APPLICATION OF ROBOTICS FOR ADVANCEMENT IN

AGRICULTURE USING IOT

Project Design Report
(TY Semester I, 2021-22)

SUBMITTED BY

Pratik Parekh [T217125]

Saif Sayyad [T217050]
Vaibhav Devshatwar [T217090]
Vishwajeet More [T217136]

GUIDED BY

Nutan Bansode

SCHOOL OF ELECTRICAL ENGINEERING,

MIT ACADEMY OF ENGINEERING, ALANDI (D), PUNE-412105

MAHARASHTRA (INDIA)

MAY, 2021

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 APPLICATION OF ROBOTICS FOR ADVANCEMENT IN

AGRICULTURE USING IOT

Project Design Report

(TY Semester I, 2021-22)

Submitted in partial fulfillment of the

requirements for the award of the degree
of

Bachelor of Technology

in

ELECTRONICS & TELECOMMUNICATION ENGINEERING

BY
Pratik Parekh
Saif Sayyad
Vaibhav Devshatwar
Vishwajeet More

SCHOOL OF ELECTRICAL ENGINEERING

MIT ACADEMY OF ENGINEERING, ALANDI (D), PUNE-412105

MAHARASHTRA (INDIA)

December, 2021

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 CERTIFICATE

It is hereby certified that the work which is being presented in the

Project Design Report entitled “ Application of Robotics for

Advancement in Agriculture using Iot”, in partial fulfillment of the
requirements for the award of the Bachelor of Technology in
Electronics Engineering and submitted to the School of Electrical
Engineering of MIT Academy of Engineering, Alandi(D), Pune,
Affiliated to Savitribai Phule Pune University (SPPU), Pune is an
authentic record of work carried out during an Academic Year 2021-
2021, under the supervision of Nutan V. Bansode, School of Electrical
Engineering.

Pratik Parekh Seat No.: T217125 PRN: 0120190607

Saif Sayyad Seat No.: T217050 PRN: 0120190253
Vaibhav Devshatwar Seat No.: T217090 PRN: 0120190426
Vishwajeet More Seat No.: T217136 PRN: 0220200068

Date:

Signature of Project Advisor Signature of Dean

Project Adviser Dean
School of Electrical Engineering, School of Electrical Engineering,
MIT Academy of Engineering, Alandi(D), Pune MIT Academy of Engineering, Alandi(D), Pune

(STAMP/SEAL)

Signature of Internal examiner/s Signature of External examiner/s

Name……………………………… Name………………………………
Affiliation………………………… Affiliation…………………………

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 ACKNOWLEDGEMENT

We want to express our gratitude towards our respected project guide Nutan Bansode for her
constant encouragement and valuable guidance during the completion of this project work. We
also want to express our gratitude towards respected School Dean Dr.Dipti Sakhre for her
continuous encouragement.

We would be failing in our duty if we do not thank all the other staff and faculty members for
their experienced advice and evergreen co-operation

Pratik Parekh
Saif Sayyad
Vaibhav Devshatwar
Vishwajeet More

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 ABSTRACT

The Project aims on the design, development and the manufacture of the robot which can put the
seeds, burrow the soil, and plough the land and cutting the waste plants. These entire systems of
robot works with battery. In India almost about 70% of humans are relying on agriculture. So the
agronomics procedure in India ought to be progressed to reduce the efforts of farmers. Various
operations are performed in the agronomics acreage like seeding, weeding, waste plant cutting,
ploughing, etc. Exceptionally primary operations are seeding, ploughing and plant cutting. But
the present techniques of seeding, ploughing & plant cutting are problematic. The equipments
acclimated for seed dispersing are actually difficult and inappropriate to handle. So there is a
need of advance techniques and equipments which will reduce the man power. The mechanism
can be progressed for sowing seeds in farm with specific separation between seed is balanced. In
this paper robot administration is provided by utilizing Software programming. By utilizing that
proper administration is specified to the robot. The acreage is not the undeviating line and
smooth. If any obstacle is occurred like stone, electric light pole, trees, etc. The robot
automatically get stop.

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 LIST OF FIGURES

Fig. No. Fig. Name Page No.

Fig 3.1 Block Diagram 10

Fig 3.2 Circuit Diagram 12

Fig 3.3 Mechanical Diagram 16

Fig 3.4 Sequence Diagram 22

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 CONTENTS

Acknowledgements 1

Abstract 5

List of Figures 6

1. Introduction 8

1.1 Motivation for the project 9

1.2 Problem Statement 9

1.3 Objectives and Scope 10

2. Literature Survey 11

3. System Design 17

3.1 Block diagram 17

3.2 Circuit Diagram and explanation 18

3.3 Mechanical Drawing 18

3.4 Sequence Diagram 19

3.5 Hardware and Software Requirements 20

4. Methodology 21

5. Conclusion 22

References 23

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 1. INTRODUCTION:

Food is the man’s most basic requirement. Man has become the center part in food production,
where this has become the limiting factor. All through the ages men have struggled to produce
more and superior food for increasing population. The use of technology advancement is to
increase the productivity and the safety of an operator. Automation technology has been used
in every domain like construction, manufacturing and etc. But now it has been incorporated in
the field of agriculture.
The term agriculture is coined from two Latin words ager means field and culture means
cultivation. In agriculture most of the energy consuming work is done by the farmers. For
example, in the vegetable field, the farmers should lift the heavy bags of vegetables at the time
of harvest and during fertilizing time they carry the bags of fertilizers. These operations are
repetitive, energy consuming work for farmers. After the manual operators, then comes the
tractor-based operator such as the power units that are exposed to high noise and vibration,
which is very hazardous to health of the farmers.
The development of Agricultural Robots was started from the past 1980s and these agrobots
are mainly used for seeding, spraying and weeding process. The AGROBOT is built by using
sensors and some of the enabling technologies like wireless communication and GPS.
Kawamura and co-workers developed the apple-harvesting robot for harvesting apples. Many
of the robots are still in the stage of research and development. An efficient robot is one which
must have a high performance with the low cost price. Over the past, agriculture has advanced
from a labouring occupation to a highly technical business, using a wide variety of tools and
machines, but now the researchers are looking for robots to do the agricultural activities.

The initial stage of evolution, automatic vehicle guidance, has been studied for a great number
of years, with a number of revolutions investigated as early as the 1920s. The idea of
completely autonomous agricultural vehicles is far from newly discovered. Examples of initial
driverless tractor prototypes using leader cable guidance procedure date back to the 1950s and
1960s.In 1980s, the possibility for integrating computers with image sensors contributed
opportunities for machine vision based guidance systems. In mid-1980s researchers at Michigan
state university and Texas A&M University were exploring machine vision guidance. Further,
throughout that decade, a program for robotic harvesting of oranges was successfully
performed at the University of Florida.
In India during the decades of 1970s and 1980s there was a dramatic increase in productivity
which is credited to a sequence of steps that led to the accessibility of farm technologies
frequently described as green revolution? The vital sources of agricultural extension during this
span were the spread of modern crop varieties, intensification of input use and investments
leading to expansion in the irrigated area. In regions where green revolution technologies had
major influence, growth has now reduced. New methodologies are now essential to push out
yield frontiers, utilize inputs more productively and transform to more maintainable and higher

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value cropping patterns. In 1997, agricultural automation had become a vital subject along with
the advocacy of precision agriculture.
The automatic agricultural vehicles are categorized into four categories 1.
Guidance: To know how the vehicle navigates.
2. Detection: How the vehicle extracts the features of environmental field.
3. Action: How well the vehicle executes its task. Example radicchio harvesting.
4. Mapping: The construction of the map of agricultural field with its relevant features. The
main motivation for developing agricultural automation technology is reduced labor force, a
phenomenon common in the developed world. Other causes are the requirement for
upgraded food quality, security in terms of inspection of contaminants in food grains and
saving the wastage of resources and to save time from manual work and to improve
efficiency of the agricultural products and also to increase the productivity, accuracy and
enhanced operation safety.

1.1 Motivations

This idea arose from the problems faced by the farmers during Performing agricultural activities
like Ploughing, Cutting , Seeding, spraying insecticides, etc. which will affect the production,
even time consuming and also need labors and wages. In achieving Solution for this we took
help from various research papers. We came to conclusion to design and implement the
agriculture robot also called Agrobot. Agrobot is a robot designed for agricultural purposes. This
Bot performs basic elementary functions Ploughing, Cutting and Seeding to minimize the labor
work of farmers and additionally increasing speed and accuracy.

1.2 Problem Statement

Application of Robotics for Advancement in Agriculture using IoT

In order to reduce the efforts of Farmers, we will design, develop and Implement the robot
which can put the seeds, burrow the soil, plough the land and cut the waste plants, and can be
easily controlled by farmers through android.

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1.3 Objectives

Semester 5: To Do Literature survey and Background Study of Agrobot and Design a basic model
on Simulation platform.

Semester 6: To Design and Implement a Hardware Model of agrobots.

Semester 7: To connect the agrobot with the operator through Application featuring HC-05.

Semester 8: Changes in Product with help of Market analysis, Customer feedback, the need of
customer and competitor analysis.

1.4 Scope

The farmers who are young will make more investments in automation with much interest than
the elder farmers. The technology which is new has to be introduced slowly with time. Slowly
the agriculture sector is moving towards precision farming in which management will we done
on the basis of individual plant. Deep learning and other extend methods are used to detect the
plant or flower type; this will help farmers to provide favorable environment to the plant for
sustainable growth. Eventually the production of more customized fruits and plants will grow,
which leads to an increase in the diversity of products and production method. Artificial
intelligence techniques are growing at a rapid scale and it can be used to detect disease of
plants or any unwanted weed in the farm by using CNN, RNN or any other computational
network. Green house farming can provide a particular environment to the plants but it is not
possible without human intervention. Here, wireless technology and IOT comes in the run and
using the latest communication protocols and sensors we can implement weather monitoring
and control without human presence in the farm. Harvesting of fruits and crops can also be
incorporated by robots which are specialized in working round the clock for quick harvesting.
Application of robotics are vast in farming such as the robots can be used in seeding and
planting, fertilizing and irrigation, crop weeding and spraying, harvesting and shepherding. To
complete the same work in many cases, it would take approximately 25 to 30 workers. Thermal
Imaging can also be implemented by using drones and thermal camera in it. The drones
monitor the farm and gives continuous real time data of the field so that the farmers could
know in which area of the field the water quantity is less and can only start irrigation in that
particular area. This will prevent water flooding or scarcity of water in the field and the crops
get advent amount of water all the time. Many different integrated approaches can be used to
provide a viable environment and increased growth.

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2. Literature Survey

[1] “Smart farming using agri-bot” (K. Gowthami, K. Greeshma, N. Supraja,IJAER,2019)

This paper offers a system which performs the seeding process in the agricultural field. The
main idea behind this development is to perform agricultural tasks without human
intervention and to implement a prototype of an effective low cost agrobot. This project is
based on a wireless communication by making use of Arduino and Bluetooth.

[2] “Automatic weed detection and smart herbicide spray robot for corn fields” (G. Sowmya, J.
Srikanth, IJSETR, 2017)
. This paper designs and develops a robot to detect weed in corn crop, by making use of
image processing. The advantages of this project is time saving as it detects the beets with
the help of a camera and the herbicides are sprayed on the infected crop, saves the
farmers from tedious work.

[3] “Designing of an Autonomous Soil: Monitoring Robot”

(Patrick M. Piper and Jacob Vogel, IEEE, 2015)
This paper designs and develops a robot for monitoring of soil. This robot is capable of
sensing the moisture and the temperature of the soil through stevens hydra probe II and it
consists of GPS to navigate.

[4] “IoT Based Smart Agriculture-towards making the fields talk”

(Muhammad Ayaz, Mohammad Ammad-uddin, Zubair Sharif, Ali Mansour, and el-Hadi M.
Aggoune, IEEE,2019)
This paper proposed a multitasking IOT based technology in the agricultural field. The idea
of this structure is to help farmers produce high quality yields to meet the rising demand
of food with the increased population, by making use of wireless sensors, UAVs, cloud
computing, and communication technologies. the system proposes a complete technology
based farming from the start till the harvesting which includes very less human
interaction.

[5] “Image processing-based intelligent robotic system for assistance of agricultural crops”
(Nikhil Paliwal, Pankhuri Vanjani, Jing-Wei Liu, Sandeep Saini and Abhishek Sharma, IJSHC,
2019) this paper determines a prototype model of image processing based IOT robot
which helps in identification of the leaf infection. This consists of UGV and UAV usage
which helps in detecting the disease, soil data connection and in the classification of the
field to provide solutions for mixed cropping. The main purpose of this paper is to help
farmers with early detection of disease.

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[6] “IOT Enabled pesticide Sprayer with security system by using solar energy”
(Amaresh.A.M. Anagha G Rao, Fennaz Afreen, Moditha, IJERT,02020 )
This system consists of Arduino UNO which acts as the hearth of the system. This system
consists of a camera, to detect the obstacles falling in its path which will help in taking the
required actions and it proposes three main functions: Ploughing seed dispensing and
harvesting. The main idea behind this is to design a multitasking robot which in turn
reduces the working hours, cuts down on labor expenses and helps in the correct way of
seeding.

[7] “Design and Implementation of Agrobot with Automatic Sun Tracking” (V. Radhika, B.
Sharmila, R. Ramya, M. Gopisri , IJEAT,2019)
This proposed Agribot consists of Arduino, solar panel, GSM module and sensors. Solar
panels are used to charge the robot. The ultrasonic sensors detect the hurdles and also help
in digging of holes for sowing seeds at a predefined distance. PH sensors help in the
computation of the moisture content in the soil. Electrochemical sensor helps in identifying
the fertility of soil and the optical sensor helps in the movement of the robot. The main aim
behind this system is to reduce farmers burden and help obtain good amount of yields.

[8] “AGROBOT: Sowing and Irrigating Farming Machine” (Shubham Khandelwal, Neha Kaushik,
Sagar Sharma, IJAR,2017)
This structure has a vehicle operated ATMEGA328 microcontroller which acts as the master
operator. It performs four functions such as ploughing, seeding and harvesting of crops and
irrigation. Solar panels are made used in order to recharge the batteries. The robot moves
automatically if the length and the width of the field is provided. The aim of this system is
to help farmers with good yield of crops and to minimize the usage of non-renewable
sources.

[9] “AGROBOT: Sowing and Irrigating Farming Machine” (Ponnu Priya Saju, Anila P.V,
IJREAM,2019)
This system is controlled by ARM CORTEX M3 based microcontroller. FC-28 is used for soil
moisture detection. LPC1769 microcontroller controls the seed sowing and irrigation
operation. Relay is used to carry out the watering operation, the microcontroller sends in a
high signal when the moisture level is low and the relay is turned on. This prototype is built
using aluminum square tubes and foam board in order to reduce the weight. The main aim
behind this system is to help farmers with precision farming.

[10] “IoT Based Precision Agriculture Using Agrobot” (Mr.V.Gowrishankar, Dr.K.Venkatachalam,

GRDJE, 2018)
The paper provides information about the demonstration and working of Agribot controlled
by IoT. This robot carries out varied functions such as ploughing, seeding and spraying of

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 Pesticides. Servo motor and solenoid valves are implemented in order to the mechanism
of seeding and spraying of pesticides. The motto of this project was to aid the farmers with
a good yield of crops and to avoid direct contact with chemical pesticides.
This paper brings froth the information about the implementation of agricultural robot
through an android application. This robot is used for spraying of pesticides with the help
of solar powered pumping system. The movement of the robot betwixt the crops is
monitored by the farmer with the help of android application. If there's an invader in the
field then the robot captures the image of the invader and sends it to the farmer. This
robot can be used to during the COVID sanitization for spraying of sanitizer. the main
agenda of this project is to build a nominal equipment which can be afforded by farmers,
in order to increase the yield of the crops and reduce contact with the chemical pesticides.

[12] “Solar Powered Agribot for Farm Monitoring using Internet of Things (IOT)”
(Sivaprasad Athikkal, Ambarish Pradhan, Abhilash Gade, A. Mahidhar Reddy, IJEET, 2020)
This proposed Agribot consists of IR, moisture and temperature sensors. In order to
make use of the naturally available sunlight they have used solar panels. The sensors
check the temperature of the soil and irrigate the land depending on the temperature
and then feed the data to the cloud. This robot will change the path if an obstacle
occurs. The main intention behind this project is to build an economical robot to help
the farmers and to make use of the available natural resources.

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 3. SYSTEM DESIGN

3.1 Block diagram

`
Fig 1

The above figure represents the architecture diagram of AGROBOT. Microcontroller is

interacting between all modules. Bluetooth (HC-05) will be given to communicate with the
robot and plants cut automatically. The complete project will be displayed on LCD screen. 12v
Power supply is provided to drive Motor and Microcontroller; drivers are used to control the
speed movement of the robot. Bluetooth module HC-05 Bluetooth is a serial port convention
module. It is a simple to utilize "Bluetooth" and intended for straightforward remote serial
association setup. HC-05 Bluetooth module was associated with the same microcontroller to
set up a duplex correspondence channel amongst itself and the android advanced Mobile
Phones. Bluetooth is utilized to communicate with robot through android and send the changes
to the Microcontroller. As per the guidelines given by the client the robot moves in forward,
turn around, left and right bearing to drop the seeds at a specific position. Four wheels are
associated at the base for the adaptable development of robot. Two DC engines are utilized to
drive the wheels associated with the robot. L293D is utilized to drive the DC engines. Hindrance
locator sensor is utilized to identify diverse obstruction in the way of the robot. In the event that
any obstruction is distinguished in the way of the robot the data of the snag is sent to the client
through remote association. In Seeding engines are utilized to drop a seed one by one. Plant
cutting is finished by engines. Transfer is an exchanging operation and Furrowing is performed.
Fig. 1. Represents the representation of the system which gives the clear picture of the system.
.

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3.2 Circuit Diagram

Fig 2
3.3 Mechanical Drawing

Fig 3

The above Diagram Represent the basic mechanical drawing which consist of a funnel for
seeding, a chemical spraying for spraying insecticides, chemical, pesticides, water, etc.

3.4 Sequence Diagram

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 Fig 4 (Reference)

The above diagram takes the Wireless Bluetooth technology as referent to integrate the
Android with the agrobot. A agrobot consists a unit with sensors, a processing unit, a wireless
communications module and a unit of actuators which is normally composed by the
control and motors units. Each node evaluates the environment through the sensors and the
information sent through the wireless communication module, being analyzed by the
processing unit, performing and the planning simultaneously without the need of waiting
response from a human through android , reducing the energy consumption when performing
the communication from node to node based on the RSSI among them.

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3. 5 Hardware and Software Requirement

1. Arduino Uno
• Microcontroller: ATmega328
• Operating Voltage: 5V
• Input Voltage (recommended): 5-13V
• Output Voltage (limits): 7-21V
• Digital I/O Pins: 14 (out of which 6 provide PWM output)
• Analog Input Pins: 6;
• DC Current per I/O Pin: 40 mA
• DC Current for 3.3V Pin: 50 mA;
• Flash Memory: 32 KB (ATmega328) out of which 0.5 KB is used by bootloader.
• SRAM: 2 KB (ATmega328)
• EEPROM: 1 KB (ATmega328
• Clock Speed: 16 MHz

2. Motor Drivers LM293D

The board uses a 5V supply. It is a double bridge driver. It is used to drive the motors.
Here, mainly two motor drivers are used to drive the two DC motors which are used for
the movement of the robot.

3. DC Motor Mainly four DC motors are used. Two of them are attached to wheels to provide
movement of the robot.
The specification of this motor is:
• 12 Volt
• 30 rpm
Another two motors have following specifications:
• 3 Volt
• 4280 rpm one of this type of motor is attached to the seed dispenser. Another
motor is attached to the harvester at the front of the robot.

4. LCD Display (16 x 2 it displays the functions and modes that the user want to apply.

5. Battery (12 volts) Batteries are used to give supply to Arduino circuitry and radio receiver c
Circuitry.
LED It is used as a signal that the robot is in start mode.

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4. METHODOLOGY

Fig. 5

The above Figure, explains the flowchart of ploughing, seeding and Grass cutting. The first step
here is initialization of microcontroller. After initializing the microcontroller, initialize the LCD
and UART protocol. Then check for commands from user continuously through HC-05
Bluetooth. The user selects the operations like Ploughing, Seeding and Grass cutting, then HC-
05 Bluetooth receives command from master then command is sent to HC-05 Bluetooth, which
processes the input and performs the operation until the next command is selected.

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5. CONCLUSION

This automated robotic machine which is named as “AGROBOT” is specially designed to

facilitate the farmers so that the demand of food can be met easily. Agriculture robot serves
better result than manual system. It is an automated robot which works on the basis of size of
field, size of seed and in which mode it is meant to be operated. This robot can be controlled by
using algorithm for the comfort of farmers and interfaced with RENESAS microcontroller. It is
expected that this robot will change the trend of farming in the upcoming days from manual to
automation. The implementation of AGROBOT has significant saving in the term of time,
efficiency, man power, wastage of resources and also it works at much cheaper price. This also
makes farming easy to learn and implement. By the help of this robot we can create interest
among youths in farming which is very important for our development. These robots can be
created in different sizes as per the requirement of farm which will make it more affordable.
Robots can come over the difficulties in farming and also it leaves scope of further
advancement in it. The solar energy can be generated and used as a source of power for the
functioning of the robot by attaching the solar panel to the device. It reduces the human efforts
and performs the activities automatically and accurately.

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6. REFERENCES
1. K. Gowthami, K. Greeshma, N. Supraja, “Smart farming using agribot” , International
Journal of Applied Engineering Research ISSN 0973- 4562 Volume 14, Number 6, 2019.

2. G.Sowmya, J.Srikanth, “Automatic weed detection and smart herbicide spray robot for
corn fields “,International Journal of Science, Engineering and Technology Research
(IJSETR) Volume 6, Issue 1, January 2017.

3. Patrick M. Piper and Jacob Vogel “Designing of an Autonomous Soil:Monitoring

Robot”,2015,IEEE.

4. Muhammad Ayaz, Mohammad Ammad-uddin, Zubair Sharif, Ali Mansour, and el-Hadi
M. Aggoune “ IoT Based Smart Agriculture towards making the fields talk”, 2019 IEEE.

5. C. Jeeva, Saher Mairaj, Archit keshav Gangal and Farheen “Agricultural Automation
System with Field Assisting Robot-AgroBot”, International Journal of Pure and Applied
Mathematics Volume 118 No. 20 2018.

6. V. Radhika, B. Sharmila, R. Ramya, M. Gopisri “. Design and Implementation of

Agrobot with Automatic Sun Tracking”, International Journal of Engineering and
Advanced Technology (IJEAT) ISSN: 2249 – 8958, Volume-9 Issue-2, December, 2019.

7. Shubham Khandelwal, Neha Kaushik, Sagar Sharma, “AGROBOT: Sowing and

Irrigating Farming Machine”,Volume 8, No. 5, May-June 2017International Journal of
Advanced Research.

8. Ponnu Priya Saju, Anila P.V, “AGROBOT: Sowing and Irrigating Farming Machine”,
International Journal for Research in Engineering Application & Management (IJREAM)
ISSN : 2454-9150 Vol-05, Issue03, June 2019.

9. Mr. V. Gowrishankar Dr. K. Venkatachalam, “IoT Based Precision Agriculture using

Agribot”, Global Research and Development Journal for Engineering | Volume 3 | Issue 5
| April 2018

10. Amaresh A M , Anagha G Rao , Fenaaz Afreen , Moditha N , Syeda Arshiya, “IOT
Enabled
Pesticide Sprayer with Security System by using Solar Energy”, International Journal of
Engineering Research & Technology (IJERT),2020.

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