National Conference on Recent Advances in Electronics & Computer Engineering, RAECE -2015, Feb.
13-15, 2015, liT Roorkee, India
Advanced Multi-Tasking AGROBOT
A friend Of Farmer' s
PRASUN SHRIVASTAVA
FACULTY OF ELECTRONICS AND
COMMUNICAnON
SHRI MATA VAISHNO DEVI UNIVERSITY
KATRA, INDIA
2012eec32@smvdu.ac.in
KUSHAGRA PRA TAPSINGH
FACULTY OF ELECTRONICS AND
COMMUNICA nON
SHRI MATA VAISHNO DEVI UNIVERSITY
KATRA, INDIA
2012eec05@smvdu.ac.in
Abstract- A Multitasking robot for the field of Agriculture
has been studied in this research. The whole process used in this
research is based on DTMF (Dual Tone Multi-Frequency); GSM
module; thermal sensor sound sensor; GPS locater, flex sensor.
Also the technology that has been utilized here is for removing
the difficulty level faced by the farmers for the issue of distant
farming i.e. the issue of distance controlling is sort out with the
help of this AGROBOT and the operations applied are only
reducing the efforts of farmers by providing ease to them. For
being adaptable to any weather it will have a plastic fiber body
and the facility of GPS tracking if it has been lost or taken away
by someone whereby providing immediately with an alert in the
form of a text message over a wider range. With the advancement
in its properties this bot can be taken to a broad implementation.
Keywords-Microcontroller AT89S52; Sensors; Tracking; self
security; DTMF
I. I NTRODUCTION
The branch of a robotics is the base root of advancements in
today's technology by the help of which we are able to put up
our thoughts in working condition. A combination of different
technologies can be tied up together for making a more
advance system and so it is done in this research. Being easily
adaptable this bot is and will be the most important aspect of
advancement in present and future world. The acceptance of
this bot for our society arises because of the easy available
technology implied on it. On the concern of this bot it is
basically a farming robot which can be used by user as per his
requirements with timely modifications which is because of
bot's capacity for logic conclusion as well as its abstraction
power.
26
AKASHSINGH
FACULTY OF ELECTRONICS AND
COMMUNICAnON
SHRI MATA VAISHNO DEVI UNIVERSITY
KATRA, INDIA
akasheec38@gmail.com
AMRI TANSHU SRIVASTA VA
FACULTY OF ELECTRONICS AND
COMMUNICAnON
SHRI MATA VAISHNO DEVI UNIVERSITY
KATRA, INDIA
201Ieec67@smvdu.ac.in
While the one of the advantage in this bot is the easy
connection to the bot from any part of the country because the
bot is activated by the technology of DTMF. The actual
utilisation will be by the farmers which usually not able to
watch out their farming lands frequently. Earlier work
includes [I] the work of Blackmore, S., Stout, B., Wang, M.,
& Runov, B. who developed an idea of the advancement in
mechanisation for the field of agriculture [2] Jagannathan
Kanniah, who developed an obstacle avoidance mobile robot
with an inevitable accent towards the game version.[3] Fong,
T., Thorpe, c., & Baur, C. Who take initiative on the
advanced interfaces for vehicle tele-operation: collaborative
control, sensors working. [4] Sarig, Y. (1993) who initiated
and developed the technique of sowing and harvesting the
crops [5]. Yun Chan Cho, who worked on developing a
Remote Robot Control System based on DTMF of Mobile
Phone. [6] Zungeru, A.M whose work was on A Simple and
Reliable Touch sensitive security System. [7] Takeshi Yamada
and Narimasa Watanab both of them worked on the voice
detection technique for the non speech models as well as for
HMM composition.
Our work provides a benefit here i.e. we have reduce the
load of farmers as the robot is multi tasking so that whenever
the bot will be activated it will start its movement in the
borders of the farming premise and this is possible because of
the concept of DTMF .Now whenever the bot has to be shut
down the same concept of DTMF is to be applied. In this
manuscript, we are controlling this robot by the help of DTMF
as mentioned above, GSM technology for forwarding the
warnings to the farmer in the format of text messages in his
cell phone .Also the sensors like sound sensor for avoiding the
infiltration of aerial animals like crow etc; i.e. The play of a
National Conference on Recent Advances in Electronics & Computer Engineering, RAECE -2015, Feb.13-15, 2015, liT Roorkee, India

noise by an audio player as the sound sensor is activated. Also speaker is connected to IC MT8870 which is DTMF decoder
flex i.e. Pressure sensor for the sensation of any pressure on Ie. It used widely to decode DTMF code. It gives 4-bit digital
bot if any one tries to stole the robot and thermal sensor for output QI; Q2, Q3, and Q4 according to the received key (see
detection of any pests or insects like mice The bot runs on the Fig. 2).
H driving technique by attachment of I2V battery and the
whole microcontroller is working on the attachment of 5V
battery whereas the different modules have different
attachments of battery source mechanical attachments etc.. As
the system is supplied with 5V. . whenever there will be
infiltration the bot will start moving to that location and
thereafter it will scan for images and if the result will come
positive than it will send the location through GPS and text the
prior saved message to the operating switching device.

II. OVERVIEW OF THE TECHNOLOGY USED

A. DTMF Description

DTMF stands for dual tone mUltiple frequencies. DTMF

generation is the production of a composite audio signal
consist of two tones between the frequency of 697Hz and Fig. 2 The code table ofDTMF.
1633Hz [6]. The mathematical coding definition can be
expressed as: The corresponding Time- Domain graph for each symbol
f(t)=A _{ a }sin(2C{ a}t)+A _{b }sin(2C{b }t) (1) is shown in fig 3.
In the formula (1), the two terms separately express the
Values of low and high voice frequency. Aa and Ab
respectively indicate the sample quantization baseline of
tone cluster of low voice frequency and high voice
frequency, and the ratio of their amplitude is:
K=Ab/Aa (O.7<K<O.9) ( 2)
The DTMF keypad is arranged such that each row will
have its own unique tone frequency and also each column will
have its own unique tone. Below is a representation of the
typical DTMF keypad and the associated row/column
frequencies. When any of the key like "1", "2", "*",
"#" etc is pressed particular code is transmitted. This
code is consist of two frequency among which one is
higher frequency and second one is lower frequency (see
Fig I).columns.

UO!IH> 1:13_ 1417H> 163311>

1 2 3 A

_2 770Hz .. 5 6 B

Fig. 3 Time domain analysis ofDTMF frequencies

Row 3 152H. 7 8 II C

B. Pressure sensor or Flex Sensor

.
The Flex or Pressure sensors are analog sensors used for
Row. 9ot1H.z: 0 " D
sensing the amount of pressure .They work as variable Analog
Voltage Divider bending. Inside this sensor there are carbon
resistive elements within a thin flexible substrate and
whenever the substrate is bend than according to the bend of
Fig. 1 DTMF Keypad Layout the substrate the analog voltage varies .Their main function is
to convert the change in bend into electrical resistance i.e.
When any DTMF code has been received at mobile
more the bend more is the resistance values. They can be
phone it can be audible through speaker. So to decode
this DTMF code speaker output itself can be used. Output of

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National Conference on Recent Advances in Electronics & Computer Engineering, RAECE -2015, Feb.13-15, 2015, liT Roorkee, India

made unidirectional or Bi- directional depending upon the user and also the image for the thermal image of the small plants
needs. The diagrammatic circuit of this sensor is (see Fig. 4). while robot will be sensing them through thermal sensor isw
shown (in fig. 6)

VOLTAGE
DNlDER

-- IMPEOANCE IfJJ Il h
V
'" BUFfER �
( R''I�'t D )
ru

Fig.4 Basic Flex Sensor Circuit.

Fig. 6 Thennal view of the grass or plant sown by farmer

III. PROPOSED ARCHITECTURE

C. Infrared Sensor
Infrared sensors are used here for the purpose of edge
avoidance so that the bot will not fall out of his track.As it is A. Block Diagram And Description
well known that every body above OK emits infrared
radiations and so we are using here i.e. the bot will emit have The microcontroller 89S52 is the basic operator of this whole
infrared sensor which will bmit infrared wave through it ; and robot which is interfaced with all the modules acquired of
as soon as the receiver stops absorbing the waves the output technologies like DTMF, GSM, sensors, as well as motor
will become zero and thus the bot will be programmed in a driving circuits. The procedure of working of this bot is as
way to turn from his path.The circuit of infrared is shown in is soon as the DTMF signal is received by the bot , the bot will
(seeFig.5). get activated and start moving with the help of H motor
driving concepts than there are different level of checking
+5V zones which bot will check and thereafter taking correct
decision will move further .The bot will check for obstacle (if
any) in the front of it than if there will be any it will move its
direction than it will check the edge i.e. weather it is in the
comer or not and than if the path observed will be right it will
go ahead in it by changing its direction. Now it will check for
any pressure or any thermal vision or any sound near y the
premise and if any one of above will be sensed it will perform
'lILEJ)l
'lI pre defined action coded by the developer. The action as pre
defmed in it are if pressure or any thermal vision (as per
S!lHDll
intensity) is observed an interrupt will be generated and either
a pesticide or a message to the user will be send that "intruder
is sensed" else if there is a noise generated by any animal like
crow than a pre recorded audio will be played. All of this
activity are processed by microcontroller and comes to
conclusion. The block diagram representing the Bot structure
is shown (in fig.7)
Fig.5 Basic Infrared Sensor Circuit.

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National Conference on Recent Advances in Electronics & Computer Engineering, RAECE -2015, Feb.13-15, 2015, liT Roorkee, India

Fig.8 Basic Flex Sensor Circuit.

The simulation of the code written below is also shown in

(fig.9)

""UI_�_tifhoI�T"'WO_"

d lll lJ .a ., .. p l' :J'11& ..t

*.... . .. � � .•
.... '0 j� llel
B.""_ ! h�J.-.:.;! •
• .r_� 1 ItUJ.-Pl·E:.,uc·n'\:
e.'MIIUWIWdo
I "'I;.4 .. l.Dj)
.......
. - , ,
.�� ,,,>'<1,111 .... tQl" """"� port
9.0-'0......, 1 n-.."1�!: ,...,al..o'!c.r ,""",," pcn
....... I n ...:,.-,; , =,nh_jf==c."I"" PC"'
.- .. � vt,H.m k<:i:1.:1:
" ,

u
u ,

u ,
"
If IIIP:-�d�" lll-'I' "W-'!'I R71_'UICl> '"" 1,.
.. 1'11
!, I

11 tl... It (Pl-:aH" 111 -'I' U III -'D' III �.Y � u5 It ..l et .""Io� tor lott =
'"

n tlM�: {fl-::.n II It.: -'g' " IJJ -'1'1 /I Itt' ..., aftl cr ""':'CI Nt nip: :=
'"

'"

.�.
n '!J� !f ( Pl-:.:! u III -'I',,!ll -'1'1 "h1! f,: tl:t ""r�

.. - . .

Fig.7 Basic Flex Sensor Circuit.

and then by the help of block diagram the flow chart Fig.9 Simulation of Code in IlVision4 software
prepared is shown (in fig.S) and also the simulation of code is
attached. We have drawn the block diagram and flow chart
online by software LUCID CHART The simulation result shown above was done on Micro
vision 4 and the coding used for it is

29
National Conference on Recent Advances in Electronics & Computer Engineering, RAECE -2015, Feb.13-15, 2015, liT Roorkee, India

P2 == OxOO; II red led is on

#include<reg5l.h>
sbit A = P1A6;sbit C = P1A4;
sbit OE = P3A1; sbit IR1 = P3AO; sbit else
IR2 = P3A1;sbit Flex = P3A4;sbit SS =
P3A5; P2=OxOO; II stop if any other
void main() condition red led is on
{
P1=Oxff;11 initialized for input port
P3=Oxff;11 initialized for input port
P2=OxOO; II initialized for output
port else
while(l) II looping

{ P2=OxOO; Ilfor buzzer on

if (P1==Oxfb) II for key start the P2=Ox40; Ilfor gsm module to sent
power on the messege at mobile
P2=Ox10; II for audio player on
till 5 second and bot stop
if (Flex=='O' II SS=='O') II for } } }
preassure sensor to protect the bot and }
for sound sensor to detect the birds void obstacle()interrupt 1
and animals

IE 0;
P2 Ox18; II move left
if(P1==Oxf2 && IR1=='1' && IR2=='1') II }
key 2-decision in forward
{
P2=OxaO; II m1 and m2 forward
as 1010 these are 4 msb bit of port 2 void thermal()interrupt 0
{
else if (P1==Oxf4 && IR1 =='1' && IR2 IE=O;
=='0' ) II key 4 and level of surface P2 = Ox30; II start the relay for
for left turn laser to kill the insect and during
{ this bot will stop
P2 = Ox18; P2 = OxOO; Ilfor buzzer on to
} indicate insect detection
else if (P1==Oxf6 && IR1 =='0' && IR2
=='1') II key 6 and level of surface
for right turn
{ IV. APPLICATION AND FUTURE SCOPE
P2=Ox12;
} A. AGRICULTURE
else if(P1==Ox18 && IR1 =='1' && IR2 The application of this bot is mainly concerning towards the
=='1') II key 8 for back ward farmers which are not able to frequently visit their farming
land or premise. Here the bot can be used by the farmer for
P2=Ox15; spreading pesticide in the fields as well as removing the mice,
} crow like animals which can harm the yield of his farming
else if(P1==Oxf5) II key 5 to stop land. Also the device can be used for serving the purpose of
{ indication of mishaps like forest fire and will serve the
P2=Ox10; purpose of stolen of grains or any material in the premise of
} farmer.
else if (P1==Oxfc) II # key to
stop the whole ckt
{

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National Conference on Recent Advances in Electronics & Computer Engineering, RAECE -2015, Feb.13-15, 2015, liT Roorkee, India

B. ALARM PHONE DIALER
By replacing DTMF Decoder IC CM8870 by a 'DTMF
Transceiver IC CM8880, DTMF tones can be generated from
the robot. So, a project called 'Alarm Phone Dialer can be built
which will generate necessary alarms for something that is
desired to be monitored (usually by triggering a relay). For
example, a high water alarm, low temperature alarm, opening
of back window, garage door, etc.
C. DEFENCE PURPOSE
Also if few modification are introduced in this bot than the bot
can serve the purpose of securities, washing the machines
where human reach is not possible and can be used by defence
purpose for sighting enemies area and fmding the intruders in
their productivity with its multitasking attributed by the help
of different sensors modules like Thermal, Flex etc.
Considering all the situations, the robot integrated with
different sub modules can be used for redemption and security
purpose.
REFERENCES
[I] G. Blackmore, S., Stout, B., Wang, M., & Runov, B. (2005). Robotic
Agriculture - The Future of Agricultural Mechanisation. In T. R. V. and
A. U. Agro Technology (Ed.), Presented at the 5th European
Conference on Precision Agriculture.
[2] Kanniah Jagannathan, "Control of an obstacle avoidance robot", Motion
Control Proceedings. 1993, Asia-Pacific Workshop on Advances in 15-16
Jul 1993,

our area. As the bot involves technology of DTMF so it has [3 ] Fong, T., Thorpe, c., & Baur, C. (200I). Advanced interfaces for
vehicle teleoperation: collaborative control, sensor fusion displays, and
the coverage of wider area and thus can be implemented from remote driving tools. Autonomous Robots, 11(1), 77-85.
a wider range doi: 10.1023/A: 1011212313630.
[4] Sarig, Y. (1993). Robotics of Fruit Harvesting: A State-of-the-art
V. CONCLUSION Review. Journal of Agricultural Engineering Research, 54,265-280.

By the development of this robot an easy way to the farmer's [5 ]
for farming has been introduced through DTMF so that they
can give their attention to the other sectors in their life while
[6 ]
sitting on any location across the world. Being readily using
the cell phones the operation of this robot will be easier and
will provide high coverage. The main advantage of this robot [7]
is that it facilitates the farmers to ease their work and increase
Yun Chan Cho, "Remote robot control system based on OTMF of mobile
phone", Industrial Informatics, 2008. INOIN 2008. 6th IEEE
International Conference on 13-16 July 2008 at Oaejeon.
Zungeru, A.M. et al., (2012). A Simple and Reliable Touch sensitive
security System. International Journal of Network Security & Its
Applications (IJNSA), 4(5),149-165.
Zungeru, A.M. et al., (2012). A Simple and Reliable Touch sensitive
security System. International Journal of Network Security & Its
Applications (IJNSA), 4(5), 149-165.

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