SEMINAR REPORT

ON

“AGRICULTURE ROBOTS”
Submitted to

RASHTRASANT TUKDOJI MAHARAJ NAGPUR UNIVERSITY,

NAGPUR

IN PARTIAL FULFILLMENT OF THE REQUIEMENT FOR THE DEGREE OF

B.TECH. BIOTECHNOLOGY

BY

MS. KRUTIKA V. WADHAI

(SECOND YEAR B.TECH BIOTECHNOLOGY)

UNDER GUIDANCE OF

DR. S. G. SUKE

(Asst.Prof., Dept.of Biotechnology)

DEPARTMENTOF BIOTECHNOLOGY
PRIYADARSHINI COLLEGE OF ENGINEERING, NAGPUR

SESSION: 2023-24
 CERTIFICATE

This is to certify that seminar report entitled “AGRICULTURE ROBOTS” has

successfully completed and submitted by Ms. KRUTIKA WADHAI towards fulfillment for
the degree of Bachelor of Technology (B. Tech.) at Department of Biotechnology,
Priyadarshini College of Engineering, Nagpur during the academic year 2023-24.

I further certified that the work has been carried out under my guidance with satisfactory
performance.

DR. S, G. SUKE DR.M.A.SONI

Guide Head of the Department

Place : Nagpur

Date :
 ACKNOWLEDGMENT

I take this opportunity to convey my gratitude to those who provided me help during
the course of my study.

It is indeed a great pleasure to express my sincere thanks and great sense of gratitude
to DR. S. G. Suke sir for his invaluable guidance, timely help and constant encouragement
during my seminar work.

I take opportunity to express sincere thanks to teaching and non teaching Staff of
Department of Biotechnology of Priyadarshini Institute of Engineering & Technology, Nagpur.

Lastly I’m thankful to my parent and friend for keeping my spirit alive through the
course of my seminar report.

PLACE: NAGPUR

DATE: KRUTIKA WADHAI

 LIST OF INDEX

Page
Sr. No. Content No.

1 INTRODUCTION 1

2 IMPLEMENTATION OF AGRICULTURE ROBOTS 4

3 FIELD ROBOTS 6

4 FRUIT AND VAGETABLE ROBOTS 11

5 APPLICATIONS OF AGRICULTURE ROBOTS 14

6 ADVANTAGES AND DISADVANTAGES 16

7 FUTURE SCOPE 18

8 CONCLUSION 19
 1. Introduction

In the development of digital agriculture, agriculture robots play a unique role and confer
numerous advantages in farming production. From the invention of the first industrial robots
in the 1950s, robots have begun to capture the attention of both research and industry. Thanks
to the recent advancements in computer science, sensing, and control approaches, agriculture
robots have experienced a rapid evolution, relying on various cutting-edge technologies for
different application scenarios.

The number of hungry people has been mounting due to the COVID-19 pandemic, and
surpassed 80 million in 2021, as reported by World Health Organization (WHO) [1] Moreover,
to handle the challenges of the aggravation of population ageing and acceleration of the pace
of life, traditional labour-intensive and risky farm work should be empowered by more
automated control work for promising outcomes. In the aspect of academic study, many
researchers have dedicated significant efforts to studying agriculture robots, especially during
the COVID-19 pandemic, as shown in Figure 1. Therefore, it is reasonable to explore
agriculture further using advanced technology in order to keep promoting the current status. It
should be mentioned that agriculture robots and intelligent automatic systems are usually
equipped with versatile sensing and fast-learning units, which provide encouraging
capabilities. In addition, much effort has been put towards achieving complete automation and
improving the operating efficiency of agriculture robots.

Figure 1. Trend of indexed publications related to agriculture robots.

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Agriculture robots generally refer o machines designed for farming production use. As an
integral member of the robot family, they usually possess advanced perception abilities,
autonomous decision-making abilities, control, and precise execution abilities. Furthermore,
they can achieve accurate and efficient production goals even under complex, harsh, and
dangerous environments. In Reference [2], the authors proposed a mechanism for considering
the coupling effect of temperature and pressure, and investigated the accuracy of the flow
characteristics, which is helpful in the development of agriculture robots.

Due to the practical requirements for labor-saving and efficient agriculture production, the
categories of agriculture robots have been continuously expanding, and their application
scenarios have become more diversified. In light of their different objects, agriculture robots
are usually divided into field robots [3], fruit and vegetable robots [4]. Furthermore, based on
an analysis of the relevant literature, the research on agricultural robots mainly involves field
robots and fruit and vegetable robots, especially in the harvesting domain. Although different
agriculture robots are characterized by their respective application scenarios, they bear a
number of similarities in core technologies. For example, a stable mobile platform, multi-
sensor collaboration, advanced visual image processing technology, sophisticated algorithms,
and flexible locomotion control are usually indispensable in constitute an agriculture robot.

In crop production systems, one of the most significant issues is connected to human labour-
intensive operations. These are, mainly, field tasks (such as sensitive fruits harvesting and intra-
row weed control) that are more difficult to be executed by traditional field machinery, and
human workers are employed. This has brought the increased need for autonomous tractors
and robotic platforms to be used in the crop field operations, currently developed at research
stage.

Field operations in agriculture are quite complex, and various issues should be addressed to
allow an effective transition towards the robotic era. To build a robotic solution, an overall
system analysis of the field operation should be conducted, together with a cost-benefit
analysis. Such a system should comply with very specific requirements, such as lightweight,
small size, autonomy, intelligence, communication, safety, and adaptability, to execute the
potential task effectively. The relatively smaller size of autonomous machines, compared to
conventional tractors and implements, contributes to the reduction of the soil-related issues and
in particular soil erosion and soil compaction, that was provoked by large and heavy modern
farm machinery. To automate these field operations, a decomposition of these tasks should be

2
performed to transform them into discrete robotic functionalities. This can be achieved by
classifying the agriculture tasks into deterministic (tasks that can be designed and optimized,
in advance) and reactive (tasks that are associated with behaviors that should deal with
unexpected conditions).

The main challenges that agriculture robots face are associated with both universal and task-
specific issues. Universal issues are related to terrain assessment, route planning, safety issues,
especially focusing on human detection, and fleet of robots. Task-specific issues are related to
specifications related to crop architecture, crop or pests detection and classification, and precise
application of inputs. Most of these issues are relate to the vision system, the robotic actuation
system, the navigation system in semi-structured agriculture environments, and the intelligence
to control both the robotic platform and the implement.

3
 2. Implementation of Agriculture Robots

With the rapid evolution of robotics, innovating in the field of agriculture robots continues, and
they are widely used in diverse agriculture production areas. In general, agriculture robots can
be catalogued into three types based on their application scenarios, ranging from fields and
orchards to farms. Moreover, agriculture production is a long-term cycle. Seeding, planting,
nurturing, harvesting, and processing and crucial steps towards agriculture industrialization.
Therefore, agriculture robots can be classified using the industrial chain as well (Figure 2).

Figure 2. Agriculture robots along the industrial chain [5]

The conditions for agriculture production are versatile and complex, which requires agriculture
robots to be equipped with outstanding adaptability, precise navigation, and obstacle avoidance
ability. Therefore, they are mainly manufactured with four parts to conduct their assignments:
vision system, a control system, mechanical actuators, and a mobile platform, as shown in
(figure 3)

Figure 3. Components of agriculture robots [6]

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Accordingly, these four parts exert their own influence on agriculture production. First, the
vision system can transform captured data into images using various cameras, such as thermal,
RGBD, TOF, and multi-spectral cameras. Thermal images are conductive to detecting hidden
vegetables, as proven by Hespeler et al. [7]. Second, the control system is the brain of the robot,
playing an instrumental role decision-making and motion planning. Third, advanced
mechanical actuators are a prerequisite for precise operation, especially for tender fruits and
vegetables. Lastly, mobile platforms enable robots to navigate, avoid obstacles, perform

detection, and carry out tasks ( Figure 4).

Figure 4. Implications of robotic components [8].

5
 3. Field Robots

Field robots usually refer to autonomous, decision-making, mechatronic, and mobile operation
devices that can accomplish various crop production tasks semi-automatically or automatically.
Most field robots are designed to locomote using wheels; the use caterpillars and drones is rare.
Interestingly, the implementation of drones is centered on crop protection via spraying of
pesticides. Typical assignments include tilling, seeding, crop protection, information
collection, and harvesting.

3.1 Tillage Robots :

Tillage robots refer to intelligent machines that are utilised to cultivate the land. As we all
know, tillage is a monotonous and labour-intensive task. Tillage robots can free farmers from
heavy labour while enhancing the efficiency and quality of cultivation, and play an
instrumental role in digital agriculture.

The machinery of tillage robots are relatively developed owing to arduous exploration. As a
result, recent advancements in tillage robot technology mainly lie in updating robot systems.
Owing to severe population ageing. The Japanese are quite concerned about the automation of
agriculture production. Early in 2013, Tamaki et al [9] developed a robotic system with three
robots for large-scale paddy farming. In the automated system, the first element is a tillage
robot navigated by RTK-GNSS and inertia measurement unit (IMU) or GPS compass that can
locomote between the paddy fields. In a way, this invention previewed Japan’s promising
future of agriculture robots. In 2021, Panarin developed existing software for tilling robots,
partly aiming to ensure adaptation between software systems and manufactured robots.
Furthermore, customer requirements have been fully satisfied by using ROS (Robot Operating
System) and adapting digital robots to their surrounding. In addition to typical tillage robots,
robotic tractors contribute to tilling operations to a great extent . Recently, John Deere rolled
out an electric robot tractor called Sesam 2, which can produce 300kW (400 hp) of power and
play a key role in both tilling and harvesting, Moreover, it is able to achieve synergy with
several other robots .

6
 Figure 5. Tillage robot

3.2 Seeding Robots :

Sowing is the primary process in field production. Therefore, seed-sowing robots are
conductive to sowing seeds in exact positions, saving both time and cost for farmers.

To date, many functional seeding robots have been invented and put into extensive practice.
The precision seeding robot for wheat shown in figure 6 [10] was designed with four wheels,
servo motors, and stepper motors. According to the trial results, its seeding rate surpassed 93%
in typical sowing speed. In [6], the authors proposed a seeding robot that can dig soli, plant
seeds, and cover them with soli. The function of adding fertilizer and watering is available as
well. In 2019, Raj et al. [11] designed and tested an automatic robot for seeding and micro dose
fertilizing. It was expected that the robot could plant different seeds, and the trial outcome
displayed outstanding prototype performance. Kumar et al. developed an intelligent seed-
sowing robot controlled by an IoT system which was able to achieve complete seeding
automation. Stepper motors and DC motors were utilized to power the robot.

7
 Figure 6. Wheat precision seeding robot [10]

3.3 Crop Protection Robots :

Generally speaking, traditional crop protection involves spraying poisonous pesticides

manually, which adversely affects farmers health. In order to diminish exposure to pesticides,
an intelligent robotic system was developed to automatically spray pesticides based on a control
algorithm for navigation and a high-efficiency trajectory calculating algorithm. Deshmukh et
al. [12] studied and analyzed a multi-purpose pesticide spraying robotic system using a fuzzy
control system; it was able to locate infected plants and then spray the appropriate pesticide.

However, ordinary crop protection tends to incur overuse of pesticides, which raises production
expenses and does harm to the environment. More precise crop protection methods are
expected to cope with this issue. One well-known piece of equipment is the Yamaha R-MAX,
developed by the Japanese, which is a leading platform in aerial pesticide spraying. Ghafar et
al. [13] developed a cost-saving spraying robot to satisfy the need for spraying pesticides and
fertilizers, shown in figure 7. As shown in figure 8, lost et al. [14] introduced novel technologies
for small drones, including sensing and actuation drones. By collaborating with each other, the

8
intelligent system provides sustainable pest control. A new modular system for precision
farming was put forward in based on the technology of individual nozzles and computer vision.
The application of these machines can both protect the environment and save farming-

expenses.

Figure 7. Agriculture robot prototype moving along a crop path [13].

Apart from pest control, Overall environmental management pertains to crop protection as
well. Martini proposed an automated gardening robot that can automatically plant and monitor
soil and water. Similarly, based on DTMF Srivastava developed a multi-function field robot
that can measure soil moisture, irrigate and spray pesticides, etc. Furthermore, it can be
controlled remotely.

9
Figure 8. (a) State-of-the-art open-loop remote sensing paradigm and (b) closed-loop IPM
paradigm envisioned in [14]. Sensing drones can be used to detect pest hotspots, while
actuation drones can be used for precision distribution of solutions.

Several advanced technologies have been applied to crop protection robots, such as the ant
colony algorithm, trajectory method, and optimized robot systems. An et al [15] proposed a
more precise and efficient ant colony algorithm for plant protection robots, aiming to improve
the reliability and accuracy of path planning. For the agriculture development of crop planting
in western China, a region characterized by fragmentary cropland, Ma et al [16] determined a
novel trajectory method by analyzing the arrangement of crops using the ant colony algorithm.
In figure 9. Nascimento optimized an autonomous pesticide spraying robot system, enabling
the sprayer to detect rows and activate nozzles.

Figure 9. Tractor-mounted boom sprayer

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 4. Fruit and Vegetable Robots

Manpower cannot fully meet the rapid requirement of the agriculture products market.
Alternatively, smart robotics can be an efficient solution to increase the planting areas for the
markets in combination with changes in cultivation, preservation, and processing technology.
In this section, three major types of fruit and vegetable robots are be introduced, including
transplanting robots, patrolling robots and picking robots.

4.1 Transplanting Robots :

With regard to transplanting performance, accuracy and stability are two critical indicators.
Therefore, Jin [17] proposed an advanced control approach using manipulators for hydraulic
transplanting robots. As a result, the control accuracy and stability of transplanting was
improved. Yang [18] developed a transplanting robot with three degrees of freedom. A
subsequent trial was conducted, and the result showed that the transplanting robot could
achieve a success rate of 95.3% . Han constructed and evaluated a multi-task transplanting
robot that could reach a success ratio of 90% even at a speed of 960 plants/min per gripper.
Future research that integrates agronomic and mechanical requirements is expected.
Furthermore, the design of more inexpensive products for smallholder farmers is anticipated.
In Figure 12, Liu [19] designed an advanced transplanting robot for sweet potatoes which was
distinguished by two-degree-of-freedom path control. Notably, this machine can automatically
implement diverse transplanting strategies in light of different terrain types. The minimum
qualified rate of seeding erection angle and planting depth was 94.7% and 94.8%, respectively,
satisfying the practical requirements of mechanical transplanting f sweet potatoes.

Figure 10. 1. Transplanting robot arm; 2. Transplanting position; 3. Crawler chassis; 4. Control
box; 5. Filling robot arm [19]

11
4.2 Fruit and Vegetable Patrolling Robots :

Fruit and vegetable patrolling robots usually navigate autonomously, collect various
information, and finally transmit feedback gathered information to farmers. The data they
gather incorporates fruit and vegetable maturity, environmental parameters, and pests. Based
on colour proportion analysis, Zhou [20] improved a scouting robot to detect tomatoes and
measure their maturity using YOLOV4. It is worth mentioning that the identification accuracy
rate is extremely high, reaching 95%, and the detection speed is more than 5 frames/s in the
naturel greenhouse. Lida designed an information-collecting robot to collect environmental
information, such as CO2 content, temperature, and humidity. In addition, they validated the
usefulness of the proposed robot through a prototype.

Wang [21] developed a patrolling robot on the basis of the Web of Things, which can send
processed warning information to users, thus instructing farmers to plant scientifically.
Introducing the Web of Things to agriculture production is beneficial in intelligent planting
applications. In figure 13 an ROS-based architecture dubbed Robot framework are that
successfully combines various robotic skills, such as navigation and manipulation. These
innovative solutions enable the possibility of new mobile robotic manipulators.

Figure 11. GreenPatrol robotic platform entering a greenhouse.

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4.3 Fruit and Vegetable Picking Robots :

Fruit and vegetable picking robots usually refer to automatic machines designed for large-scale
detection and picking of fruits and vegetables in modern agriculture. Robotic harvesters are
classified into bulk and selective robotic harvesters, and include kiwi-picking robots, apple-
picking robots, strawberry-picking robots, tomato-picking robots, and more. In addition,
numerous examples have proven that fruit and vegetable picking robots have become a
prevalent topic among agriculture robots.

Williams [22] developed a kiwi fruit-picking robot. This type of kiwi fruit-picking robot
consists of a machine vision system, end effectors, and four harvesting arms. Specifically, the
robot employs a convolution neural network (CNN) which performs semantic segmentation on
images of the canopy. However, due to obstructions and loss, only 51% of kiwi fruits were
successfully picked by the novel robotic kiwi fruit harvesting system in the test orchard.

With regard to apple-harvesting robots, Kuznetsova [23] developed a machine vision system
based on a YOLOv3 algorithm with pre and post-processing for detecting apples. By
employing pre-and post-processing, the fruit detection rate increased from 9.1% to 90.8%
compared with standard YOLOv3. Notably, only 19ms was required to detect each apple;
objects mistaken for apples accounted for 7.8%, while 9.2% of apples were unrecognized. A
complete and totally autonomous picking robot was implemented by the agriculture R&D
company Octinion to detect and pick ripe fruits without damaging them.

Figure 12. Robotic system for lychee harvesting

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 5. Applications of Agriculture robotics

5.1 Autonomous precision seeding :

Sowing seeds is the basic process to begin farming. Traditionally, farmers have been sprinkling
seeds using their hands. When modern machinery came to effect, farmers used ‘broadcast
spreader’ attacked to tracker to sprinkle them. Although the process got simple, these attached
features threw a large proportion of seeds around the field, making a complete waste of it.
Thankfully, autonomous precision seeding is here to help. With a combination of robotics and
geomapping, the mechanism can place the seeds exactly where it needs to be for good growth.

5.2 Multi-talented robots for harvesting :

Robots are well known for replacing humans with repetitive tasks. That is what they do at
harvesting and picking. Harvesting is monotonous work that has to be done in order to reap
useful food products. To relieve humans from these tedious tasks, robots are taking over the
process. While planting and reaping basic food grains like wheat and barley can be done easily
by robots, others like fruits and vegetable harvesting need multi-talented robots.

5.3 Micro-spraying robots :

While spraying pesticide repellent on the plants, most of the content ends up ruining the soil.
Although the ground is constantly ploughed to change its texture, there is less chance for the
future plantation to escape the chemicals. It is also harmful to the environment. Therefore,
farmers are using micro-spraying robots to narrow down the impacts. With futuristic computer
vision technology, micro-spraying robots can detect weeds and then spray a targeted dropof
herbicide onto them.

5.4 Robotic automation process (RPA) :

Nursery planting is a go-to option for plant lovers. By planting the needed crops at home, we
can get vegetables and fruits for our day-to-day usage. However, it is quite hectic to groom and
water them on regular basis. This is where the robotic automation process gives its best.
Robotic process automation takes care of all the nursery planting works including watering at
regular intervals and plucking the vegetables or fruits when it is ripe.

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5.5 Robots to remove weeds :

Weeds are the biggest enemies to farmers. Removing their notorious unwanted growth is both
time-consuming and difficult. That is why farmers are now using robotics to counter the
challenge. Autonomous robots, powered with computer vision technology, are capable of
exactly identifying the weeds and yanking them out before they could spread further.

5.6 Drones :

Drones are not really new to farming. Since the 1980s, drones were used to capture aerial
photography of fields. Even when modern drones, powered with artificial intelligence, made
their debut, agriculture was one of the primary industries that took the lead to full-fledgedly
implement it. Today, drones are used to capture 3D imaging, map-building, and crop
monitoring.

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 6. Advantages and Disadvantages

6.1 Advantages :

 The robots are not getting sick or tired, and the time off is not needed.
 With higher speeds and loser tolerances, they can operate with fewer errors.
 They make fewer errors and operate at higher velocities and higher quality.
 The robots can reduce the use of pesticides by up to 80% of the farm.
 In different fields, robots are more efficient and can work around trees, rocks, ponds,
and other obstacles easily.
 For technicians, the robots can create jobs that can fix the robots.
 The robots can deliver products of high quality and lower the cost of production.
 Robots gantry can function as both fertilizer or liquid sprays and, most importantly, as
an automatic self-control system that meets weather conditions.
 They can be small in size, allowing to accumulate near-crop data and perform
mechanical weeding, mowing, spraying, and fertilizing.
 Robotic cameras and sensors are capable of detecting weeds, identifying pests, parasites
or diseases, and other stress. Usually, the sensors are selective and are only used to
spray on the affected area.
 Robots provide an opportunity to replace human operators with a good on investment
by providing effective solutions.

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6.2 Disadvantages :

 Implementing robotics agriculture can be expensive. Purchasing and maintaining

robots, along with the necessary infrastructure and software, can be a siginificant
upfront investment.
 Agriculture robots are often designed for specific tasks, which can limit ther
adaptability to different crops or farming practices. Farmers may need multiple robots
for various operations.
 Robotic systems require technical expertise for setup, maintenance, and
troubleshooting. Farmers may need specialized training to operate and maintain these
machines effectively.
 The automation of labor-intensive tasks can lead to concerns about job displacement in
rural areas, potentially affecting farmworkers livelihoods.
 Maintaining and repairing robotics systems can be challenging, especially in remote or
rural areas where technical support may be limited.
 While robotics can reduce the need for chemical inputs, the production and disposal of
robotic equipment can have environmental impacts, such as resource consumption and
e-waste.
 Relying heavily on robotics and automation can make farmers vulnerable to technology
failures, such as software glitches or hardware malfunctions, which can disrupt
operations.

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 7. Future Scope

 Robots can perform tasks like planting, harvesting, and spraying, with precision,
optimizing resource use and increasing yield.
 Drones and ground robots equipped with sensors can monitor crop health, detect
diseases, and provide data for better decision-making.
 Robots can target and remove weeds and pests selectively, reducing the need for
chemical pesticides.
 Automation can address labor shortages in agriculture, ensuring consistent production.
 Robotics can generate vast amounts of data, enabling farmers to make data-driven
decisions for crop management.
 Reduced chemical use, precise resource management, and minimized soil disturbance
contribute to sustainable agriculture.
 Self-driving tractors and equipment can operate 24/7, increasing efficiency.
 Robots can be used for tasks in controlled environments, further optimizing production.
 Continuous advancements in robotics and AI will lead to more specialized and efficient
agriculture robots.
 As technology become more affordable, agriculture robots will become accessible to
farmers worldwide.
 The adoption of agriculture robotics is expected to enhance productivity, reduce
environmental impact, and address the challenges faced by the agriculture industry.

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 8. Conclusions

This study has report the current status and applications of various agriculture robots by
categorizing two primary types of agriculture robots, namely, field robots and fruit and
vegetable robots. Many kinds of robots have been described in detail in terms of their features,
functions, and applications. I addition, we have discussed the applications, advantages and
disadvantages and future scope of agriculture robotics. In these, we have also studied the
implementation of agriculture robots. this seminar report can provide inspiration for
researchers to grasp the future trends in the study of agriculture robots, which include but are
not limited to human-robot interaction, agronomics, sensors, and the realization of full
automation.

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