PST Controll Robot

PEST CONTROLLING IN AGRICULTURE BY ROBOT
ACKNOWLEDEMENT
With immense pleasure, we would like to present this report on “PEST CONTROLLING IN
AGRICULTURE BY AUTOMATIC ROBOT”. We are very thankful to all those who
helped us for the successful completion and for providing valuable guidance through the
project work.
We are indebted to our mentor MR. AHSWIN JAKHANIYA sir for giving us an opportunity
to work under his guidance. Like a true mentor, he motivated and inspired me throughout the
entire duration of my work. We also extend our thanks to supportive staff providing us all
necessary facilities to accomplish this project.
Last but the least, we express our profound gratitude to the almighty and our parents for their
blessing and support without which this task could have never been accomplished.
VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 1

ABSTRACT
In this project work an engineering solution to the current human health hazards
involved in spraying potentially toxic chemicals in the confined space of a hot
and steamy glasshouse or agricultural field is achieved by the design and
construction of an autonomous mobile robot for use in pest control and disease
prevention applications in commercial greenhouses. For this a mechanical robot
is designed. The effectiveness of this platform is shown by the platforms ability
to successfully navigate itself down rows of a greenhouse, while the pesticide
spraying system efficiently covers the plants evenly with spray in the set
dosages.
A robot which could spray chemicals under grapevine trellis was developed and
experimented. From the experimental results, it was observed that the robot
system made precise spraying operation and its precise operation record
possible. Based on the precise operations and records, an optimum management
of chemicals could be expected, that is, necessary amount of chemicals would
be sprayed only at necessary considered that this robot would be able to
contribute the minimum input maximum output production system by
establishment of trace ability system in grape production.
Such types of robots, which are used in the agricultural fields, are called as
Agrobots. Here in this module we have designed a robot, which can be
controlled by using a remote for spraying the pesticides in the field or
greenhouse. By the development of these agrobots lot of manual labor will also
be decreased.
In this regard here is a demo model of such equipment, which performs the
operation very effectively. Such types of robots, which are used in the
agricultural fields, are called as Agrobots. Here in this module we have

designed a robot, which can be controlled by using a remote for spraying the
pesticides in the field or greenhouse. By the development of these agrobots lot
of manual labor will also be decreased. Here in this project a remote is designed
with the help of RF transmitter, which encodes the data to the robot for
controlling the movement as well as spraying the pesticide. The robot is
equipped with RF receiver, which decodes and controls it. The transmitting and
receiving modules are constructed using micro-controllers.

TABLE OF CONTENTS
CHAPTER TOPIC SUB NAME OF TITLE PAGE
NO. TOPIC NO.
CHAPTER 1 Introduction 8
1.1 Introduction of project 9
1.2 Necessity of Agrobot 9
2 Indian Agriculture 12
2.1 Importance of agriculture 13
2.1.1 Overview 13
2.1.2 Indian agriculture since 1947 14

2.1.3 Problem in agriculture 14
2.1.4 Productivity 15
3 pest control 18
3.1 Pest controlling in India 19
3.1.1 History of pest controlling 20
3.2 Working of pest controlling 21
4 List of Parts of Agrobot 23
4.1 component 24
4.1.1 Keyboard 24
4.1.2 Microcontroller 24
4.1.3 Power supply 25
4.1.4 DC Motors 26
4.1.5 Air compressor 27
4.1.6 Air tank & Liquid fill tank 28
4.2 Wheel and carrier 28
4.2.1 Two wheeled robot 29
4.3 Sprayer 31
4.4 Nozzle 32
4.5 Detailed description of “H” bridge 33
5 Design & Planning 35
5.1 Actual Model of Project 36

5.1.1 RF Transmitter 37
5.1.2 L293D “H” BRIDGE 37
5.1.3 RF Receiver 38
5.2 Air compressor and sprayer nozzle 38
6 Working of Agrobot 40
6.1 Block Diagram and description of system 41
6.2 Working of Remote 44
Testing 45
7.1 Testing of battery 46
7.2 Nozzle 46
7.3 Sprayer testing 47
Advantages 48
Conclusion 49
Reference 50

List of Figure
Figure Page No.
Figure 1.1 Leaves damaged by insects 10
Figure 3.1 Pest controlling by robot 21
Figure 4.1 Battery 24
Figure 4.2 DC motors 25
Figure 4.3 Wheel 28
Figure 4.4 Two wheeled robot 29
Figure 4.5 Wheel and carrier 30
Figure 4.6 Sprayer 31
Figure 4.7 Nozzle 32
Figure 4.8 H Bridge circuit 33
Figure 5.1 Actual model of project 35
Fig 6.1 Block Diagram of working 41
Figure 6.2 Actual model 42
Fig. 7.1 Sprayer nozzle 48

List of Table
Table name Page No.
Table 2.1 Productivity of crop in various states 15

Chapter 1: Introduction
Chapter Outline
1.1 Introduction to project

1.2 Necessity of this Agrobot

1.1 Introduction to project
 The project aims on the design, development and fabrication of the demonstration
unit of the project “PEST CONTROLLING IN AGRICULTURE BY ROBOT.”
 More than 42% of the total population in the world has chosen agriculture as their
primary occupation. In recent years, the development of autonomous vehicles in
agriculture has experienced increased interest. This development has led many
researches to start developing more rational and adaptable vehicles. In the field of
agriculture autonomous vehicle, a concept is being developed to investigate if
multiple small autonomous vehicles, machines would be more efficient than
traditional large tractors and human force.
 These vehicles should be capable of working 24 hours a day all year round, in most
weather conditions. Moreover such a system may have less environmental impact if
it can reduce over application of chemicals and high usage of energy, such as diesel
and fertilizer, by control that is better matched to stochastic requirements.
1.2 Necessity of this Agrobot
 In agriculture farm, greenhouse, farmers have to suffer many problems while

farming like hazards human health, insects eat their crops, breathing problems.
Insects are cause of many agriculture problems as they eat and damage the leaves
and crops of farm.
 Some of disease & their solution :
 Fungicides: Robots can be used to combat plant diseases that cause a lot of
damage to crops. Fungi are the most common causes of crop loss in the entire

world. To kill a fungal disease you need a fungicide, a kind of pesticide. Fungal
diseases interfere with the growth and development of a crop. They attack the
leaves which are needed for photosynthesis and decrease the productivity of the
crop and cause blemishes on the crops which make them worth less on the
market. After the crops are harvested fungi can grow and spoil the fruits,
vegetables, or seeds. Robots can treat plants that have been infected or destroy
them if necessary. They could treat just the plants that need it, instead of covering
the entire crop with fungicide.
Fig 1.1 leaves damaged by insects

 Herbicide: Another use for robots is in weeding. Robots can pull weeds from
around the plants or just cut the tops off. All of the material can be collected by a
robot and brought to a composting site limiting the need for herbicides,
chemicals that destroy or inhibit the growth of plants. Herbicides are intended to
kill weeds but many times also damage the crops.
 Pesticide: Pesticides are used to control insects that can be harmful to crops.
They are effective but have many side effects for the environment. Insects also
adapt to the toxin in a pesticide and the survivors breed and pass the resistant trait
on to the next generation making stronger insects that are harder to kill. Robots
could solve this by removing pests from the crops without using chemicals. They
might suck them up with a vacuum. A bellow base air system makes a vacuum
that doesn’t require the large amount of power of regular Vacuum systems.
There are ways to kill the insects without chemicals. The robot could submerge
them in a container with water or into one closed up to produce extreme heat in
the sun. Microbial fuel cells could be used to reduce the insects to electrical
power with bacteria. Pesticides kill everything. Robots could be programmed to
rid particular pests and not harm anything else.

Chapter 2: Indian agriculture
Chapter Outline
2.1 Importance of agriculture
2.1.1 Overview
2.1.1 Indian agriculture since 1947
2.1.1 Problem in agriculture
2.1.1 Productivity

2.1 Importance of agriculture
 The written history of agriculture in India dates back to the Rig-Veda, written about
1100 BC. Day, India ranks second worldwide in farm output. Agriculture and allied
sectors like forestry and fisheries accounted for 13.7% of the GDP (Gross Domestic
Product) in 2013, about 50% of the total workforce. The economic contribution of
agriculture to India’s GDP is steadily declining with the country’s broad-based
economic growth. Still, agriculture is demographically the broadest economic sector
and plays a significant role in the overall socio-economic fabric of India.
2.1.1 Overview
 As Per the 2010 FAO world agriculture statistics, India is the world’s largest
producer of many fresh fruits and vegetables, milk, major spices, select fibrous crops
such as jute, several staples such as millets and castor oil seed. India is the second
largest producer of wheat and rice, the world’s major food staples.
 India is also the world’s second or third largest producer of several dry fruits,
agriculture based textile raw materials, roots and tuber crops, pulses,
farmed fish, eggs, coconut, sugarcane and numerous vegetables. India ranked within
the world’s five largest producers of over 80% of agricultural produce items,
including many cash crops such as coffee and cotton, in 2010. India is also one of
the world’s five largest producers of livestock and poultry meat, with one of the
fastest growth rates, as of 2011.
 One report from 2008 claimed India’s population is growing faster than its ability to
produce rice and wheat. Other recent studies claim India can easily feed its growing
population, plus produce wheat and rice for global exports, if it can reduce food
staple spoilage, improve its infrastructure and raise its farm productivity to those
achieved by other developing countries such as Brazil and China.

2.1.2 Indian agriculture since 1947
 In the years since its independence, India has made immense progress towards food
security. Indian population has tripled, but food-grain production more than
quadrupled: there has thus been substantial increase in available food- grain per
capita.
 Prior to the mid-1960s India relied on imports and food aid to meet domestic
requirements. However, two years of severe drought in 1965 and 1966 convinced
India to reform its agricultural policy, and that India could not rely on foreign aid and
foreign imports for food security. India adopted significant policy reforms foc used
on the goal of food grain self- sufficiency. The initial increase in production was
centre on the irrigated areas of the Indian states of Punjab, Haryana and
western Uttar Pradesh. A hectare of Indian wheat farms that produced an average of
0.8 tons in 1948 produced 4.7 tons of wheat in 1975 from the same land. By 2000,
Indian farms were adopting wheat varieties capable of yielding 6 tons of wheat per
hectare.
2.1.3 Problem in agriculture
 “Slow agricultural growth is a concern for policymakers as some two-thirds of

India’s people depend on rural employment for a living. Current agricultural
practices are neither economically nor environmentally sustainable and India’s yields
for many agricultural commodities are low. Poorly maintained irrigation systems and
almost universal lack of good extension services are among the factors responsible.
Farmers’ access to markets is hampered by poor roads, rudimentary market
infrastructure, and excessive regulation.”
—World Bank: “India Country Overview 2008”

2.1.4 Productivity
 Although India has attained self-sufficiency in food staples, the productivity of

Indian farms is below that of Brazil, the United States, France and other nations.
Indian wheat farms, for example, produce about a third of the wheat per hectare per
year compared to farms in France. Rice productivity in India was less than half that
of China. Other staples productivity in India is similarly low. Indian total factor
productivity growth remains below 2% per annum; in contrast, China’s total factor
productivity growths are about 6% per annum, even though China also has
smallholding farmers.
 Some Indian states produce two to three times more grain per acre than in other
Indian states. The table compares the statewide average yields for a few major
agricultural crops within India, for 2001-2002.
Table 2.1 Productivity of crop in various states
Crop Average farm yield Average farm Average farm

in Bihar yield in Karnataka yield in Punjab
kilogram per kilogram per kilogram per

hectare hectare hectare
Wheat 2020 unknown 3880

Rice 1370 2380 3130
Pulses 610 470 820
Oil seeds 620 680 1200
Sugarcane 45510 79560 65300

 The low productivity in India is a result of the following factors

:
 The average size of land holdings is very small (less than 2 hectares) and is
subject to fragmentation due to land ceiling acts, and in some cases, family
disputes. Such small holdings are often over- manned, resulting in disguised
unemployment and low productivity of labor. Some reports claim smallholder
farming may not because of poor productivity, since the productivity is higher in
China and many developing economies even though China smallholder farmers
constitute over 97% of its farming population. Chinese smallholder farmer is able
to rent his land to larger farmers, China’s organized retail and extensive Chinese
highways are able to provide the incentive and infrastructure necessary to its
farmers for sharp increases in farm productivity.
 Adoption of modern agricultural practices and use of technology is inadequate,

hampered by ignorance of such practices, high costs and impracticality in the case
of small land holdings.
 According to the World Bank, Indian Branch: Priorities for Agriculture and Rural
Development”, India’s large agricultural subsidies are hampering productivity-
enhancing investment. Overregulation of agriculture has increased costs, price
risks and uncertainty. Government intervenes in labor, land, and credit markets.
India has inadequate infrastructure and services. World Bank also says that the
allocation of water is inefficient, unsustainable and inequitable.
The irrigation infrastructure is deteriorating. The overuse of water is currently
being covered by over pumping aquifers, but as these are falling by foot of
groundwater each year, this is a limited resource. The Intergovernmental Panel on
Climate Change released a report that food security may be a big problem in the
region post 2030.

 Illiteracy, general socio-economic backwardness, slow progress in implementing

land reforms and inadequate or inefficient finance and marketing services for
farm produce.
 Inconsistent government policy. Agricultural subsidies and taxes often changed

without notice for short term political ends.
 Irrigation facilities are inadequate, as revealed by the fact that only 52.6% of the
land was irrigated in 2003–04, which result in farmers still being dependent on
rainfall, specifically the Monsoon season. A good monsoon results in a robust
growth for the economy as a whole, while a poor monsoon leads to a sluggish
growth.
 A third of all food that is produced rots due to inefficient supply chains and the
use of the “Wal-Mart” to improve efficiency is blocked by laws against foreign
investment in the retail sector.

Chapter 3: Pest controlling
Chapter Outline
3.1 Pest controlling In India
3.1.1 History of pest controlling
3.2 Working of pest controlling

3.1 Pest controlling in India
 India is Agricultural country 70% Percent of Indian Economics is Depend on

Agriculture Pest control is mostly required agriculture because The first reason is
to minimize germs, disease, Bactria, fecal matter on work surfaces and enter the
food product.
 Next reason is Spoilage of the food. Certain pests eat and leave proteins on food
which accelerates some food rotting. Then, there’s pests that carry off food stuffs
to a location to eat and leaves it. The food rots and stinks which then get into the
air systems to cause respiratory problems, and doors. Lastly, the pests affect the
profits of the business. Stolen, damaged and partially eaten foods have to be tossed
out, which are “Lost Profits” for the business.
 Pest control refers to the regulation or management of a species defined as a pest,

usually because it is perceived to be detrimental to a person’s health, the ecology or
the economy.
About the PCI
Pest Control (India) Pvt. Ltd., PCI, was established in the year 1954 and is the first and
largest pest management company in India. PCI offers a comprehensive range of
Professional Pest Management Services and Quality Products and Equipment through a
countrywide network of over 150 offices and 3500 employees.
Our own product formulation and manufacturing (liquid and gas) facilities are equipped
with state-of-the-art quality control, analysis and research and development (R&D)
facilities. Bio-Control Research Laboratories (BCRL) is a modern facility engaged in the
propagation and production of various biological control agents and bio-pesticides and

spearheads the company’s commitment towards environment-friendly pest management

techniques.
Over the years, PCI has constantly endeavored to introduce better and more cost-effective
pest management technology for both services and products. Vision and foresight coupled
with the desire to constantly improve has enabled us to retain our premier status in the
country today. With over 50 years of experience, we reaffirm our commitment: that of
providing comprehensive, one-stop solutions in our field of expertise.
3.1.1 History of pest controlling

 Pest control is at least as old as agriculture, as there has always been a need to keep
crops free from pests. In order to maximize food production, it is advantageous to
protect crops from competing species of plants, as well as from herbivores competing
with humans.
 The conventional approach was probably the first to be employed, since it is

comparatively easy to destroy weeds by burning them or plowing them under, and to
kill larger competing herbivores, such as crows and other birds eating seeds.
 Techniques such as crop rotation, companion planting (also known as intercropping or

mixed cropping), and the selective breeding of pest-resistant cultivars have a long
history. In the UK, following concern about animal welfare, humane pest control and
deterrence is gaining ground through the use of animal psychology rather than
destruction. For instance, with the urban Red Fox which territorial behavior is used
against the animal, usually in conjunction with non-injurious chemical repellents?
 In rural areas of Britain, the use of firearms for pest control is quite common. Air guns
are particularly popular for control of small pests such as rats, rabbits and grey

squirrels, because of their lower power they can be used in more restrictive spaces such
as gardens, where using a firearm would be unsafe.
 Figure of pest controlling robot is shown below.
Fig 3.1 Pest controlling by robot
3.2 Working of pest controlling
 Pest controlling is required in any agriculture field, otherwise it can damage the
crops of the fields.
 Pest controlling is either done manually or recently robot by means of liquid
pesticides spraying on the crops. It helpful to protect the crops and leaves from
insects and fungies.
 In most of area it is done manually, but with improvement in technologies about
agriculture instruments like robots is used for many works like harvesting of the

crops, spraying water to crops, cutting of crops and also providing pesticides to
the crops.
 Many inventers worked on the robots for spraying pesticides and they also gets
success, such robots which are helpful to farmers for spraying pesticides called
Agrobots.

Chapter: 4 List of parts of Agrobot
4.1 Components
4.1.1 Keyboard
4.1.2 Microcontroller
4.1.3 Power supply/Battery
4.1.4 D.C Motors
4.1.5 Air compressor
4.1.6 Air tank and liquid fill tank
4.2 Wheel and carrier

4.2.1 Two wheeled robot
4.3 Sprayer
4.4 Nozzle

4.1 Components
 The various component used in this project are below
 Keyboard
 Microcontroller
 Power supply
 DC motors
 Air tank & Liquid fill tank
 Air compressor
4.1.1 Keyboard
 There are 4 keys in the remote for controlling the Agrobot. This is interfaced to the
controller. The operation of the keys is :
 Forward
 Reverse
 Left turn
 Right turn
4.1.2 Microcontroller
 Depending on the key pressed the controller will be transmitting the data. Here in this
project we are using two micro controllers. One is 89C2051 used in the transmitter
and the second one is 89C51 used in the receiver. The controllers play a major role in
the project, there by the following description mainly focuses about Micro controller
and its architecture because it is treated as heart of the project work. Today, there is
no such instrument that can function without Micro controller.
 Micro controllers have become an integral part of all instruments. Many tedious from
simple to dedicated tasks are left over to the controller for solutions. The
Microcontroller used in this project work is ATMEL 89C51, basically this IC belongs

to8051 family. In1981, Intel Corporation introduced and 8- bit Micro controller,
which is named as 8051. This controller is having 128 bytes of RAM, 4K bytes of
ROM, two timers, one serial port, and four ports. This IC is called as 8- bit Processor,
means that the CPU can work on only 8-bits of data at a time. The 8051 is having four
ports and each port.
4.1.3 Power supply/Battery
 This is an important block why because all the components require power supply to
be operating. Micro controller requires +5v, relay and DC motors require +12v. In the
transmitter a 9v battery is used and a voltage regulator in order to derive the required
power supply for the micro controller i.e., 5v. And in the receiver as we require a
maximum of 12v we are using a 12v battery to operate the relay and the DC motors.
Again voltage regulator is used to derive 5v DC.
Fig.4.1 Battery

4.1.4 DC Motors
 Permanent magnet DC motor responds to both voltage and current. The steady state
voltage across a motor determines the motor’s running speed, and the current through
its armature windings determines the torque.
 Apply a voltage and the motor will start running in one direction; reverse the polarity
and the direction will be reversed. If you apply a load to the motor shaft, it will draw
more current, if the power supply does not able to provide enough current, the voltage
will drop and the speed of the motor will be reduced. However, if the power supply
can maintain voltage while supplying the current, the motor will run at the same
speed.
 In this project we used two DC motors which are mounted on front wheel and t he
capacity of motor is 100rpm.
4.2 DC MOTORS

o 4.1.5 Air compressors
 An air compressor is a device that converts power (usually from an electric motor, a
diesel engine or a gasoline engine) into kinetic energy by compressing and
pressurizing air, which, on command, can be released in quick bursts. There are
numerous methods of air compression, divided into either positive-displacement or
negative-displacement types.
 In this model required pressure in the air tank is about 20psi which is obtain with the
help of air compressor.
 Following are different types of air compressor :-
 Positive-displacement compressors work by forcing air into a chamber

whose volume is decreased to compress the air. Common types of positive
displacement compressors are:-
 Piston-type air compressors use this principle by pumping air into an air
chamber through the use of the constant motion of pistons. They use one-
way Valves to guide air into a cylinder chamber, where the air is
compressed.
 Rotary screw compressors use positive-displacement compression by

matching two helical screws that, when turned, guide air into a chamber,
whose volume is decreased as the screws turn.
 Vane compressors use a slotted rotor with varied blade placement to guide
air into a chamber and compress the volume. A type of compressor that
delivers a fixed volume of air at high pressures.

 Negative-displacement air compressors include centrifugal compressors.

These use centrifugal force generated by a spinning impeller to accelerate
and then decelerate captured air, which pressurizes it.
4.1.6 Air tank & Liquid fill tank
 Air tank may refer to:
 Diving cylinder used by scuba divers to hold air and other breathing
gases at high pressure underwater.
 Pneumatic pressure vessel for storing compressed air to operate pneumatic

equipment such as braking systems, paint dispensers and paintball guns.
 The air tank used in this model has a capacity about 3kg of air liquid mixture.
4.3 Wheel and carrier
 The Wheel of robots is located in Robot hell that has written upon it the name of
every robot on earth. The robot Devil uses it to choose which robot will lose their
hands to fry. Bender’s name is right next to the robot devil’s name.
 Wheeled robots are robots that navigate around the ground using motorized wheels
to propel them. This design is simpler than using treads or legs and by using wheels
they are easier to design, build, and program for movement in flat, not-so-rugged
terrain. They are also better controlled than other types of robots. Disadvantages of
wheeled robots are that they cannot navigate well over obstacles, such as rocky
terrain, sharp declines, or areas with low friction.

 Wheeled robots are most popular among the consumer market; their differential
steering provides low cost and simplicity. Robots can have any number of wheels,
but three wheels are sufficient for static and dynamic balance. Additional wheels
can add to balance; however, additional mechanisms will be required to keep all the
wheels in the ground, when the terrain is not flat.
Fig 4.3 Wheel
o 4.4 Two wheeled robot
 Two wheeled robots are harder to balance than other types because they must
keeping moving to maintain upright. The center of gravity of the robot body is kept
below the axel; usually this is accomplished by mounting the batteries below the
body. They can have their wheels parallel to each other, these vehicles are called
bicycles, or one wheel in front of the other and tandem placed wheels.

 Two wheeled robots must keep moving to remain upright and they can do this by
driving in the direction the robot is falling. To balance, the base of the robot must
stay with under its center Of gravity. For a robot that has the left and right wheels, it
needs at least two sensors. A tilt sensor that is used to determine tilt angle and wheel
encoders which keep track of the position of the platform of the robot.
Figure 4.5 Two wheeled robot
 The four inches wheels are used in this project. Figure of this wheel is as shown
below. This wheel is located at robot hill. As shown above figure there are two
wheel used but in this project the use four wheel at the robot hell as we know.
 In this model we use four wheel and two DC motor which is connected to the front
wheel. This model is similar to the two wheel robot only difference is that four
wheel used in this robot.
 Figure of four wheel robot with carrier is as shown below.

Figure 4.4 Wheel and carrier
o 4.5 Sprayer
 A sprayer is a device which is used to spray a liquid. In agriculture, a sprayer is a

piece of equipment that spray nozzles to apply herbicides, pesticides,
and fertilizers to agricultural crops. Sprayers range in size from man-portable units
(typically backpacks with spray guns) to trailed sprayers that are connected to a
tractor, to self-propelled units similar to tractors, with boom mounts of 60–151 feet
in length.

Figure 4.6 Sprayer
4.4 Nozzle
 A nozzle is a device designed to control the direction or characteristics of

a fluid flow (especially to increase velocity) as it exits (or enters) an enclosed
chamber or pipe.
 A nozzle is often a pipe or tube of varying cross sectional area and it can be used to
direct or modify the flow of a fluid (liquid or gas). Nozzles are frequently used to
control the rate of flow, speed, direction, mass, shape, and/or the pressure of the
stream that emerges from them.
 In nozzle velocity of fluid increases on the expense of its pressure energy. A gas
jet, fluid jet, or hydro jet is a nozzle intended to eject gas or fluid in a coherent
stream into a surrounding medium. Gas jets are commonly found in gas
stoves, ovens, or barbecues. Gas jets were commonly used for light before the

Development of electric light. Other types of fluid jets are found in carburetors,
where smooth calibrated orifices are used to regulate the flow of fuel into an engine,
and in Jacuzzis or spas.
 Another specialized jet is the laminar jet. This is a water jet that contains devices to
smooth out the pressure and flow, and gives laminar flow, as its name suggests. This
gives better results for fountains. Nozzles used for feeding hot blast into a blast
furnace or forge are called tuyeres.
Figure 4.7 Nozzle
o 4.4 Detailed description of “H” bridge
 H-bridge. Sometimes called a “full bridge” the H-bridge is so named because it has
four switching elements at the “corners” of the H and the motor forms the cross bar.
 The basic bridge is shown in the figure above. The key fact to note is that there are,
in theory, four, switching elements within the bridge. These four elements are often

called, high side left, high side right, low side right, and low side left .The switches
are turned on in pairs, either high left and lower right, or lower left and high right,
but never both switches on the same “side” of the bridge. If both switches on one
side of a bridge are turned on it creates a short circuit between the battery plus and
battery minus terminals. If the bridge is sufficiently powerful it will absorb that load
and your batteries will simply drain quickly. Usually however the switches in
question melt.
FIG.4.8 H- bridge circuit

Chapter 5: Designs and Planning
Chapter outline
5.1 Actual model of project
5.1.1 RF Transmitter
5.1.2 L293D “H” BRIDGE
5.1.3 RF Receiver
5.2 Air compressor and Sprayer nozzle

5.1 Actual model of project
 This project is divided into two modules i.e., the transmitter and the receiver
(Agrobot). The transmitter i.e., the remote has been equipped with Keyboard and RF
transmitter, which have been interfaced using microcontroller 89C2051. There are 4
keys for controlling the robot. 4 keys are used for the direction control i.e., moving
forward, backward, right turn and left turn.
Figure 5.1 Actual model of project

 In this model the air pressure is controlled maintain by air compressor.
5.1.1 RF Transmitter
 Depending on the key pressed the controller encodes the data to the RF transmitter
where the data will be modulated and transmitted. The RF transmitter is a three-pin
module in which first is the input that is connected to the micro controller and the next
two pins are Vcc and ground respectively. This is an in-built module, which is
available in the market. The specifications of the module are as follows:
 Working Voltage : 3 – 12 V
 Dimension : 22mm x 23mm
 Working Current : 10 – 15 mA
 Working Mode : AM
 Transmitting Speed : 4 KB / Sec
 Transmitting Frequency : 315 / 433 MHz
 Transmitting Power : 10mW
 External Antenna : 315 MHz
5.1.2 L293D “H” BRIDGE
 The motor driver package L293D is interfaced with 89C51 microcontroller through
IN1 to IN4 of H Bridge (L293D). Both the enable pins (EN1 and EN2) of motor driver
L293D is combined together and fed to controller to access the command signals.
Depending up on the command signals issued by the controller, the enable pins are
activated to control all the four internal drivers of L293D respectively to drive two
geared DC motors. Hear H Bridge is required, because the microcontroller output is
not sufficient to drive the DC motors, so current drivers are required for motor
rotation.
 The L293D is a quad, high current, half-H driver designed to provide bidirectional
drive currents of up to 600mA at voltages from 4.5V to 36V. It makes it easier to drive
the DC motors.
 The L293D consists of four drivers. Pins IN1 through IN4 and OUT1 through OUT4
are input and output pins, respectively, of driver 1 through driver 4. Drivers 1 and 2,
and drivers 3 and 4 are enabled by enable pin 1 (EN1) and pin 9 (EN2), respectively.
When enable input EN1 (Pin1) is high, drivers 1 and 2 are enabled and the outputs
corresponding to their inputs are active. Similarly, enable input EN2 (Pin9) enables
drivers 3 and 4.
5.1.3 RF Receiver
 As explained in the block diagram the RF receiver will be demodulating the received
signal. The demodulated output will be the actual data signal i.e., original signal that is
transmitted from the transmitter. The RF receiver consists of 3 pins. First is ground,
second is the output, which is connected to the micro controller and the third, is the
Vcc. The specifications of the RF receiver are as follows:
 Receive Sensitivity : -95 dbm

 Working Voltage : 5v
 Dimension : 37mm x 16 mm
 Receive Frequency : 315 / 433MHz
 External Antenna : 18 – 25 cm
 Receive Speed : 4 KB / Sec
 Working Temperature : -10 to +70 degrees
 Working Current: 0.5 – 0.8 mA.
5.2 Air compressor and Sprayer nozzle
 In this project the air compressor is mounted on the platform as shown in the figure
with the help of holding device. This air compressor is connected to the air tank or

liquid fill tank. The required pressure is fulfill by air compressor. The air tank is
connected to the sprayer nozzle with the help of flexible pipe.
 When the pressure inside the air tank or liquid fill tank is about 20 psi, the sprayer start
spraying at a required height.
 The liquid in the air tank or liquid fill tank is filled manually.

Chapter 6. Working of Agrobot
Chapter Outline
6.1 Block Diagram and description of system
6.2 working of Remote

6.1 Block Diagram and description of system
 Working principal of Agrobot:

To spray the liquids of pesticide on the crops
to protect them against insects while travelling
in the field with help of sprayer.
 Block diagram of pest controlling Agrobot is shown below. The Robot contains
components Keyboard, microcontroller, battery, air compressor; sprayer, nozzle, air
tank etc. will work as shown in block diagram. The required pressure in the air tank is
maintained by air compressor.
 Key board of remote works as transmitter. The transmitter transmits the signal which is
given to it. This signal is captured by robot which works as receiver by
microcontroller. As robot senses signal with help of H- bridge circuit D.C motor will
actuate and motors get revolution. The working capacity of the battery used in this
model is about 2 hour.
 Wheels which are connected through D.C motors. So as the motors get revolution the
wheels are also rotate. Wheels are rotated as given order reverse, forward, left, right. In
this model the diameter of wheel is 4”.
 When voltage is given to circuit as right wheel, motor of right side actuates and wheel
takes right turn. When voltage is given to circuit as left wheel, motor if left side
actuates and the wheel takes left turn. Same procedure is done in the forward of reverse
motion of the robot.
 As the carrier of robot travels in the field, the robot sprays the liquid pesticides on the
crops with help of sprayer at particular distance.

Fig 6.1 Block Diagram of working

Fig. 6.2 Project model

6.2 Working of Remote
 The remote control transmitter is small hand held unit with 4 keys which works on
12V battery to give good range of operation.
 When a key is pressed, the IC is connected to power supply battery and it starts
transmitting packets at 121 MHz frequency consisting of its ID and Data byte which
indicates which key was pressed. This information is used in remote control
applications.
 Each transmitter has preprogrammed unique 32 bit ID set during manufacturing and
cannot be changed. The receiver board usually stores the transmitter ID in its memory
before so receiver only responds to known transmitter IDs for secure applications.
 The RF part inside remote is SAW based 121 MHz transmitter, which can be received
by any 121 MHz type ASK RF Receiver followed by decoder chip.

Chapter 7: Testing
Chapter Outline
7.1 Testing of battery

7.2 Nozzle
7.3 Sprayer testing

7.1 Testing of battery
 Testing is designed to tell us things we want to know about individual cells and
batteries.
Some typical questions are:
 Is it fully charged?
 How much charge is left in the battery?
 Does it meet the manufacturer’s specification?
 Has there been any deterioration in performance since it was New?
 How long will it last?
 Do the safety devices all work?
 Does it generate interference or electrical noise?
 Is it affected by interference or electrical noise?
 We test the battery which capacity is about 2 hour .The motor running about 100 rpm
per minute.
7.2 Nozzle
 The nozzle or another hot78 end part could be (partially) blocked by dirt or carbonized
material. The impact of vitiated test medium depends upon the partic ular parameter
being considered, the operating condition, the test article configuration and the other
condition. It is a straight forward analytical task to define the differences in test
condition that exits because of testing in a vitiated test medium as opposed to clean air.

7.3 Sprayer
 Sprayer is the main mechanism in this project without sprayer it is useless because it is
main element to pest the pesticide. In this model spraying is controlled by manually.
So we work very much to how to control it. After testing it we know that the air
pressure in air tank is maintain by pressing the pump about 5-7 times.
Fig. 7.1 Sprayer nozzle

Advantages
 Avoid the farmer being exposed to toxic pesticide vapors produced during
spraying.
 Reduce the workload on the farmer and as it is easier to operate.
 The farmer need not spry in the hot sun, he can operate the device while
standing in a cooler place.
 By the development of these agrobots lot of manual labor will also be decreased
and the farmer life will save from chemicals.
 It is east to operate and compact in design.
 It is inexpensive.

CONCLUSION
 The robot for agricultural purpose an Agrobot is a concept for the near the
performance and cost of the product once optimized, will prove to be work through in
the agricultural spraying operations.
 We have been successful in developing a robot whose construction is enough to

withstand the challenges of the field.
 We are sure that once this concept is presented in a manner suitable to Indian market,
it will definitely help in bringing down the 15% modality rate found in the Indian
formers associated with the agricultural spraying operation

REFERENCE
[1] Robotics technology and flexible automation by S.R DEB
[2] Computer aided manufacturing by P.N Rao and N K TEWARI
[3] Industrial Robotics by Mikell P Groover
[4] The 8051 Microcontroller by Kineet Ayala

PST Controll Robot

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PEST CONTROLLING IN AGRICULTURE BY ROBOT

AGRICULTURE BY AUTOMATIC ROBOT”. We are very thankful to all those who

necessary facilities to accomplish this project.

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 1

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 2

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 3

2.1.2 Indian agriculture since 1947 14

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 4

6.2 Working of Remote 44

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 5

Figure Page No.

Figure 1.1 Leaves damaged by insects 10

Figure 3.1 Pest controlling by robot 21

Figure 4.1 Battery 24

Figure 4.2 DC motors 25

Figure 4.3 Wheel 28

Figure 4.4 Two wheeled robot 29

Figure 4.5 Wheel and carrier 30

Figure 4.6 Sprayer 31

Figure 4.7 Nozzle 32

Figure 4.8 H Bridge circuit 33

Figure 5.1 Actual model of project 35

Fig 6.1 Block Diagram of working 41

Figure 6.2 Actual model 42

Fig. 7.1 Sprayer nozzle 48

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 6

Table name Page No.

Table 2.1 Productivity of crop in various states 15

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 7

1.1 Introduction to project

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 8

1.1 Introduction to project

1.2 Necessity of this Agrobot

 In agriculture farm, greenhouse, farmers have to suffer many problems while

 Some of disease & their solution :

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 9

Fig 1.1 leaves damaged by insects

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 10

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 11

Chapter 2: Indian agriculture

2.1 Importance of agriculture

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 12

2.1 Importance of agriculture

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 13

2.1.2 Indian agriculture since 1947

2.1.3 Problem in agriculture

 “Slow agricultural growth is a concern for policymakers as some two-thirds of

—World Bank: “India Country Overview 2008”

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 14

 Although India has attained self-sufficiency in food staples, the productivity of

Table 2.1 Productivity of crop in various states

Crop Average farm yield Average farm Average farm

kilogram per kilogram per kilogram per

Wheat 2020 unknown 3880

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 15

 The low productivity in India is a result of the following factors

 Adoption of modern agricultural practices and use of technology is inadequate,

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 16

 Illiteracy, general socio-economic backwardness, slow progress in implementing

 Inconsistent government policy. Agricultural subsidies and taxes often changed

VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY Page 17

Chapter 3: Pest controlling