameter K. So from the picture above we can well
understand that motor is just the opposite phenomena of a DC generator, and we can
derive both motoring and generating operation from the same machine by simply
reversing the ports

 𝑇 = 𝐾𝐼 𝑎𝑛𝑑 𝐸 = 𝐾𝜔.

 Detailed Description of a DC Motor :

 To understand the DC motor in details lets consider the diagram below, The direct
current motor is represented by the circle in the center, on which is mounted the brushes,
where we connect the external terminals, from where supply voltage is given. On the
mechanical terminal we have a shaft coming out of the Motor, and connected to the

A.I.T.M Varanasi 30
 armature, and the armature-shaft is coupled to the mechanical load. On the supply
terminals we represent the armature resistance Ra in series.

Fig. 3.25 Working of DC Motor

Now, let the input voltage E, is applied across the brushes. Electric current which flows
through the rotor armature via brushes, in presence of the magnetic field, produces a torque
Tg. Due to this torque Tg the dc motor armature rotates. As the armature conductors are
carrying currents and the armature rotates inside the stator magnetic field, it also produces
an emf Eb in the manner very similar to that of a generator. The generated Emf Eb is directed
opposite to the supplied voltage and is known as the back Emf, as it counters the forward
voltage. The back emf like in

Case of a generator is represented by

𝑃.𝜑.𝑍.𝑁
𝐸𝑏 = ………………..(1)
60.𝐴
Where,

P = no of poles.

φ = flux per pole.

Z= No. of conductors.

A = No. of parallel paths

N = the speed of the DC Motor.

A.I.T.M Varanasi 31
 So, from the above equation we can see Eb is proportional to speed ‘N’. That is whenever
a direct current motor rotates, it results in the generation of back Emf. Now lets represent
the rotor speed by ω in rad/sec. So Eb is proportional to ω. So, when the speed of the motor
is reduced by the application of load, Eb decreases. Thus the voltage difference between
supply voltage and back emf increases that means E − Eb increases. Due to this increased
voltage difference, armature current will increase and therefore torque and hence speed
increases.

Thus a DC Motor is capable of maintaining the same speed under variable load. Now
armature current Ia is represented by

𝐼 𝐸−𝐸𝑏
𝑎=
𝑅

Now at starting, speed ω = 0 so at starting Eb = 0.

𝐸
Ia = ……………….(2)
𝑅𝑎
Now since the armature winding electrical resistance Ra is small, this motor has a very high
starting current in the absence of back Emf. As a result we need to use a starter for starting
a DC Motor. Now as the motor continues to rotate, the back Emf starts being generated and
gradually the current decreases as the motor picks up speed.

3.9.2 Types of DC Motors:-

Direct motors are named according to the connection o the field winding with the armature.
There are 3 types:

1. Shunt wound DC motor

2. Series wound DC motor

3. Compound wound DC motor

A.I.T.M Varanasi 32
 CHAPTER 4

SOFTWARE AND ITS WORKING

4.1 SOFTWARE USED

The Arduino IDE

Once the IDE is installed, click the desktop icon to get to the Windows desktop.
Double-click the Arduino icon and you will be in the development environment.
Load the included Blink sketch by clicking File then Examples then 01. Basics then
Blink. A new window opens with the Blink software sketch.

Ensure your OTG to Uno cable from the previous section is connected from the
tablet to the Uno. The Uno should have the power LED on, powered from the tablet.
Use an external power supply for the Uno to save tablet battery life. Set the
environment for download by clicking Tools, then Board, then select "Arduino
Uno" from the list. Go back to the Tools Menu, then Serial Port, then you usually
select the last port (COM7 in my case). You can look up which COM port the
Arduino uses by opening Control Panel, then "Devices and Printers" then look for
the Arduino Uno. If the communications port is not listed, you can right click the
icon, select Properties then click the Hardware tab to see which COM port is listed.

4.2 Load a Program

Ensure your tablet is connected to the Arduino Uno with the cables noted above.
The power light should be lit on the Uno.

To upload the Blink sketch to the Uno, select the right arrow icon. The yellow LED
neat the Uno's Pin 13 should now be blinking. The process may take a few seconds
longer near the end as the compiled code loads to the Uno.

You can load your own code via a network connection, downloaded from the local flash
drive or from a microSD card. When you save programs, I suggest a

A.I.T.M Varanasi 33
 microSD card as the 32GB flash on the Venue 8 Pro is not a huge amount for a
Windows installation (Dell includes Office which bloats the device).

Fig. 4.1 Arduinodroid

4.3 Android Application

To control the robot we have used the application called Bluetooth robot remote
control using Bluetooth Module HC-05 & 89c2051 Microcontroller with your
Android Smartphone device.

We can download the hex file into it and control the operation using left,
right,up,down button and using these button we can operate the seeding, digging,
watering.

4.4Application instruction

 First make sure your HC-05 Bluetooth module is paired with your mobile. The
default password for pairing is “1234” or “0000”.Check the manual of Bluetooth
module.

 Click on “Select device” icon to select pair Bluetooth module.

 When press “up arrow” it sends the data “A” to Bluetooth module connected
with the circuit. When microcontroller detects “A” the robot MOVES Forward.

 When press “down arrow” it sends the data “B” to Bluetooth module connected
with the circuit. When microcontroller detects “B” the robot moves reverse.

A.I.T.M Varanasi 34
 When press “left arrow” it sends the data “C” to Bluetooth module connected
with the circuit. When microcontroller detects “C” the robot car turns left.

A.I.T.M Varanasi 35
 CHAPTER 5

CONCLUSION & FUTURE SCOPE

5.1 CONCLUSION

In agriculture, the opportunities for robot –enhanced productivity are immense-and

the robots are appearing on farms in various guises and in increasing numbers. The
other problems associated with autonomous farm equipment can probably be
overcome with technology. This equipment may be in our future, but there are
important reasons for thinking that it may not be just replacing human driver with
a computer. It may means the rethinking of how crop production is done.

Crop production may be done better and cheaper with the swarm of small machine
than the with a few large ones.

One of the advantages of smaller machine is that they may be more acceptable to
the non-farm community. The job in agriculture are a drag, dangerous, require
intelligence and quick, though highly repetitive decisions. Hence robot can be
rightly substituted with the human operator. The higher quality products can be
sensed by machine (color, furnace, weight, density, ripeness, size, shape)
accurately.

Robots can improved the quality of our lives but they are downside

5.2 ADVANTAGES

 The robot does not get sick or tired and does not need time off.

 It can operate with a closer tolerance (so every round is at full field capacity),
fewer error at higher speeds.

 Because machine CAN BE made lighter and cheaper if the driver seat, controls
and cab can be eliminated.

 It can be used in various fields like agriculture medicine, mining, and space

A.I.T.M Varanasi 36
 research.

 It can be send to another planet to study heir environmental condition.

 The machine could easily work around trees, rocks, ponds, and other obstacles.

 Small suburban fields could be world almost as efficiently as large tracts of land.

5.3 DISADVANTAGES

 One of the key disadvantages of driverless machines for agriculture is liability.

 Access to the technology

 Not currently scale neutral.

 Better sensor would help improve scouting programs would be essential.

 Robots could change the culture/ emotional appeal of agriculture.

 Energy issues.

5.4 APPLICATIONS

 Used in harvesting.

 Crop feeding and spraying.

 Crop monitoring and analysis.

 Fertilizing and irrigation.

 Automatic tractor.

5.5 FUTURE SCOPE

The future scope of Agricultural Robot is we can use the solar panel to store the energy
in the form of electrical energy so that we can use it as power supply for our project.
And we can also used cameras, sensors etc. to monitor our crops from long distance.

Data scouting at different stage of crop growth yield in a given field may vary in space
depending on a combination of factors such as nutrient availability, soil moisture,
rooting depth, pest pressure, weed density, crop maturity and others. Good agricultural
practice needs an application of optimum input at appropriate time series. Continue

A.I.T.M Varanasi 37
 monitoring and data collecting related to crop NDVI, Biomass, Leaf area index, crop
growth rate, water stress are an important parameter for optimizing the variable input
parameters in different stages of crop growth and also crop health.

Physical status monitoring would be less expensive and timelier if an automated

system could remain within the crop canopy for continual monitoring . Real-time
management of inputs like fertilizers, herbicides, at variable rate could be achieved
by sensing the different parameters of the crop measured in the field by and processing
it for further application part using microprocessor or microcontroller. As the robotic
vehicle continuously monitor the crop canopy it is easy to identify crop diseases and
pest attack at an early stage in patches or selectively. Also, it can monitor weed
density, water stress at a different stage of crop growing periods.

Weed competes with the crop for sunlight, space, and nutrients. To control weed
species, a large number of herbicides and chemicals are used in agricultural fields,
which results in drinking water contaminated and environmental pollution. Currently,
the excessive use of herbicides damages the health of people, animal etc. According
to the weed science research, about 33% of the total losses by agricultural pests are
caused by weeds only.

Therefore it is important to identify the weeds from the crop and selectively spray
herbicides to optimize the chemical application. There are various techniques
developed all over the word for distinguishing weed from the crop.

In the conventional weed control system, the herbicide is sprayed uniformly over the
field which may damage crop condition. Machine vision systems present a great
potential to be used on data collection for precision agriculture, where images would
be used to extract information. The autonomous agricultural robot can accomplish
intercultural operation using the machine vision based technique. It can be

Achieved by mapping the weeds in selectively or in patches by image processing

method, in row crop, the patch identification in between the row can help to
distinguish the weed. There is specific shape reorganization method are applicable for
classifying the weeds by its shape this method is more accurate in weed identification
method. Another method is color segmentation for identifying weeds. Based on all
these technique weed maps is generated.

A.I.T.M Varanasi 38
 Detecting weeds selectively from a field with the application of proper methods of
image segmentation technique and post processing the segmented data finally
optimize the application part of chemicals in the field. Based on the map generated
appropriate weeding technique is considered for weeding. Identifying the actual
position of the weeds mechanical weeder can be incorporated in removing weeds by
partial tillage operation at 2 to4 cm depth. Removing of weeds from between the row
is easy as compared to removing weeds from intra-row which required high- speed
sensing device and high- speed mechanisms to push rotary blades or chemical spray
for intra row application.

A.I.T.M Varanasi 39
 REFERENCES

[1] Muhammad Ali Mazidi. The 8051 Microcontroller and Embedded Systems Using
Assembly and C.

[2] [Link] Blackmore,B.S., founts ,S,Tang,L, and HAVE, H, 2004a,

Design specification for a small autonomous tractor with a behavioral control The
CIGR Journal of AE scientific research and development [Link]
[Link]/[Link].

[3] Blackjmore,B.S.,fountous,S,Vougioukas,S,Tang,L,Sorencen,C.G,and
Jorgensen,R.2004b,Decomposition of agricultural task into Robotic behaviors, The
CIGR Journal of AE scientific research and development in press.

[4] [Link] Uno-

hardware-design.

[5] [Link]

[6] [Link] module-2A-

and-arduino.

[7] [Link]

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