Fabrication of GSM Controlled Multi-Purpose Agricultural Prototype

Project Report
on
“Fabrication of GSM Controlled Multi-purpose Agricultural Prototype”
Submitted by
MOHAMMED SABIR CHITWADGI 1NH13ME735

MOHAN SHARMA 1NH13ME736
NURUL ISLAM 1NH13ME739
SANDEEP SHARMA 1NH13ME747
In partial fulfillment of
BACHELOR OF ENGINEERING
IN
MECHANICAL ENGINEERING
Under the guidance of
Mr. Shivaprakash S
Senior Assistant professor ,
Department of Mechanical Engineering,
N.H.C.E, Bangalore.
DEPARTMENT OF MECHANICAL ENGINEERING

NEW HORIZON COLLEGE OF ENGINEERING
BANGALORE-560 103
2016-17
NEW HORIZON COLLEGE OF ENGINEERING
DEPARTMENT OF MECHANICAL ENGINEERING
CERTIFICATE
It is certified that the project entitled “Fabrication of GSM Controlled Multi-purpose
Agricultural Prototype” is a bonafide work carried out by Mohammed Sabir
Chitwadgi, Mohan Sharma, Nurul Islam and Sandeep Sharma for the partial
fulfillment for award of degree of Bachelor of Engineering in Mechanical
Engineering of New Horizon College of Engineering, Bangalore during the year
2016-2017. It is further certified that all corrections/suggestions indicated for internal
assessment has been incorporated in the report deposited in the department library.
The Project has been approved as it satisfies the academic requirements in respect of
Project Work prescribed for the Bachelor of Engineering degree.
Signature of the guide Signature of the HOD Signature of the Principal

Mr. Shivaprakash S Dr. M S GANESHA PRASAD Dr. Manjunatha
Senior Assistant Professor Dean-Students Affairs & HOD-ME, Principal
Dept. of Mechanical Engineering. Dept. of Mechanical Engineering. NEW HORIZON COLLEGE OF
ENGINEERING
Name of the student: University Seat Number:

MOHAMMED SABIR CHITWADGI 1NH13ME735
External Examiner(s) Signature with Date
1.
2.
DECLARATION
I hereby declare that the entire work embodied in this dissertation has been carried
out by me and no part of it has been submitted for any degree or diploma of any
institution previously.
Date:
Place: Bangalore
MOHAMMED SABIR CHITWADGI 1NH13M3735

CERTIFICATE
This is to certify that the above declaration made by the candidates is correct to
the best of my knowledge and belief.
Place: Bangalore Mr. Shivaprakash. S

Date: Sr. Asst. Professor,
Department of Mechanical Engg,
N.H.C.E, Bangalore.
ACKNOWLEDGEMENTS
I thank the Lord Almighty for showering His blessings on me.
It is indeed a great pleasure to recall the people who have helped me in carrying
out this project. Naming all the people who have helped me in achieving this goal would
be impossible, yet I attempt to thank a selected few who have helped me in diverse ways.
I wish to express my sincere gratitude to Dr. Manjunatha, Principal, NHCE,
Bangalore, for providing me with facilities to carry out this project.
I wish to express my sincere gratitude to Dr. M S Ganesha Prasad M.E., Ph.D.,
Dean-Students Affairs & Head of Department, Mechanical Engg., for his constant
encouragement and cooperation.
I wish to express my sincere gratitude to my teacher and guide Mr. Shivaprakash
S, Senior Assistant Professor in the Department of Mechanical Engg., NHCE, for his
valuable suggestions, guidance, care & attention shown during the planning, conduction
stages of this project work.
I express my sincere thanks to project coordinators, all the staff members and non-
teaching staff of Department of Mechanical Engg., for the kind cooperation extended by
them.
I thank my parents for their support and encouragement throughout the course of
my studies.
MOHAMMED SABIR CHITWADGI 1NH13M3735
ABSTRACT
All trades of village artisanship in black-smith carpentry, stone etc. contributed to the design
of development of farm tools through artisan’s ingenuity. Carpentry made the counterpoise to
lift the water from wells to irrigate crops. Farming is the backbone of Indian economy. This
prototype can able to dig the ground and can sow the seeds and spray the water automatically.
The seeds are fed manually in the hopper. The hopper is connected with an impeller which
sprays the seeds in the ground and the impeller is operated by a motor in the front of the
setup, it consists of set of blades, which is also operated by a motor which digs the ground.
Then a sprinkler sprays the water and the pump delivers the water from the pump to the
sprinkler. The seed spraying operation are controlled by GSM. Another motor is provided for
the movement of the setup. The digging operation is done first followed by the seed sowing
operation and finally the water sprinkling operation is done. All the operations are carried
through GSM. Operations like moving forward, seed sowing, water sprayer and weed cutter
are all carried out through GSM.
CONTENTS
Sl. No Chapters Page no

1 INTRODUCTION 1
1.1 Problem Statement: 1
1.2 Scope of the Project: 2
2 LITERATURE SURVEY 3
2.1 Types of Robots used in Agriculture: 4
2.1.1 Demeter: Robot farmer 4
2.1.2 Weed Controller 6
2.1.3 Treebot 7
2.1.4 Forester robot 7
2.1.5 Robot in Horticulture: 8
2.1.6 Fruit picking robot 9
3 OBJECTIVES 11
4 METHODOLOGY 12
4.1 Manufacturing and Fabrication 13
4.1.1 Components used 13
4.1.2 Sources required for developing this prototype. 13
5 HARDWARE COMPONENTS 14
5.1 DC Gear Motor 14
5.1.1 The principle 15
5.1.2 Categorization of electric motors 16
5.1.3 Specifications of 180W wiper motor 17
5.2 Battery 17
5.2.1 Lead-Acid Wet Cell. 18
5.2.2 Construction. 19
5.2.3 Chemical action 20
5.3 GPRS /GSM SIM900A modem with ARDUINO 21
Compatible.
5.3.1 Features 21
5.3.2 GSM module setup 21
5.3.3 Power Modes 22
5.3.4 Narration of GSM SIM900A Modem with Arduino 23
compatible
5.4 GSM commands 24
5.4.1 Rectifier 24
5.5 Relay 26
5.5.1 Overview 26
5.6 Advantages of Relay 27
5.7 Resistor 27
5.8 Capacitor 28
5.8.1 Ceramic capacitor 29
5.8.2 Electrolytic capacitor 30
6 CALCULATIONS 31
6.1 Details of calibration of seed drill: 31
7 TESTING 32
7.1 Operations 32
7.1.1 Seed sowing operation 32
7.1.2 Mud closing and levelling operation 32
7.1.3 Water spraying operation 33
8 ADVANTAGES, DISADVANTAGES AND APPLICATIONS 34
8.1 Advantages 34
8.2 Disadvantages 34
8.3 Applications 34
9 PHOTOGRAPHY 35
9.1 Different views of Multi-Purpose Agricultural prototype 35
10 BILL OF MATERIAL 38
11 CONCLUSION 39
12 FUTURE SCOPE 40
References 41
LIST OF FIGURES
Figure no Description Pg. no
2.1 Demeter harvesting the crop in Holland 5
2.2 Removing weeds using a vision guided Inter row cultivator 6
2.3 Forester robot 8

2.4 Fruit picking robot 9
2.5 Robot picking from Apple orchard 10
2.6 Robot working at night in citrus garden 10
4.1 Block Diagram of Multi Purpose Agricultural Robot 12
5.1 Motor Construction 15
5.2 D.C. Motor working principle 15
5.3 Motor 17
5.4 Lead acid battery 19
5.5 Construction of Lead acid battery 19
5.6 Chemical reactions in batteries 20
5.7 SIM card slot 22
5.8 Controller 22
5.9 GSM sim900A 23
5.10 Rectifier 25
5.11 Diode In4007 25
5.12 Relay switching 27
5.13 Resistors 27
5.14 Modern capacitor, by a cm rule 28
5.15 Ceramic capacitors 29
5.16 Axial lead (top) and radial lead (bottom) electrolytic capacitors 30
7.1 Seed sowing operations 32
7.2 Mud closing and levelling operation 33
7.3 Water spraying operation 33
9.1 Chassis 35
9.2 Front View 35
9.3 Rear View 36
9.4 Top View 36
9.5 Right View 37
LIST OF TABLES
Table no Description Page no.

5.4 GSM commands 24
10.1 Bill of materials 38
Fabrication of GSM Controlled Multi-Purpose Agricultural Prototype
CHAPTER 1
INTRODUCTION
The idea of using GSM technology is very new. In agriculture, the opportunities for
atomisation is increasing day by day and increasing in numbers. We can expect the our
prototype performing agricultural operations autonomously such as ploughing, seed sowing,
mud closing and water spraying. Watching the farms day & night for an effective report,
allowing farmers to reduce the environmental impact, increase precision and efficiency, and
manage individual plants in novel ways.
The opportunity of replacing human operators provides effective solutions

with return on investment. This is especially important when the duties, that need be
performed, are potentially harmful for the safety or the health of the workers, or when more
conservative issues are granted. Heavy chemicals or drugs dispensers, manure or fertilizers
spreaders, etc. are activities more and more concerned by the deployment of unmanned
options.
1.1 Problem Statement:
Conventional techniques depend on human power for lifting, dragging, ploughing,

seed sowing, mud closing and water sprinkling. Also Humans are prone to work in hazardous
environment while spraying chemicals and pesticides. The tractors compact the soil, as they
are larger in weight. They cannot move in terrain conditions. These methods cannot identify
the crop and soil in close proximity. Our prototype can work restlessly in all environments;
all you have to do is set a program to perform the desired activities.
The real power required for machine equipment depends on the resistance to the
movement of it. Some of these resistances are the wind resistance, the rolling resistance and
the gradient resistance.
Even now, in 98% of the contemporary machines that run, this power for movement is
provided by the burning of fossil fuels in the IC engines or the external combustion engines.
This, as evident, has led to widespread air, water and noise pollution and most importantly
has led to a realistic energy crisis in the near future.
Department of Mechanical Engineering, NHCE 2016-2017 Page 1

Although, large sized wheels are required in muddy soils, our prototype with small
sized wheels performs well. The lightweight of our prototype is a major advantage, since they
do not compact the soil as larger machinery does. Our prototype will roam on fields to take
care for plants.
1.2 Scope of the Project:
The presented prototype control system is our project for the 8th semester. Our project
aims at fabricating a prototype vehicle which can be controlled wirelessly through a GSM
communication.
The main objective of this project is to improve the current way of farming by
introducing dual purpose equipment. It helps farmers by sowing the seeds and fertilizers. We
have fabricated a device called “GSM controlled multi–purpose agricultural prototype”. To
sow the seeds first land should be dig and after sprayed the seeds the land should be filled.
This equipment which we build will do the mentioned functions automatically. It will be very
useful for agricultural purpose and very simple in construction and economical.
The seed sowing machine is used to sowing the seeds into land for making lots of
plant production in agricultural field. It is a mechanical device here no electrical or other
power source is not required. The cost of this machine is very low and easy to operate simple
in construction. As there is tremendous development in the field of engineering the current
scenario makes us to find solution for major problems faced by the agricultural field. Lot of
equipment was inverted to sophisticate the work of labour in the farms.
Thus taking into consideration the ever increasing pollution levels and the stringent
pollution norms (EURO-II and onwards) set up by the POLLUTION CONTROL BOARDS,
and since the fossil fuels are depleting, probably may last within the decades to come or
earlier, and to reduce the running cost of the digging machine, we are in an attempt to
incorporate the above mentioned features in our Multi-Purpose Agricultural prototype.

CHAPTER 2
LITERATURE SURVEY
The development of a robotic system is aimed at enabling tasks that cannot be
done by human workers or replacing human tasks that are considered to be inefficient or
subject to danger. Today there are over one million robots in the world, and many of them are
successfully operated in factory environments. This population continues to grow and due to
the existence of a number of laborious human tasks, robotisation in outdoor environments has
received considerable attention in the last decade. This includes mining, agricultural,
underwater and space industries.
There have, however, not been successful implementations of robots in outdoor
environments. This is also true for agricultural industry. The difficulty for handling an
outdoor environment in comparison to an indoor environment is largely due to the facts that
 The outdoor environment is larger in area,
 The structure of the outdoor environment is much more complicated and unknown,
which characterizes outdoor robotics as?
(1) There are a number of different tasks to be conducted.
(2) Each task requires high-level intelligence in sensing, planning and actuating.
The first objective of this article is to review ongoing research activities of groups
who are developing agricultural robots.
Many sub-problems necessary for the automation have not been even solved yet. The
second objective of this article is thus to classify problems existing in agricultural robotics as
sub-problems, briefly review updated research projects to solve each sub-problem and
introduce problem setups for agricultural robotics.
Researchers at Carnegie Mellon University developed an autonomous harvesting
machine known as Demeter system (Pilarski et al., 2002). The robotic machine harvested
more than 40 hectares of crop without human intervention. The base machine was a
retrofitted New Holland 2550 self- propelled windrower. Researchers at the Technical
University of Denmark (Madsen and Jakobsen, 2001) developed an autonomous robot
prototype specifically for weed mapping. This robot was developed to mitigate the adverse
effects of weed species like water hemp that are developing glyphosate resistance (Grift et
al., 2006). French and Spanish institutions in collaboration with equipment manufacturers
developed a citrus harvesting robot (IVIA, 2004). This robot is different from weeding or
scouting robots as it has an on-board manipulator to identify and harvest citrus fruit. Similar

research efforts to develop citrus harvesting robots were conducted at the University of Florida
by Hannan et al. (2004).
Robotic harvesters for specialty crops like cherry tomatoes (Konda et al., 1996),
cucumbers (van Henten et al., 2002) mushrooms (Reed et al., 2001), cherries (Tanigaki et al.,
2008) and others fruits (Kondo et al., 1995) have also been developed. Although, autonomous
robotic manipulators are commercially available. The most sophisticated tractors available
today feature automation of numerous machine functions but, require an operator to closely
monitor the tasks being performed.
John Deere Company is currently working on a project to enable a single, remote
user to supervise a fleet of semi-autonomous tractors mowing and spraying in an orchard
(Zeitzew 2006, Moorehead et al., 2009). In a similar effort, three autonomous peat
harvesting machines performed 100 field test missions during tests conducted with end users
(Johnson et al., 2009). The successful implementation of a multi-robot system by these
researchers is a testimony to the fact that Ag-robots can work in real-world applications and
the field of agriculture is evolving in to a high-tech work environment. Although
autonomous, these first generation systems require close supervision by human operators and
require further improvements to transform them into intelligent autonomous machines.
2.1 Types of Robots used in Agriculture:

2.1.1 Demeter: Robot farmer:
"Labour requirements to grow and harvest the crops must be reduced through
automation". The main area of application of robots in agriculture is at the harvesting stage.
Demeter is a robot that can cut crops like wheat and alfalfa. It is named for the Roman
goddess of agriculture. Although, it may look like a normal harvester, Demeter can drive by
itself without any human supervision. Unfortunately, people get tired and bored, and their
productivity goes down. With a robotic harvester, however, it never gets tired and can operate
24 hours a day.
Demeter has cameras on it that can detect the difference between the crop that has
been cut and crop that hasn’t. This information tells it where to drive, where to put its cutter
head, and when it has come to the end of a crop row so it can turn around. Demeter has a
cruise control function. An operator can ride along with it. Demeter can drive, steer, and
control the cutter head while the operator can focus on other tasks. The Demeter robot can

also be driven by remote control. Or, Demeter can be taught a path, and then follow that path
using its on board sensors and computer control systems. It can follow the path with an
accuracy of up to 3 centimetres.
The Demeter system strives to provide three levels of automation to harvesters, and
eventually to tractors and combines. First, a “cruise control” feature, which will automatically
steer, drive and control the harvesting header, will be provided to harvester operators. This
feature will allow the operator to focus on other in-cab controls and harvest conditions, and to
better handle contingency situations. Secondly, a “drone” feature will be provided, allowing
one operator to remotely control several harvesters.
Figure 2.1: Demeter harvesting the crop in Holland.
Thirdly, a fully autonomous machine will be developed that will allow a harvester to
completely harvest a field with no human supervision.
 Benefits:
The first two levels of the Demeter system allow fewer, lesser-skilled operators to
provide performance equal to or better than the current harvester performance on the average
farm. At the final level of automation, performance will be maintained with no human
supervision.

2.1.2 Weed Controller:
Farm working usually involves a harsh environment such as limited work space and
soft, unstable or uneven surfaces. The development of novel weeding technologies that can
reduce manual effort by 50% to 100% in organically grown sugar beets and vegetable and
herbicide usage by 75-100% in high value crops. They can also be used in plants, which are
widely separated. This techniques use robots in the field, to replace operators on steerage
hoes.
Figure 2.2: Removing weeds using a vision guided
Inter row cultivator
A four-wheel-drive weed-seeking robot was developed by the Danish Farm Research

Authority. The task of the weed-removing device is to remove or destroy the weed. Crops
that are grown in rows can be weeded by running a hoe between the crop rows. Labor
consuming systems that involve an operator driving the tractor, with a second person
controlling the hoe. An intelligent hoe uses vision systems to identify the rows of crops, and
steer itself accurately between them, considerably reducing the need for herbicides Weed
identification is based on colour photography. The equipped robot helps production of weed
maps identifying plant.
Vision guided intra-row cultivator, able to perform mechanical weed control within
the row of sugar beets plants, thus totally eliminating the need for chemical weed control. An
Autonomous mobile robot for agriculture operations is driven by its two wheels at the back,
each independently driven with a DC-servo motor equipped with encoder, tachometer and
brakes. The steering mechanism is an Ackerman-steering controlled with a DC-servo-motor.
The electrical power is provided by batteries or by a fuel-driven generator the systems looks
at a certain environment containing several plants. Knowing that the sugar beet plants are

sown in rows and with a certain constant distance among them, it is possible to classify the
sugar plant from the weed plant. It could be saving farmers money right from the starting. For
safe night work, field obstacles can be programmed into each field map so the tractor can
automatically take avoidance action.
2.1.3 Treebot:
A fearless mobile robot is helping scientists monitor environmental changes in forests.

The hi-tech Tarzan of the robot world, nicknamed Treebot, is the first of its kind to combine
networked sensors, a web cam, and a wireless net link. It is solar-powered and moves up and
down special cables to take samples and measurements for vital analysis.
Treebot has been developed by scientists at the US Center for Embedded Network
Sensing in California. Pinpoint precision Programmed with open-source computer code,
Linux, the Treebot is a vital addition to researchers' environmental monitoring kit, according
to one of the project leaders, Professor William Kaiser. "One of the objectives is to make use
of distributed sensors to acquire information about the environment," he said.
"It is very important in the biology community to understand the interaction between
the atmosphere and the forest environment." Understanding subtle changes in light, humidity,
and carbon dioxide levels give scientists crucial indications and predictions about
environmental change. But 90% of all interaction between the environment and atmospheric
conditions happens high up in the forest canopy, and it is a challenge taking detailed
measurements and monitoring conditions over a period of time. The Treebot, which in
scientific terms is a node in a Networked Info mechanical System (Nims), helps by being
stealthy enough to travel through the forest canopy along specially constructed cabling, night
and day.
2.1.4 Forester robot:
This is a special type of robot used for cutting up of wood, tending trees, and pruning
of X-mas tree and for harvesting pulp and hard wood and in the forests. It employs a special
jaws and axes for chopping the branch.The forester robot with six legged moves in the forest.

The Figure 2.3 shows the robot moving wood out of the forest. The leg coordination
is automated but still the navigation is done by the human operator on the robot.
Figure 2.3: Forester robot
2.1.5 Robot in Horticulture:
Robot is used in lawns to cut the grass the grass in lawns. This type of robo was
already released in the market. What all is to be done is to lay a wire along the garden and
connect it to the perimeter switch. The Robo-mower's patented technology allows it to
negotiate and move around obstacles. And because it moves in a triangular pattern from
many different directions, it'll cut any lawn, regardless of its geometric shape. In automatic
mode, a fully charged Robo-mower can typically mow a lawn of 2500 to 3200 sq. ft.,
depending on the number of obstacles in its path, slopes, height of grass, humidity, etc. It
operates electrically on rechargeable batteries, mulching blades and whisper quiet operation.
No fumes or oil leaks. No pollution Whisper quiet operation.
 Runs on rechargeable power pack--no need for oil and gas.
 Press one button and mover starts working, you are not needed on the lawn while
it operates
 An excellent mulcher, so you won't need to collect and bag any grass clippings.
 Loaded with built-in safety features to protect children and pets.
 No need to worry about theft with the new theft deterrent system.

2.1.6 Fruit picking robot:
The principles of fruit picking robots have been developed since the early 1980’s.
These principles have opened up new approaches to the harvesting of crops. However, to
fully develop the fruit picking robotics technology, contributions from high-tech industry,
agricultural commodity groups and farm equipment manufacturers must be sought.
Figure 2.4: Fruit picking robot
To start with, the fruit picking robots need to pick ripe fruit without damaging the
branches or leaves of the tree. Mobility is a priority, and the robots must be able to access all
areas of the tree being harvested. It goes then without saying that the robots must be
intelligent, and have a human-like interaction with their surroundings through senses of
touch, sight, and image processing. The fundamental blocks of these robots are shown in the
figure 2.4.
The robot can distinguish between fruit and leaves by using video image capturing.
The camera is mounted on the robot arm, and the colours detected are compared with
properties stored in memory. If a match is obtained, the fruit is picked. If fruit is hidden by
leaves, an air jet can be used to blow leaves out the way so a clearer view and access can be
obtained.
The robot arm itself is coated in rubber to minimize any damage to the tree. It has
5degrees of freedom, allowing it to move, in, out, up, down, and in cylindrical and spherical
motion patterns. The pressure applied to the fruit is sufficient for removal from the tree, but
not enough to crush the fruit. This is accomplished by a feedback process from the gripper

mechanism, which is driven by motors, hydraulics, or a pneumatic system. The shape of the
gripper depends on the fruit being picked, as some fruits, such as plums, crush very easily,
while others, like oranges are not so susceptible to bruising.
The robots should have access to all areas of the orchard in order to reach all of the
fruit. Significant work has been done in the production of end effectors in France. They are
capable of harvesting apples and citrus.
Figure 2.5: Robot picking from Figure 2.6: Robot working at
Apple orchard night in citrus garden
The limitations of these systems were mainly in their inability of picking the fruits,
which were covered by the branches. This resulted in robots being in capable of harvesting
more than 75%.

CHAPTER 3
OBJECTIVES
The aim of this chapter is to present the status of the current trends and
implementation of Agricultural and autonomous systems and outline the potential for future
applications. Different applications of autonomous vehicles in agriculture have been
examined and compared with conventional systems, where three main groups of field
operations have been identified to be the first potential practical applications: crop
establishment, plant care and selective harvesting.
Our aim is to fabricate a Multi-Purpose Agricultural prototype which can perform the
following functions:
 This project objective is to fabricate a vehicle which can dig the soil, put the seeds,
and close the mud and to spray water, these whole systems of the robot works with
the battery and the solar power.
 To reduce human effort in the agricultural field with the use of a prototype.
 To perform all 4 operations at single time, hence increases production and saves time.
 To complete large amount of work in less time.

 Farmer can operate this prototype through mobile phones by sitting at one side and he
can operate easily.
Moreover we will give examples of the economic potential of applying autonomous

robotic vehicles compared to conventional systems. Focus will be put on potential labour cost
savings, farm structure implications and sizes for operation, daily working hours, potential
environmental impact, energy costs and safety issues.

CHAPTER 4
METHODOLOGY
The basic aim of this project is to develop a multipurpose machine, which is used for
digging the soil, seed sowing, and leveler to close the mud and water sprayer to spray water
with least changes in accessories with minimum cost. This whole system of the prototype
works with the battery.
 The base frame is made for the prototype with 4 wheels connected and driven the rear
wheel is dc motor.
 One end of the frame, cultivator is fitted which is also driven by dc motor and design
is made to dig the soil.
 Impeller is made by taking a round metal ball and welding spoons to it for seed
sowing technique it is driven by motors.
 On the end leveler is fitted to close the seeds to the soil, and water pump sprayer to
spray the water.
 GSM module is placed on top of the prototype and is connected to the battery.
 Microcontroller is used to connect batteries to relay.
 We are using three batteries to power the prototype. Two batteries are used for the
movement of the prototype and one battery is used for all the other operations.
 One DC water pump is used for water or pesticide spray to pump it from the
container. It requires 12v-2amp of power and it pumps 200liters/hour with maximum
height of 10ft.
Figure 4.1: Block Diagram of Multi-Purpose Agricultural prototype

4.1 Manufacturing and Fabrication
4.1.1 Components used:
 MS hollow square shaft for chassis.

 MS solid shaft.
 Pillow block ball bearing.
 Lead acid battery 12v.
 Circuit board.
 GSM module.
 Water sprayer 12v.
 4 Dc motors 12v.
 MS hollow pipe.
 Connecting wires Screws, bolts, nuts, washers etc.,
4.1.2 Sources required for developing this prototype.
 Sheet metal fabrication.

 Drilling operations
 Cutting operations
 Lathe works
 Welding works
 Fitting
 Electrical works

CHAPTER 5
HARDWARE COMPONENTS
5.1 DC Gear Motor
An electric motor uses electrical energy to produce mechanical energy, very typically
through the interaction of magnetic field and current carrying conductors. The reverse
process, producing electrical energy from mechanical energy, is accomplished by a generator
or dynamo. Traction motors used on vehicles often perform both tasks. Many types of electric
motors can be run as generators, and vice versa.
Electric motors are found in applications as diverse as industrial fans, blowers and
pumps, machine tools, household appliances, power tools and disk drives. They may be
powered by direct current (for example a battery powered portable device or motor vehicle),
or by alternating current from a central electrical distribution grid. The smallest motors may
be found in electric wristwatches. Medium-size motors of highly standardized dimensions
and characteristics provide convenient mechanical power for industrial uses. The very largest
electric motors are used for propulsion of large ships, and for such purposes as pipeline
compressors, with ratings in the millions of watts. Electric motors may be classified by the
source of electric power, by their internal construction, by their application, or by the type of
motion they give.
The physical principle of production of mechanical force by the interactions of an

electric current and a magnetic field was known as early as 1821. Electric motors of
increasing efficiency were constructed throughout the 19th century, but commercial
exploitation of electric motors on a large scale required efficient electrical generators and
electrical distribution networks.

Figure 5.1: Motor Construction
Figure 5.2: D.C. Motor working principle
5.1.1 The principle
The conversion of electrical energy into mechanical energy by electromagnetic means

was demonstrated by the British scientist Michael Faraday in 1821. A free-hanging wire was
dipped into a pool of mercury, on which a permanent magnet was placed. When a current was

passed through the wire, the wire rotated around the magnet, showing that the current gave
rise to a circular magnetic field around the wire.[2] This motor is often demonstrated in school
physics classes, but brine (salt water) is sometimes used in place of the toxic mercury. This is
the simplest form of a class of devices called homopolar motors. A later refinement is the
Barlow's Wheel. These were demonstration devices only, unsuited to practical applications
due to their primitive construction
In 1827, Hungarian Ányos Jedlik started experimenting with electromagnetic rotating

devices he called "lightning-magnetic self-rotors". He used them for instructive purposes in
universities, and in 1828 demonstrated the first device which contained the three main
components of practical direct current motors: the stator, rotor and commutator. Both the
stationary and the revolving parts were electromagnetic, employing no permanent magnets.
Again, the devices had no practical application
5.1.2 Categorization of electric motors
The classic division of electric motors has been that of Alternating Current (AC)
type’s v/s Direct Current (DC) types. This is more a de facto convention, rather than a rigid
distinction. For example, many classic DC motors run on AC power, these motors being
referred to as universal motors. Rated output power is also used to categories motors, those of
less than 746 Watts, for example, are often referred to as fractional horsepower motors (FHP)
in reference to the old imperial measurement.
The on-going trend toward electronic control further muddles the distinction, as
modern drivers have moved the commutator out of the motor shell. For this new breed of
motor, driver circuits are relied upon to generate sinusoidal AC drive currents, or some
approximation thereof. The two best examples are: the brushless DC motor and the stepping
motor, both being poly-phase AC motors requiring external electronic control, although
historically, stepping motors (such as for maritime and naval gyrocompass repeaters) were
driven from DC switched by contacts.
Considering all rotating (or linear) electric motors require synchronism between a
moving magnetic field and a moving current sheet for average torque production, there is a
clearer distinction between an asynchronous motor and synchronous types. An asynchronous
motor requires slip between the moving magnetic field and a winding set to induce current in

the winding set by mutual inductance; the most ubiquitous example being the common AC
induction motor which must slip to generate torque. In the synchronous types, induction (or
slip) is not a requisite for magnetic field or current production (e.g. permanent magnet
motors, synchronous brush-less wound-rotor doubly-fed electric machine).
Figure 5.3: Motor
5.1.3 Specifications of 180W wiper motor:
Power: 180W, 24V & 12V

Stall torque: 100N.m
Low speed: 25+/-5rpm
high speed: 35+/-5rpm...
Structure: Asynchronous Motor
Category: Machinery| Other Motor
5.2 Battery
In isolated systems away from the grid, batteries are used for storage of excess solar
energy converted into electrical energy. The only exceptions are isolated sunshine load such
as irrigation pumps or drinking water supplies for storage. In fact for small units with output
less than one kilowatt. Batteries seem to be the only technically and economically available
storage means. Since both the photo-voltaic system and batteries are high in capital costs. It
is necessary that the overall system be optimized with respect to available energy and local
demand pattern.

To be economically attractive the storage of solar electricity requires a battery with a

particular combination of properties:
(1) Low cost

(2) Long life
(3) High reliability
(4) High overall efficiency
(5) Low discharge
(6) Minimum maintenance
(A) Ampere hour efficiency
(B) Watt hour efficiency
We use lead acid battery for storing the electrical energy from the solar panel for
lighting the street and so about the lead acid cells are explained below.
5.2.1 Lead-Acid Wet Cell:

Where high values of load current are necessary, the lead-acid cell is the type most
commonly used. The electrolyte is a dilute solution of sulfuric acid (H₂SO₄). In the
application of battery power to start the engine in an auto mobile, for example, the load
current to the starter motor is typically 200 to 400A. One cell has a nominal output of 2.1V,
but lead-acid cells are often used in a series combination of three for a 6-V battery and six for
a 12-V battery.
The lead acid cell type is a secondary cell or storage cell, which can be recharged.
The charge and discharge cycle can be repeated many times to restore the output voltage, as
long as the cell is in good physical condition. However, heat with excessive charge and
discharge currents shortends the useful life to about 3 to 5 years for an automobile battery.
Of the different types of secondary cells, the lead-acid type has the highest output voltage,
which allows fewer cells for a specified battery voltage.

Figure 5.4: Lead acid battery
Figure 5.5: Construction of Lead acid battery
5.2.2 Construction:
Inside a lead-acid battery, the positive and negative electrodes consist of a group of
plates welded to a connecting strap. The plates are immersed in the electrolyte, consisting of
8 parts of water to 3 parts of concentrated sulphuric acid. Each plate is a grid or framework,
made of a lead-antimony alloy. This construction enables the active material, which is lead
oxide, to be pasted into the grid. In manufacture of the cell, a forming charge produces the
positive and negative electrodes. In the forming process, the active material in the positive
plate is changed to lead peroxide (pbo₂). The negative electrode is spongy lead (pb).
Automobile batteries are usually shipped dry from the manufacturer. The electrolyte
is put in at the time of installation, and then the battery is charged to from the plates. With

maintenance-free batteries, little or no water need be added in normal service. Some types
are sealed, except for a pressure vent, without provision for adding water.
The construction parts of battery are shown in Figure 5.4.
5.2.3 Chemical action:
Sulphuric acid is a combination of hydrogen and sulphate ions. When the cell
discharges, lead peroxide from the positive electrode combines with hydrogen ions to form
water and with sulphate ions to form lead sulphate. Combining lead on the negative plate
with sulphate ions also produces he sulphate. Therefore, the net result of discharge is to
produce more water, which dilutes the electrolyte, and to form lead sulphate on the plates.
As the discharge continues, the sulphate fills the pores of the grids, retarding
circulation of acid in the active material. Lead sulphate is the powder often seen on the
outside terminals of old batteries. When the combination of weak electrolyte and sulphating
on the plate lowers the output of the battery, charging is necessary.
On charge, the external D.C. source reverses the current in the battery. The reversed
direction of ions flows in the electrolyte result in a reversal of the chemical reactions. Now
the lead sulphates on the positive plate reactive with the water and sulphate ions to produce
lead peroxide and sulphuric acid. This action re-forms the positive plates and makes the
electrolyte stronger by adding sulphuric acid.
Figure 5.6: Chemical reactions in batteries

5.3 GPRS /GSM SIM900A MODEM WITH ARDUINO COMPATIBLE:
This is a very low cost and simple Arduino GSM and GPRS shield. We use the
module SIMCom SIM900A.
The Shield connects your Arduino to the internet using the GPRS wireless network.
Just plug this module onto your Arduino board, plug in a SIM card from an operator offering
GPRS coverage and follow a few simple instructions to start controlling your world through
the internet. You can also make/receive voice calls (you will need an external speaker and
microphone circuit) and send/receive SMS messages
There are two modules
1. GSM SHIELD WITH STACKABLE UNO HEADERS ON BOTH SIDES(WITH NOMIC

AND SPEAKER).
2. GSM SHIELD WITH SINGLE UNO HEADERS WITH MIC AND SPEAKER.
5.3.1 Features
 Dual-Band GSM/GPRS 900/ 1800 MHz

 RS232 interface for direct communication with computer or MCU kit.
 ConFigureurable baud rate.
 Power controlled using 29302WU IC.
 ESD Compliance.
 Enable with MIC and speaker socket.
 With slid in SIM card tray.
 With Stub antenna.
 Stackable UNO headers.
 Optional power on through microcontroller.
 External serial pins.
5.3.2 GSM module setup:
Step 1: Insert SIM card into SIM slot.

Figure 5.7: SIM card slot
Step 2: Power ON through Controller (Place Jumper on JP4 of GSM shield):
Figure 5.8: Controller
Step 3: Power ON automatically (Place Jumper on JP3 of GSM shield)
Step 4: Press and hold power button (To turn on manually without jumper)
Step 5: Compile and burn the sample code given below to UNO board and then mount the
GSM Shield.
5.3.3 Power Modes:
Power down mode:
SIM900A is set power down mode by “AT+CPOWD=0”

There are two methods for the module to enter into low current consumption status
1. Minimum Functionality Mode:
Minimum functionality mode reduces the functionality of the module to a minimum

and thus minimizes the current consumption to the lowest level. If SIM900A has been set to
minimum functionality by “AT+CFUN=0” If SIM900A has been set to full functionality by
“AT+CFUN=1” If SIM900A is set “AT+CFUN=4” to disable both the above functionality.
2. Sleep mode:
We can control SIM900A module to enter or exit the SLEEP mode in customer
applications through DTR signal. When DTR is in high level and there is no on air and
hardware interrupt (such as GPIO interrupt or data on serial port), SIM900A will enter
SLEEP mode automatically. In this mode, SIM900A can still receive paging or SMS from
network but the serial port is not accessible.
3. Wake up SIM900A from sleep mode:
 Enable DTR pin to wake up SIM900A. If DTR pin is pulled down to a low level
 This signal will wake up SIM900A from power saving mode. The serial port will be
active after DTR changed to low level for about 50ms.
 Receiving a voice or data call from network to wake up SIM900A.
 Receiving a SMS from network to wake up SIM900A.
5.3.4 Narration of GSM SIM900A Modem with Arduino compatible:
Figure 5.9: GSM sim900A

5.4 GSM commands:
Table no 1: GSM commands
OPERATIONS COMMANDS
FORWARD- MOVEMENT FOR
STOP- MOVEMENT OFF
LEFT STEERING MON
RIGHT STEERING RIG
SPRAY ON SON
SPRAY OFF SOF
CUTTER ON GON
CUTTER OFF GOF
PUMP ON KON
PUMP OFF KOF
5.4.1 Rectifier
A rectifier is a circuit which converts AC to DC. It is made up of diodes. There are

three types of rectifier circuit half wave, full wave and bridge rectifier. A rectifier is generally
followed by a filter circuit to improve the quality of output. Rectifiers play an important part
of the power supplies for electronic appliances operating at DC voltages. The half wave
rectifier uses only one diode whereas the full wave and bridge uses two and four diodes
respectively.
Insight - How Diode Works

This component needs no introduction. One of the first semiconductor based
engineering components, diodes are an indispensable necessity for any current modern gadget
or circuit. They are the basic logic block – the most fundamental unit.

Figure 5.10: Rectifier
These two terminal nonlinear passive elements ideally conduct only one way and
hence protect the circuit as well as the source from any damage. Diodes are widely used in
rectifier circuits, limiters, communication circuits, multiplier circuits and signal clippers as
well as clamper circuits. This Insight will give an in depth view of a diode’s physicality.
Figure 5.11: Diode In4007
The diode that is explored in this Insight is IN4007, which is a type of power
diode. The core of the diode is enclosed in an epoxy that protects the semiconductor from
ambient adversities. This epoxy moulding is black colored, marked with the diode number on
the centre and a silver colored band at one end – the band labelling that end to be the diode’s
cathode. Connected to the epoxy at both the ends are two electroplated leads. These leads are
able to withstand high temperatures and provide good soldering properties.
It can be noticed that the manner in which connecting leads are placed inside the epoxy is
interesting and shows precision in the manufacturing process. The leads are 0.048 to 0.052
inches thick and fit in the centre of the 0.190 to 0.210 inches thick shell.

5.5 Relay
5.5.1 Overview
A relay is an electrically operated switch. Current flowing through the coil of the
relay creates a magnetic field which attracts a lever and changes the switch contacts. The coil
current can be ON or OFF so relays have two switch position and they are double throw
(changeover) switches.
Relays allow one circuit to switch a second circuit which can be completely separate
from the first. For example a low voltage battery circuit can use a relay to switch a 230V AC
mains circuit. There is no electrical connection inside the relay between the two circuits; the
link is magnetic and mechanical.
The coil of a relay passes a relatively large current, typically 30mA for a 12V relay,
but it can be as much as 100mA for relays designed to operate from lower voltages. Most ICs
(chips) cannot provide this current and a transistor is usually used to amplify the small IC
current to the larger value required for the relay coil. The maximum output current for the
popular 555 timer IC is 200mA so these devices can supply relay coils directly without
amplification.
Relays are usually SPDT or DPDT but they can have many more sets of switch
contacts, for example relay with 4 sets of changeover contacts are readily available. Most
relays are designed for PCB mounting but you can solder wires directly to the pins providing
you take care to avoid melting the plastic case of the relay.
The supplier's catalogue should show you the relay's connection. The coil will be
obvious and it may be connected either way round. Relay coils produce brief high voltage
'spikes' when they are switched off and this can destroy transistors and ICs in the circuit. To
prevent damage you must connect a protection diode across the relay coil.
The relay’s switch connections are usually contains COM, NC and NO.
COM = Common, always connect to this; it is the moving part of the switch.
NC = Normally Closed, COM is connected to this when the relay coil is off.
NO = Normally Open, COM is connected to this when the relay coil is on.
Connect to COM and NO if you want the switched circuit to be on when the relay coil
is on. Connect to COM and NC if you want the switched circuit to be on when the relay coil

is off. Most relays are SPDT or DPDT which are often described as "single pole changeover"
(SPCO) Or "double pole changeover"(DPCO).
Figure 5.12: Relay switching
This is a Single Pole Double Throw relay. Current will flow between the movable
contact and one fixed contact when the coil is energized and between the movable contact
and the alternate fixed contact when the relay coil is energized. The most commonly used
relay in car audio, the Bosch relay, is a SPDT relay.
5.6 Advantages of Relay:
 Relays can switch AC and DC, transistors can only switch DC.
 Relays can switch high voltages, transistors cannot.
 Relays are a better choice for switching large currents (> 5A).
 Relays can switch many contacts at once.
5.7 Resistor
Figure 5.13: Resistors
A resistor is a two-terminal electronic that produces a voltage across its terminals that
is proportional to the electric current through it in accordance with Ohm's law: V = IR
Resistors are elements of electrical networks and electronic circuits and are ubiquitous
in most electronic equipment. Practical resistors can be made of various compounds and

films, as well as resistance wire (wire made of a high-resistivity alloy, such as

nickel/chrome).The primary characteristics of a resistor are the resistance, the tolerance,
maximum working voltage and the power rating. Other characteristics include temperature
coefficient, noise, and inductance. Less well-known is critical resistance, the value below
which power dissipation limits the maximum permitted current flow, and above which the
limit is applied voltage. Critical resistance depends upon the materials constituting the
resistor as well as its physical dimensions; it's determined by design.Resistors can be
integrated into hybrid and printed circuits, as well as integrated circuits. Size, and position of
leads (or terminals) are relevant to equipment designers; resistors must be physically large
enough not to overheat when dissipating their power.
5.8 Capacitor
Figure 5.14: Modern capacitors, by a cm rule
A capacitor or condenser is a passive electronic consisting of a pair of conductors

separated by a dielectric. When a voltage potential exists between the conductors, an electric
field is present in the dielectric. This field stores energy and produces a mechanical force
between the plates. The effect is greatest between wide, flat, parallel, narrowly separated
conductors.
An ideal capacitor is characterized by a single constant value, capacitance, which is

measured in farads. This is the ratio of the electric charge on each conductor to the potential
difference between them. In practice, the dielectric between the plates passes a small amount
of leakage current. The conductors and leads introduce an equivalent series resistance and the
dielectric has an electric field strength limit resulting in a breakdown voltage.
Capacitors are widely used in electronic circuits to block the flow of direct current
while allowing alternating current to pass, to filter out interference, to smooth the output of

power supplies, and for many other purposes. They are used in resonant circuits in radio
frequency equipment to select particular frequencies from a signal with many frequencies.
5.8.1 Ceramic capacitor
In electronics ceramic capacitor is a capacitor constructed of alternating layers of

metal and ceramic, with the ceramic material acting as the dielectric. The temperature
coefficient depends on whether the dielectric is Class 1 or Class 2. A ceramic capacitor
(especially the class 2) often has high dissipation factor, high frequency coefficient of
dissipation.
Figure 5.15: Ceramic capacitors
A ceramic capacitor is a two-terminal, non-polar device. The classical ceramic

capacitor is the "disc capacitor". This device pre-dates the transistor and was used extensively
in vacuum-tube equipment (e.g., radio receivers) from about 1930 through the 1950s, and in
discrete transistor equipment from the 1950s through the 1980s. As of 2007, ceramic disc
capacitors are in widespread use in electronic equipment, providing high capacity & small
size at low price compared to other low value capacitor types.
Ceramic capacitors come in various shapes and styles, including:
 disc, resin coated, with through-hole leads

 multilayer rectangular block, surface mount
 bare leadless disc, sits in a slot in the PCB and is soldered in place, used for UHF
applications
 tube shape, not popular now

5.8.2 Electrolytic capacitor
Figure 5.16: Axial lead (top) and radial lead (bottom) electrolytic capacitors
An electrolytic capacitor is a type of capacitor that uses an ionic conducting liquid as

one of its plates with a larger capacitance per unit volume than other types. They are valuable
in relatively high-current and low-frequency electrical circuits. This is especially the case in
power-supply filters, where they store charge needed to moderate output voltage and current
fluctuations in rectifier output. They are also widely used as coupling capacitors in circuits
where AC should be conducted but DC should not.
Electrolytic capacitors can have a very high capacitance, allowing filters made with
them to have very low corner frequencies.

CHAPTER 6
CALCULATIONS
6.1 Details of calibration of seed drill:

1. Circumference of ground wheel = π D
=3.14 x 20
=62.8 cm
=.628 m
2. Number to turns the ground wheel make in running 100 m
= 100 m / .628 m
= 160.23
= 161 turns
3. Area covered for one revolution Circumference of ground wheel * Width of seed drill
= 1.91 m * 0.7 m
= 1.337 m2
4. Number of turns needed/ha = 10000 m2 / 1.337 m2
= 13370 turns
5. Number of grains dropped assuming the seed hole capacity is
2 seeds 2 grains / hole * 12 holes / revolution = 24 grains
6. Therefore for 13370 turns, the number of grains to be dropped= 24 * 13370
= 320880 grains / hectare

CHAPTER 7
TESTING
7.1 Operations
7.1.1 Seed sowing operation
Figure 7.1: Seed sowing operation
 A hopper box is used for Seed storage.

 We have provided impeller to the main wheel shaft, where the storage box is placed
below it.
 The main wheels are powered by DC motor which is regulated by a relay switch and
is controlled by a gsm.
 As the motor is switched on, the wheels tend to rotate and rotation of shaft makes the
impeller to rotate and seeds fall on the cultivated filed.
7.1.2 Mud closing and levelling operation
• Metal sheets are used as mud closer.

• As the prototype moves forward the leveler levels the soil simultaneously.
• The prototype moves with motor attached to wheels.

Figure 7.2: Mud closing and levelling operation
7.1.3 Water spraying operation
Figure 7.3: Water spraying operation

• A water container is used for water storage.
• A water pump is used for pumping water to the water sprayer.
• The water flows to the sprayer through pipe.
• The water is pumped with the help of DC pump motor.
• The power for pump is used from battery.

Chapter 8
ADVANTAGES, DISADVANTAGES AND APPLICATIONS
8.1 Advantages:
 The prototype does not get sick or tired and does not need time off.
 No need of human effort in the agricultural field.
 It can operate with closer tolerances (so every round is at full field capacity), Fewer
errors and at higher speeds
 The machine could easily work around trees, rocks, ponds and other obstacles.
 Small suburban fields could be worked almost as efficiently as large tracts of land.
 4 operations are done at single time, hence increases production and saves time.
 Using battery and solar panel and hence no chance of pollution.
 Farmer can operate this robot through remote by sitting at one side.
8.2 Disadvantages:
 One of the key disadvantages of driverless machines for agriculture is liability.

 Access to the technology.
 Nevertheless, a periodic human presence in the field is likely to be necessary for the
near future.
 Robots could change the culture /emotional appeal of agriculture.
 Energy issues, costly.
8.3 Applications:
1. Used for Automatic Digging, sowing, mud closing and water sprinkling purpose
2. Also used for pesticide sprinkling.
3. Automatic flow of seed ( controlable )
4. Also used for soil inspection.
5. Suitable for rural areas and urban areas

CHAPTER 9
PHOTOGRAPHY
9.1 Different views of Multi-Purpose Agricultural prototype:
Figure 9.1: Chassis
Figure 9.2: Front View

Figure 9.3: Rear View
Figure 9.4: Top View

Figure 9.5: Right View

CHAPTER 10
BILL OF MATERIAL
Table 10.1: Bill of material
Sl. No. Particulars Total Total Cost (Rupees)

Quantity
1. DC motor – 2x00rpm 04 3400
Submersible Pump (12v

300
2. 2 amp) 01
3. Lead acid Battery (12v) 03 2700
MS Square hollow shaft

4. 01 500
(12ft)
Pillow block bearing
5. 06 160
(P205)
6. MS solid shaft (15mm) 01 200
Plastic wheel (20cm dia) 1400
7. 04
8. Pipe (6mm dia) 1m 160
9. Water container 01 250
10. Electronic circuit board 01 1100
11. GSM controller 01 10000
12. Wires 6m 200
13. Miscellaneous parts _ 800
14. Fabrication cost _ 6000
GRAND TOTAL 27170

CHAPTER 11
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 the human driver with a computer. It may mean a rethinking
of how crop production is done. Crop production may be done better and cheaper with a
swarm of small machines than with a few large ones.
One of the advantages of the smaller machines is that they may be more acceptable to the
non-farm community. The jobs in agriculture are a drag, dangerous, require intelligence and
quick, though highly repetitive decisions hence robots can be rightly substituted with human
operator. The higher quality products can be sensed by machines (colour, firmness, weight,
density, ripeness, size, shape) accurately. Robots can improve the quality of our lives but
there are downsides.
The present situation in our country all the agricultural machine is working on manual
operation otherwise by petrol engine or tractor is expensive, farmer can’t work for long time
manually to avoid this problem, we need to have some kind of power source system to
operate the digging machine.
 We are trying to implement a prototype model of drilling and seed sowing machine
system within the limited available source and economy.
 The system can be subjected to further development using advanced techniques.
 It may become a success if our project can be implemented throughout our country.

CHAPTER 12
FUTURE SCOPE
The system can be advanced for sowing seeds in farm with particular distance
between seed is adjusted.
With fully-automated farms in the future, robots can perform all the tasks like
mowing, monitoring of pests and diseases, harvesting, tilling, etc. This also enables the
farmers to just supervise the robots without the need to operate them.
The following additions are expected to be incorporated in the second phase of

investigation
1) Investigation of human robot interaction.
2) Modifying the chassis to accommodate more electronics and adding more powerful
motors.
3) Testing the concept of multi robot coordination system.
4) Use of hydraulic equipments can be implemented.
5) Adding onboard motion detection sensor for faster detection.
6) Adding High resolution cameras.

REFERENCES
[[1] Blackmore, S. (2007). A systems view of agricultural robotics. Precision Agriculture
conference, Wageningen Academic Publishers, the Netherlands. pp. 23-31
[2] Butler, S. (1887). Luck, or cunning, as the main means of Organic Modification? An
attempt to throw additional light upon Darwin’s theory of natural selection. (London:
[3] Trübner & Co.) Reprinted as vol 8 of The Shrewsbury Edition of the works of Samuel
Butler (London: Jonathan Cape, 1924)
[4] Dyson, G. (1997). Darwin among the machines, The Penguin Press
[1] Kelly, I., Holland, O., and Melhuish, C. (2000). SlugBot: A robotic predator in the natural
world. 5th International symposium on artificial life and robotics. Oita, Japan, pp.470-475.
[5] Leropoulos, I., Greenman, J., and Melhuish, C. (2003). Imitating metabolism: Energy
autonomy in biologically inspired robots. AISB '03 Second international symposium on
imitation in animals and artifacts. Aberystwyth, Wales, pp.191-194.
[6] Shibusawa, S. 1996. PhytoTechnology - An introduction to the concept and topic of a new
Project. http://phytech.ishikawa-c.ac.jp/WhatIs.html
[7] Tillett, N.D., Hague, T. and Marchant, J.A.(1998) A robotic system for plant scale
husbandry. Journal of Agricultural Engineering Research, 69, 169-178.
[8] M. A. Altieri, M.A. Agroecological foundations of alternative agriculture in California.

Agriculture, Ecosystems
and Environment. 1999. 39: 23-53.
[9] M. A. Altieri, M.A. Agroecology: the science of sustainable agriculture. Westview Press,
Boulder. 1995.
[10] T. Bak, Jakobsen, H. Agricultural Robotic Platform with Four Wheels Steering for Weed
Detection. Biosystems Engineering. 2003. 87:2125-136.
Popular mechanics. Agricultural robots are already among us. 2003.
http://www.popularmechanics.com/technology/engineering/robots/4328685

Emily S. Robots on the Farm. Discovery News.2011. http://news.discovery.com/tech/robots-

farming-agriculture-110412. Html.
[11] The Economist Newspaper. Robotics: A new generation of agricultural equipment
promises to take more of the toil out of farming by automating the business of growing fruit.
2009. http://www.economist.com/node/15048711.
[12] B. S. Blackmore, W. Stout, M. Wang, Runov, B. Robotic agriculture – the future of
agricultural mechanization? 5th
[13] European Conference on Precision Agriculture. Ed. J. Stafford, V. The Netherlands,
Wageningen Academic.

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Project Report

“Fabrication of GSM Controlled Multi-purpose Agricultural Prototype”

MOHAMMED SABIR CHITWADGI 1NH13ME735

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

Signature of the guide Signature of the HOD Signature of the Principal

Name of the student: University Seat Number:

MOHAMMED SABIR CHITWADGI 1NH13M3735

Place: Bangalore Mr. Shivaprakash. S

I thank the Lord Almighty for showering His blessings on me.

Sl. No Chapters Page no

2.3 Forester robot 8

Table no Description Page no.

The opportunity of replacing human operators provides effective solutions

1.1 Problem Statement:

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

Department of Mechanical Engineering, NHCE 2016-2017 Page 1

1.2 Scope of the Project:

Department of Mechanical Engineering, NHCE 2016-2017 Page 2

Department of Mechanical Engineering, NHCE 2016-2017 Page 3

2.1 Types of Robots used in Agriculture:

Department of Mechanical Engineering, NHCE 2016-2017 Page 4

Figure 2.1: Demeter harvesting the crop in Holland.

Department of Mechanical Engineering, NHCE 2016-2017 Page 5

2.1.2 Weed Controller:

Figure 2.2: Removing weeds using a vision guided

Inter row cultivator

A four-wheel-drive weed-seeking robot was developed by the Danish Farm Research

Department of Mechanical Engineering, NHCE 2016-2017 Page 6

A fearless mobile robot is helping scientists monitor environmental changes in forests.

2.1.4 Forester robot:

Department of Mechanical Engineering, NHCE 2016-2017 Page 7

Figure 2.3: Forester robot

2.1.5 Robot in Horticulture:

Department of Mechanical Engineering, NHCE 2016-2017 Page 8

2.1.6 Fruit picking robot:

Figure 2.4: Fruit picking robot

Department of Mechanical Engineering, NHCE 2016-2017 Page 9

Figure 2.5: Robot picking from Figure 2.6: Robot working at

Apple orchard night in citrus garden

Department of Mechanical Engineering, NHCE 2016-2017 Page 10

 To complete large amount of work in less time.

Moreover we will give examples of the economic potential of applying autonomous

Department of Mechanical Engineering, NHCE 2016-2017 Page 11

Figure 4.1: Block Diagram of Multi-Purpose Agricultural prototype

Department of Mechanical Engineering, NHCE 2016-2017 Page 12

4.1 Manufacturing and Fabrication

4.1.1 Components used:

 MS hollow square shaft for chassis.

4.1.2 Sources required for developing this prototype.

 Sheet metal fabrication.

Department of Mechanical Engineering, NHCE 2016-2017 Page 13

5.1 DC Gear Motor

The physical principle of production of mechanical force by the interactions of an

Department of Mechanical Engineering, NHCE 2016-2017 Page 14

Figure 5.1: Motor Construction

Figure 5.2: D.C. Motor working principle

5.1.1 The principle

The conversion of electrical energy into mechanical energy by electromagnetic means

Department of Mechanical Engineering, NHCE 2016-2017 Page 15

In 1827, Hungarian Ányos Jedlik started experimenting with electromagnetic rotating

5.1.2 Categorization of electric motors