Locust Free Field with an Agricultural Robot (AGROBOT)

A Thesis submitted
to
Department of Electrical (Power) Engineering
Supervisor

Engr. Aoun Muhammad Esquire

Authors

Tahira Arshad 17EL02

Khadija Mastoor Khalid 17EL03
Ali Haider Hashmi 17EL04

(Session: 2017-2021)
Faculty of Engineering & Technology
The Islamia University of Bahawalpur Pakistan
 The Islamia University of Bahawalpur, Pakistan
Faculty of Engineering & Technology
Department of Electrical (Power) Engineering

TITLE PAGE
Locust Free Field with an Agricultural Robot (AGROBOT)

Submitted by:
Tahira Arshad 17EL02
Khadija Mastoor Khalid 17EL03
Ali Haider Hashmi 17EL04

A thesis submitted in partial fulfillment of the requirements for the degree of

B.Sc. Electrical (Power) Engineering

Supervisor
Engr. Aoun Muhammad
Assistant Professor, Electrical Engineering

Thesis Supervisor Signature: ________________________________________

External Examiner Signature: _______________________________________

 The Islamia University of Bahawalpur, Pakistan
Faculty of Engineering & Technology
Department of Electrical (Power) Engineering

CERTIFICATE
This is to certify that work presented in this project thesis on “Locust Free Field with
an Agricultural Robot (AGROBOT)’’ is entirely written by following students under the
supervision of Engr. Aoun Muhammad.

Submitted by:
Tahira Arshad 17EL02
Khadija Mastoor Khalid 17EL03
Ali Haider Hashmi 17EL04

Project Supervisor Head of Department

Engr. Aoun Muhammad Dr. Abdur Raheem
Electrical (Power) Engineering Electrical (Power) Engineering
Faculty of Engineering & Technology, IUB Faculty of Engineering & Technology, IUB

External Examiner
Engr. Dr. Abdul Sattar Malik
Chairman/Associate Professor
Electrical Engineering Department, BZU Multan

Date:

Session (2017-2021)

I
 UNDERTAKING
We certify that research work titled “Locust Free Field With An Agricultural
Robot(Agrobot)” is our own work. The work has not been presented elsewhere for assessment.
Where material has been used from other sources it has been properly acknowledged / referred.

Signatures of Students

Tahira Arshad 17EL02

Khadija Mastoor Khalid 17EL03
Ali Haider Hashmi 17EL04

II
 ABSTRACT
Agriculture sector is appraised as the backbone of Pakistan's economy. Agriculture contributes
for about 18.9% of Pakistan's GDP and employs about 42.3% of the labor force. Introducing
Robots and other security techniques for countermeasure against various diseases and locust
attack in the field will improve the growth and quality of crops. The field will have specific
frequency buzzer of which locust hearing is sensitive ranging over 1-30KHz. And also, the
field will have the Fog sprayer with intense garlic smell to keep locusts away. While the robot
capable of performing operations like ploughing, seed dispensing and watering. The main
component here is the AVR At mega microcontroller that runs the entire process. Farmers
today spend huge amount of money on machines that help them decrease labor and increase
yield of crops but the efficiency and profit are very less. Hence, introducing robots in the field
of agriculture can perform multiple tasks using renewable energy and overcome these
shortcomings.

III
 ACKNOWLEDGEMENTS
In the name of ALLAH (SWT) Who is the most Gracious, The Benevolent and The most
Merciful. Thanks to ALLAH ALMIGHTY, All Sovereign for giving us the courage and
enthusiasm to complete our study tenure and finishing it without any hindrance and difficulty.
We wish to express our sincere gratitude to our supervisor, Sir Aoun Muhammad for his
enthusiasm, patience, insightful comments, helpful information, practical advice and
unceasing ideas that have helped us tremendously at all times in our research and writing of
this thesis. His immense knowledge, profound experience and professional expertise in
Electrical Engineering has enabled us to complete this research successfully. Without his
support and guidance, this project would not have been possible. We could not have imagined
having a better supervisor in our study. We are also thankful to Sir Dr. Abdul Raheem Esquire
(Head Of The Department) for his great cooperation. Last but not the least, our sincere
appreciation extends to our worthy teachers, parents, siblings and friends who had provided
us a lot of information and technical support.
Thanks for all your encouragement!

IV
 TABLE OF CONTENTS
ABSTRACT ........................................................................................................................... III
ACKNOWLEDGEMENTS ................................................................................................. IV
LIST OF ABBREVIATIONS .............................................................................................VII
LIST OF FIGURES ........................................................................................................... VIII
CHAPTER 01 ...........................................................................................................................1
INTRODUCTION....................................................................................................................2
1.1 General.......................................................................................................................2
1.2 Problem statement .....................................................................................................2
1.3 Aims and Objectives .....................................................................................................3
1.4 Benefits of The Project ...............................................................................................3
CHAPTER 2 .............................................................................................................................5
LITERATURE REVIEW .......................................................................................................5
2.1 Introduction to Robotics .............................................................................................6
2.1.1 Characteristics of Robots ...................................................................................7
2.1.2 Types of Robots .................................................................................................8
2.1.3 Scope and limitations of robots.........................................................................14
2.2 Issue of Locust ..........................................................................................................14
2.2.1 Classification of Locust .....................................................................................15
2.2.2 Locust Attack .....................................................................................................16
2.2.3 Locust plague .....................................................................................................17
2.2.4 Locust Control ...................................................................................................18
2.3 Limitations of Locust Control ................................................................................18
2.4 Combination of AGROBOT and Locust free system .............................................19
CHAPTER 3 ...........................................................................................................................20
HARDWARE SPECIFICATIONS ......................................................................................20
3.1 Arduino UNO: ............................................................................................................21
3.2 Arduino NANO: .........................................................................................................22
3.3 RF (radio frequency) Module: ....................................................................................22
3.4 Power supply: .............................................................................................................23
3.5 Gear motors: ...............................................................................................................24

V
 3.6 Motor driver L298D: ..................................................................................................25
3.7 Relay: .......................................................................................................................25
3.8 Servo Motor: ...............................................................................................................26
3.9 Donut Humidifier: ....................................................................................................27
3.10 Water pump: ...........................................................................................................27
3.11 Solar plate: ................................................................................................................28
Chapter 4 ................................................................................................................................29
HARDWARE SIMULATION ..............................................................................................29
4.1 Motor driver L298 ......................................................................................................30
4.2 Relay 1: .......................................................................................................................31
4.3 Relay 2: .......................................................................................................................32
4.4 Arduino UNO: ............................................................................................................33
4.5 Arduino NANO: .........................................................................................................34
Chapter 5 ................................................................................................................................35
FUTURE IMPLEMENTATION ..........................................................................................35
5.1 ADVANTAGES .........................................................................................................36
CHAPTER 6 ...........................................................................................................................38
CONCLUSION ......................................................................................................................38
6.1 Summary.....................................................................................................................39
6.2 The Engineer and Society ...........................................................................................39
6.3 Environment and Sustainability..................................................................................39
6.4 Life Long Learning .....................................................................................................39
REFERENCES .......................................................................................................................41
Coding at Transmitter’s end .................................................................................................47
Coding at Receiver’s end .......................................................................................................50

VI
 LIST OF ABBREVIATIONS
AGROBOT Agriculture Robot
AVR Advanced Virtual RISC
SCARA Selective Compliance Assembly Robot Arm
UGVs Unnamed ground vehicle
ROVs Remote operated underwater vehicle
AUV Autonomous underwater vehicle
GPS Global positioning System
INS Inertial Navigation Sensors
FAO Food and Agriculture Organization
DOF Degrees-of-Freedom
ULV Ultra Low Volume
RF Radio-Frequency
AC Alternating Current
DC Direct Current
OEM Original Equipment Manufacturer
RPM Rotation Per Minute

VII
 LIST OF FIGURES
Figure 3.1 Arduino UNO .........................................................................................................21
Figure 3.2 Arduino NANO ....................................................................................................233
Figure 3.3 Radio Frequency Module .......................................................................................23
Figure 3.4 Power supply ..........................................................................................................24
Figure 3.5 Gear motors ............................................................................................................24
Figure 3.6 Motor driver L298D ...............................................................................................25
Figure 3.7 Relay .......................................................................................................................26
Figure 3.8 Servo Motor ............................................................................................................27
Figure 3.9 Donut Humidifier ...................................................................................................27
Figure 3.10 Water pump ..........................................................................................................28
Figure 3.11 Solar plate .............................................................................................................28
Figure 4.1Motor driver L298 ...................................................................................................30
Figure 4.2 Relay 1 ....................................................................................................................31
Figure 4.3 Relay 2 ....................................................................................................................32
Figure 4.4 Arduino ...................................................................................................................33
Figure 4.5 Arduino NANO ......................................................................................................34

VIII
 CHAPTER 01
INTRODUCTION

1
 INTRODUCTION

1.1 General
This project is intended to acquire a field which will be locust free field with an agricultural
robot. Locust swarms are famous for voraciously feeding on agricultural crops, trees, and other
plants. In fact, this feeding can destroy crops and grasses grown for people and livestock,
causing starvation and famine in communities that depend on their crops for survival.
Locust swarms consumes crops and cause major agricultural damage at large scale, which can
result to famine and starvation. Farmers usually used to drive off the locusts by lighting fires.
They also dug up the eggs. Now crops can be sprayed with insecticides from vehicles or
airplane, but these traditional methods are not sufficient to keep locust away.
Scientists are trying to improve the ways to control the locusts, by dispersing swarms. By
having a specific frequency buzzer of which locust hearing is sensitive smell to keep locusts
away. These measurements will be arranged on towers which will be on every corner of the
field having a specific distance. Farmers today spend a lot of money on machines that help
them decrease labor and increase the yield of crops. The profit and yield return from employing
this equipment are very less as compared to the investment. Agricultural ground water removal
generally exceeds the natural recharge rate. Ground water over-pumping causes irremediable
land settling and loss of aquifers storage capacity. Seeds are not properly dispersed. In this
project, there is also a robot capable of performing functions like seed dispensing , automatic
ploughing and watering[1, 2]. The main component here is the AVR At mega microcontroller
that supervises the entire process. The robot will be controlled through RF controller. Farmers
today spend a lot of money on their machines that help them decrease labor and increase yield
of crops but the efficiency and profit are very less. Hence introducing robots in the field of
agriculture which can perform multiple tasks using renewable energy can overcome these
shortcoming. .

1.2 Problem statement

Agriculture sector is facing a lot of problems including lack of modern agriculture technology,
poor limited cultivable area, Water logging and salinity, financial position of farmer, slow

2
growth of allied product, inadequate infrastructure, low per hectare yield, uneconomic land
holdings. Farmers today waste a lot of money on machines that help them to minimize labor
and increase yield of crops. The profit and yield come back from employing this equipment
are very fewer as compared to the investment. Agricultural ground water removal generally
surpasses the natural recharge rate. Groundwater over-pumping causes irremediable land
settling and aquifer storage capacity loss. Seeds are not properly dispersed. Another issue is
the Locust swarms. These swarms consume crops and cause major agricultural damage at large
scale, which can result to famine and starvation.

1.3 Aims and Objectives

The aims and objectives of this project are following:
 To enable the farmer to plough large areas of land in minimum amount of time.
 To perform simultaneous seeding process and automated ploughing using Advanced
Virtual RISC (AVR).
 To save fields from the destruction caused by locust swarms.
 Increase the productivity of crops.
 Replacing fuel with Renewable energy to perform basic agricultural tasks.

1.4 Benefits of the Project

This project will be applicable in the agricultural sector to replace the old methods of
farming which are expensive. These swarms consume crops and cause major agricultural
damage at large scale, which can result to starvation and famine. Framers use traditional
methods to keep locust away by beating drums and producing smoke, while in some countries
they spray pesticides through drones which is not an effective method because it can harm
crops and cattle to some extent. By installing locust free system in the field, it will help farmers
to get rid of locust swarms which devastate crops at a very large scale annually. Today
ploughing is done through tractors which are expensive and consume a lot of fuel. It requires
farmer to have skills to drive tractors. Tractors are fuel consuming and cause pollution in the
environment. Bringing renewable energy in agriculture sector to perform ploughing through
robot. It can be cost effective and easy to operate. These robots are environmentally friendly

3
and pollution free. By combining three basic tasks in a robot which are ploughing, seed
dispensing and pesticides spraying can save time, labor, fuel and cost[3].

4
 CHAPTER 02
LITERATURE REVIEW

5
 In western developed countries there had been a huge improvement in agriculture
sector by introducing modern robotic techniques. Also, there is a need for combination of
agricultural and electrical scientists working together for the improvement and development.
The result of the combined work is called AGROBOT (Agricultural Robot). The goal of the
AGROBOT project is the execution of a robotic system for agricultural operations and
functions such as ploughing the field, seeds dispensing and pesticide spraying which are the
basic operations[4]. Electricity for this can be obtained from renewable energy resources like
solar energy[5]. Thus, this robot is a clean energy-based farmer-friendly device. The main goal
of this project is to increase the productivity of agricultural land. AGROBOT is a machine that
can be controlled by the human operator for making work assignment more accurate and easier.
In order to improve the productivity, one has to find out the solution of locust swarm which
has always been one of the biggest reasons for the devastation of crops. So, it is requisite to
have a system in the field that can prevent from the locust swarm and farmers can get rid of
this major issue. By implementing specific frequency buzzers and garlic sprayers at different
positions in the field, can be the solution of this mainstream problem.

2.1 Introduction to Robotics

Robotics is a branch of science and engineering that includes mechanical
engineering, electronics engineering, and computer science. This branch treat with the
design, use to control robots, sensory feedback, construction, and information
processing[6]. Robot is an electro-mechanical device which is directed by computer and
electronic programming. Robots can be semi-autonomous or autonomous human-like systems,
such as TOPIO and ASIMO[7], as well as those into more defined and specific roles, such as
Swarm robots and Nano robots ; and helper robots which are used to make or mobile things
or perform unskilled or dangerous tasks, such as servicing robots or mobile or Industrial
robots[8]. Robots are designed to be used for any purpose but these are using in careful
environments like detection of bomb, deactivation of bombs etc. A famous author named
Isaac Asimov, he said that he said that the first person to offer robotics name in a short story
composed in 1940’s century. In that story, Isaac put forwarded three basic principles about
how to guide and run these types of robotic machines. Later on, these three principals were
names as Issac’s three laws of Robotics. These three laws state that:

6
 Robots will never hurt human beings.
 Robots will follow instructions and orders given by humans with breaking law.
 Robots will protect and defend themselves without breaking other rules[9].

2.1.1 Characteristics of Robots

There are few characteristics of robots given below:

 Appearance:
Robots have a physical body. They are carried by the structure of their body and are
moved by their mechanical parts. Without appearance, robot will be just a software
program.

 Brain:
On-board control unit is another name of brain in robots. Using these robots to receive
information and to send commands as output. With this board control unit, robot senses
what to do next it’ll be a remote-controlled machine.

 Sensors:
In robotics, sensors are used to gather information from the outside world and send it
to Brain. Basically, there is a circuit in these sensors that produces voltages in them in
order to control the robots.

 Actuators:
The robots and its components move with the help of a machine that is called
Actuators. Few examples of these actuators are pumps, motors, and compressor etc. The
brain guides these actuators that when and how to move or respond.

 Program:
Robots only reacts and responds to the set of instructions which are provided
to them in the shape of a program. These programs only notify the brain when to conduct
operation like when to move, where to move and produce sounds etc. These programs only
inform the robot how to work with sensors data to make decisions.

7
 Behavior:
Robots’ behavior is defined by the program which has been built and installed for it. Once
the robot starts moving, one can easily know which kind of program is being built and
installed inside the robot[10].

2.1.2 Types of Robots

 Industrial Robots
Industrial robots were first introduced in 1960 in the field of industrial production process,
and until the 19th century industrial robots ruling robotics research. In the start, the automotive
industry recited the specifications about the industrial robots that had to meet, mainly due to
the industry’s market pull and clear technical necessities. These necessities determined, which
fields of investigation were ruling and predominant during that period [11, 12]. Typical
applications of robots include painting, welding, disassembly, assembly, pick and
place for printed circuit boards, labelling and packaging, product inspection, palletizing and
testing; all completed with high acceptance, speed, and precision. They can supervise
in material handling. So, there are six major types of industrial robots which are discussed
below:

 Articulated robots
Articulated robots are the most ordinary industrial robots. They glance like a human arm,
that is why they are also known as robotic arm or manipulator arm. Their unification with
several degrees of freedom let the articulated arms with a wide range of movements and
rotation.

 Cartesian coordinate robots

Cartesian robots are also called rectilinear robots, gantry robots, and x-y-z robots have
three lenticular joints for the movement of the tools and three revolving joints for its orientation
in space. To be able to move and align the effector organ in all directions, such a robot needs
6 axes or degrees of freedom. In an environment of 2-dimensions, three axes are enough, two
for displacement and one for orientation of robots.

8
  Cylindrical coordinate robots
The cylindrical coordinate robots are designated by their rotary joint at the base and at least
one prismatic joint connecting its links together. They can move vertically and horizontally by
sliding.

 Spherical coordinate robots

Spherical coordinate robots only have rotary joints. These robots are one of the first robots
that have been used in industrial applications. They are commonly used for extrusion, human
tending in die-casting, plastic injection and for welding are recognized by their two parallel
joints which make X-Y planes to move. Rotating shafts are positioned vertically at the effector.
SCARA robots are used for jobs that require precise sideways movements. They are ideal for
assembly applications.

 SCARA robots
SCARA is abbreviated as Selective Compliance Assembly Robot Arm. SCARA robots are
recognized by their two parallel joints which make X-Y planes to move. Rotating shafts are
positioned vertically at the effector. SCARA robots are used for jobs that require precise
sideways movements. They are ideal for assembly applications.

 Delta robots
Delta robots are also alluded to as parallel link robots. They consist of parallel links
connected to a common base. Delta robots are specifically useful for direct control tasks and
high maneuvering operations (such as quick pick and place tasks). Delta robots take edge of
four bar or parallelogram linkage systems. Furthermore, industrial robots can have a serial or
parallel framework.

 Serial manipulators
Serial architectures also known as serial manipulators are the most frequent industrial
robots and they are designed as a chain of links connected by motor-activated joints that

9
extend from a base to an end-effector. SCARA, Stanford manipulators are typical examples
of this category.

 Parallel Architecture
A parallel operator is designed so that each series is usually short, simple and can thus be
rigid against undesired movement, compared to a serial manipulator. Errors in one chain's
positioning are averaged in concurrence with the others, rather than being cumulative. Each
actuator must still move within its level of freedom, as for a serial robot; however in the
collateral robot the off-axis flexibility of a joint is also repressed by the effect of the other
chains. It is this closed-loop firmness that makes the overall parallel manipulator rigid
compared to its components, unlike the serial chain that becomes gradually less rigid with more
components.

 Medical Robots
In recent years, the field of pharmaceutical has been also invaded by robots, not to replace
qualified personnel such as doctors and nurses, but to assist them in routine work and precision
tasks. Medical robotics is a promising field that really struck out in 1990s. Since then, a broad
variety of medical applications have emerged: laboratory robots, surgical training, tele-surgery,
remote surgery, telemedicine and tele-consultation, rehabilitation, strives for the deaf and the
blind, and hospital robots. Medical robots help in operations on heart-attack victims and make
possible the millimeter-fine reconciliation of prostheses[13]. There are, however, many
challenges in the general implementation of robotics in the medical field, chiefly due to
concerns such as safety, precision, cost and demurral to accept this technology[14-16]. Surgical
robots either allow surgical operations to be carried out with better precision than an unassisted
surgeon or allow remote surgery where a human surgeon is not bodily present with the patient.
Rehabilitation robots facilitate and help the lives of frail, elderly people, or those with
malfunction of body parts that effect movement. These robots are also for restoration and
related procedures, such as training and therapy. Bio-robots is a group of designed robots that
emulate the cognition of humans and animals. Tele-presence robots allow off-site medical
professionals to move, look around, communicate, and participate from remote locations.
Pharmacy automation robotic systems to dispense oral solids in a retail drug store setting or
preparing sterile IV admixtures in a hospital pharmacy setting. There are five recently invented

10
robots that assists in hospitals and treatment centers to enhance the quality of care and patient’s
results.
 The da Vinci® Surgical Robot.
 The Xenex Germ-Zapping Robot.
 The PARO Therapeutic Robot.
 The Cyber Knife.
 The TUG.

 Mobile Robots
The term mobile robot delineates a robotic system, able to carry out tasks in
distinctive places and consisting of a platform moved by locomotive elements. The
choice of the locomotive system depends firstly on the environment in which the robot
will plies[17]. This can be aquatic, aerial or terrestrial. In the aquatic and aerial environments,
the locomotive systems are commonly propellers or screws, whereas at the seabed legs are also
used. The choice of the locomotive system on earth is more complicated due to the diversity
of terrestrial environments. Wheels, tracks, and legs are classic terrestrial locomotive
elements[13]. Mobile robots have become more ordinary in industrial and commercial settings.
Hospitals have been using an autonomous mobile robot to locomote materials for many years.
Warehouses have installed mobile robotic systems to efficiently move materials from hosing
shelves to order fulfillment areas. Mobile robots are also a major focus of present research and
almost every major university has one or more labs that pivot on mobile robot research. Mobile
robots are also found in military, industrial and security settings. The components of a mobile
robot are a controller, actuators, sensors and power system. The controller is generally a
microprocessor, implanted microcontroller or a personal computer (PC). The requirements
could be dead reckoning, tactile and proximity sensing, collision avoidance, triangulation,
ranging position location and other specific applications. Actuators commonly refer to the
motors that move the robot can be wheeled or legged. To charge a mobile robot usually we use
DC power supply (which is battery) instead of AC (Alternating Current). Mobile robots can be
classified by the environment in which they travel:

11
  Land or home robots are usually called as Unnamed ground vehicle (UGVs). They are
most commonly tracked or wheeled however also include legged robot with two or more
legs (humanoid, resembling animals or insects).
 Delivery & Transportation robots can move materials and furnishes through a work
environment.
 Aerial robots are usually mentioned as Unmanned Aerial Vehicles (UAVs) Underwater
robots are usually called as autonomous underwater vehicles (AUVs). Polar robots,
designed to navigate icy, chasm filled environments. The device they use to move,
mainly:
 Legged robot : human-like legs (i.e. an android) or animal-like legs.

 Underwater Robots
More than 70% of the earth is covered by ocean. However, little effort has been made to
utilize or protect this vast resource, compared to space or terrestrial programs. During the last
few years, the use of underwater robotic vehicles has rapidly increased, since such vehicles
can be operated in the deeper, riskier areas that divers cannot reach. The potential applications
of such vehicles include fishing, underwater pollution monitoring, rescue, and waste cleaning
and handling in the ocean as well as at nuclear sites[18]. Most commercial unmanned
underwater robots are tethered and remotely operated; they are as a group, referred to as
remotely operated vehicles (ROVs). However, extensive use of manned submersibles and
ROVs is currently limited to a few applications because of very high functional costs, operator
fatigue and safety problems[19][20]. Today, scientists have access to a wide range of
technologies that often carry them down to 4,500 meters (14,764 feet) and permit them to study
the deepest parts of the ocean. Radio signals, such as those generated by GPS navigation
systems, travel at the speed of light. But the absorption of light in water is 10 trillion times
greater than that in air, so radio signals can’t go very far underwater and thus aren’t viable for
underwater communications.
To overcome these limitations, underwater robot navigation has traditionally relied upon
different kinds of technologies such as high-power inertial navigation sensors (INS) that cost
hundreds of thousands of dollars.

 Biologically Inspired Robots

12
 Apart from traditional mobile vehicles that use wheels and tracks as locomotion
systems, there is pervasive activity in introducing inspiration from biology to generate unique
types of robots with adaptive locomotion systems. Probably the most commonly used
biologically inspired locomotion system is the leg. However, there are some research groups
centering on other sorts of movement, such as the systems used by fishes and snakes [13, 21,
22]. Biomimicry is copying from nature while bio-inspired design is an erudition from nature
and making a phenomenon that is simpler and more efficacious than the system observed in
nature. Biomimicry has given rise to the development of a diverse branch of robotics
called soft robotics. The biological systems have been boosted for specific tasks according to
their habitat. However, they are multifunctional and not designed for only one particular
functionality. Bio-inspired robotics is about studying biological systems and look for the
mechanisms that may solve a problem in the engineering field. The biological systems have
been optimized for specific tasks according to their habitat. However, they are
multifunctional and are not designed for only one specific functionality. Bio-inspired robotics
is about studying biological systems and looking for the mechanisms that may unravel an
issue within the engineering field.

 Walking Robots
There has been great effort in striving mobile robots that use legs as their locomotive
system. Some developments are. The legs of walking robots rely on two or three Degrees-Of-
Freedom (DOF) manipulators, and therefore walking robots share some of the technical issues
typical of both industrial robots and mobile robots. When talking about dynamically stable
walking robots, humanoid robots come to mind. Actual autonomous biped robots did not
emerge until 1967, when Vukobratovicetal [23], lead the first experiments with dermato-
skeletons. The first controller-based biped robot was developed at Waseda University, Tokyo,
Japan, in 1972. The robot was called WL-5. Although the first bipeds were highly untangled
machines under statically stable control, later developments have yielded truly sophisticated,
extremely light, skillful robots. These novel developments have fed a huge amount of research
that can be clumped into three major research areas: gait generation, stability control, and robot
design. There are two ways of approaches in gait first type of approach consists in generating
a gait off-line. This method, however, cannot cope with adaptation to changing environments.

13
The second type of method is an improvement that generates a proper gait periodically and
determines the desired angles of every joint on-line. There has additionally been a few attempt
positioned into decreasing power consumption during the walking gait [13, 24, 25]. .
Legged robots, or walking machines, are designed for locomotion on difficult terrain and
require control of leg actuators to hold balance, sensors to decide foot placement and planning
algorithms to decide the route and pace of movement.

2.1.3 Scope and limitations of robots

The advance version of machines are robots that are used to do superior tasks and are
programmed to make choices on their own. When a robot is designed the most important
issue to be kept in mind is that what the function is to be performed and what are the
limitations of the robot. Each robot has primary degree of complexity and each of the tiers
has the scope which limits the capabilities which can be to be performed[26]. For general
basic robots, their complexity is decided by the number of limbs, actuators and the sensors
that are used while for advanced robots’ complexity is determined through the variety of
microprocessors and microcontroller used. As increasing any component in the robot, it is
increasing the scope of the robot and with every joint added, the degree of the robot is
enhanced[27, 28]. Any point on this robotic arm can only move along a circular path. Any task
involving motion other that the circular motion cannot be performed by
such robot. Scope of robots can be extended and restrictions can be decreased by adding to the
complexity of the robots. The motion of this robotic arm is restricted to a circular path. Any
task which can be done by the motion along the circular arc can be performed by this robot.
Say, we need to draw circular segments on sheets of papers or we need to cut them in circular
pieces that can be accomplished by fitting a pencil and a cutter to the end of this robotic arm.
Scope of robots may be prolonged and obstacles may be decreased through including to the
complexity of the robots. One can consider the opportunities of motions that may rise up
through simply padding one extra limb to the prevailing one via a revolute joint and a servo
motor.

2.2 Issue of Locust

Locusts are normally seen in Pakistan between July-October and mostly as solitary

14
insects or in small isolated groups. Their being noticed alongside the India-Pakistan border.
Before mid-April this time — and coming after the harm they triggered to the growing rabi
crops along western Rajasthan and parts of northern Gujarat amid Dec-Jan has raised the alarm
bells. Locusts are the swarming phase of certain species of short-horned grasshoppers in
family Acrididae[29, 30]. These insects are usually solitary, however under certain
circumstances become more abundant and extrude their behavior and habits,
becoming gregarious. The term "locust" is used for grasshopper species that
change morphologically and behaviorally on crowding, forming swarms that develop from
bands of immature stages called hoppers[31]. Several species of grasshoppers swarm as
locusts in specific parts of the world, on all continents except Antarctica and North America.
For example, the Australian plague locust swarms across Australia[32]. Swarms of desert
locusts are threatening large areas of pastures and crops, overwhelming nations within side the
Horn of Africa, the Middle East and South Asia. The UN Food and Agriculture Organization
(FAO) says these swarms represent the worst infestation in 25 years in Ethiopia and Somalia,
in 26 years in India, and the worst in 70 years in Kenya.

2.2.1 Classification of Locust

 Desert locust
The desert locust is probably the best known species owing to its wide distribution
(North Africa, Middle East, and Indian subcontinent) and its capacity to migrate over long
distances. A major infestation covered much of western Africa in 2003-4, after unusually
heavy rain set up favorable ecological conditions for swarming. The first outbreaks occurred
in Mauritania, Mali, Niger, and Sudan in 2003[33]. The rain allowed swarms to broaden and
move north to Morocco and Algeria, threatening croplands. Swarms crossed Africa, appearing
in Egypt, Jordan and Israel, the first time in those countries for fifty years. The cost of coping
with the infestation was put at US$122 million, and the damage to crops at up to $2.5
billion[30, 34]. During plague years, desert locusts can cause widespread damage to crops, as
they are highly mobile and feed on huge portions of any form of green vegetation, including
crops, pasture, and Fodder. Even a very small, 1-km2 locust swarm can eat the same amount
of food in a day as 35,000 people eat.

15
  Migratory locust
Migratory flight occurs as the normal, 'spontaneous' hobby of gregarious locusts while
at or close to their preferred temperature. The suddenness of the mass departure of a swarm in
the morning is attributed on the whole to gregariousness. The migratory locust, sometimes
classified into up to ten subspecies, swarms in Africa, Asia, Australia, and New Zealand, but
has become rare in Europe. In 2013, the Madagascan form of the migratory locust formed
many swarms of over a thousand million insects, reaching “plague” status and covering about
half the country[35] [36]. The migratory locust is the most widespread locust species, and the
only species within the genus Locusta. These Locusts are highly mobile, and usually fly with
the wind at a speed of about 15 to 20 kilometers per hour (9.3 to 12.4 mph). Swarms can travel
5 to 130 km or more in a day. Locust swarms can vary from less than one square kilometer to
several hundred square kilometers with 40 to 80 million individuals per square kilometer. An
adult locust can consume its own weight (several grams) in fresh food per day. For every
million locusts, one ton of food is eaten.

2.2.2 Locust Attack

Locusts form enormous swarms that spread throughout regions, devouring crops and
leaving serious agrarian damage in their wake. Locust swarms destroy crops and cause major
agricultural damage, that may cause famine and starvation. Locusts consume leaves, flowers,
fruits, bark and growing points, also devastate plants by their sheer weight as they descend on
them in gigantic number. They soon form groups of many thousands of individuals. Locust
swarms can differ from less than one square kilometer to several hundred square
kilometers[37]. There can be at least forty million and sometimes as many as eighty million
locust adults in every square kilometer of swarm. These groups behave like cohesive gadgets
and move throughout the landscape, mostly downhill, but making their way around barriers
and merging with other bands[38]. The attraction between the insects involves visual
and olfactory cues. The bands appear to navigate using the sun. They pause to feed at durations
before continuing on, and may cover tens of kilometers over a few weeks. When
the locusts begin attacking crops and thereby wreck the entire agricultural economy, it is
referred to as locust plague/locust invasion[39].

16
2.2.3 Locust plague
In 2020, locusts have swarmed in massive numbers in dozens of countries, including
Kenya, Ethiopia, Uganda, Somalia, Eritrea, India, Pakistan, Iran, Yemen, Oman and
Saudi Arabia[40]. When swarms affect several countries at once in very large numbers, it is
known as a plague. The locust invasion that swept over farms in rural Kenya from December
2019 has left farmers not only counting crop losses, but struggling with emerging
environmental and health problems. The swarms have been the worst seen in Kenya for seventy
years, and specialists are worried that swarms later in the year will be even larger. A desert
locust adult can devour more or less its own weight in fresh food per day, about two grams
every day[41][42]. A 1 km sq. size swarm contains about forty million locusts, which eat the
similar amount of meal in one day as about 35,000 people. According to USDA[43], this is
based on a person eating an average of 2.3 kg of food per day. Swarm the size of Niamey
(Niger) or Bamako (Mali) eats the same amount of food in a day as half the country. A swarm
the size of Paris[44] eats the same amount of food in one day as half the population of France;
the estimate of New York City eats in one day the same day similar to everyone in New York
and California; the size of Rome eats the equal of everyone in Kenya; the size of Sydney
(Australia) eats the equal amount of food in one day as Australia eats in 1.5 hrs. During quiet
periods (known as recessions) desert locusts are usually restricted to the semi-arid and arid
deserts of Africa, the Near East and South-West Asia that receive less than 200 mm of rain
annually. This is an area of approximately 16 million square km, consisting of approximately
30 countries. During plagues, desert locusts may spread over an enormous area of some 29
million square kilometers, extending over 60 nations. This is more than 20% of the total land
surface of World[45]. During plagues, the Desert Locust has the potential to damage the
livelihood of a tenth of the world's population. During the final two millennia, locust plagues
endured to appear at irregular intervals with the main recorded outbreaks of the desert and
migratory locusts happening in Africa, the Middle East &Europe[46]. Other species of locusts
caused havoc in North and South America Asia, and Australia; 173 outbreaks over a period of
1924 years have been recorded in China[47]. The Bombay locust was a major pest in India
and southeastern Asia in the 18th and 19th centuries, however has seldom swarmed since 1908.
In the spring of 1747 locusts arrived outside Damascus consuming the bulk of the crops and

17
vegetation of the surrounding countryside. One local barber, Ahmad recalled the locusts "came
like a black cloud”. They covered everything: the trees and the crops.

2.2.4 Locust Control

Locust survey and control are generally the responsibility of the Ministry of Agriculture in
locust affected countries and are operations undertaken by national locust units. There are
numerous regional locust organizations that assist with survey and control operations. During
times of flare-ups and plagues, outside assistance from the donor community and other
international organizations is usually required. Extensive research is in progress on biological
control and other means of chemical control of locusts[48]. The contemporary focus is
primarily on pathogens and insect growth regulators. Thus far control by natural predators and
parasites is constrained since locusts can speedily migrate away from most natural enemies.
Although massive nets, flamethrowers, lasers and huge vacuums were proposed in the past,
these aren’t in use for locust control. People and birds often eat locusts but usually not
sufficient to significantly reduce population levels over large areas. Locust swarms move fast
and are unpredictable in their movements. This makes it challenging to contain their growth
and unfold. Safe and effective use of pesticides, inclusive of bio-pesticides, via aerial and
ground spraying is necessary to lessen their propagation and avert their spread to new areas.
The World Bank is coordinating closely with the FAO, which is the leading technical agency
globally on desert locust control, different companion organizations, and nations to develop
integrated pest control plans and to support different countries around the world to adopt secure
and effective control operations.
At present the primary technique of controlling desert locust swarms and hopper bands is
with mainly organ phosphate chemicals applied in small concentrated doses ULV
formulation)[49] by vehicle-mounted and aerial sprayers and to a lesser extent by knapsack
and hand-held sprayer.

2.3 Limitations of Locust Control

There are many motives as to why it is difficult to successfully tackle the Desert
Locust. Some of these are:
 The extremely large area (16-30 million sq. km) within which locusts can be found.
 The remoteness and difficult access of such areas.

18
  The insecurity or lack of safety (such as land mines) in some areas.
 The limited resources for locust monitoring and control in some of the affected
countries.
 The undeveloped fundamental infrastructure (roads, communications, water and meal)
in many countries.
 The difficulty in maintaining an adequate number of trained staff functioning assets
during the lengthy durations of recession in which there is little or no locust activity.
 Political relations amongst affected countries[50].
 The difficulty in organizing and implementing control operations in which the pesticide
should be applied directly onto the locusts.
 The difficulty in predicting outbreaks given the lack of periodicity of such incidents
and the uncertainty of rainfall in locust areas[51].

2.4 Combination of AGROBOT and Locust free system

It is intended to implement a project in agricultural field which will increase the
production of crops by using renewable energy and also protect the field from the locust
swarms. As far as production is concerned, AGROBOT will do this job. To protect the
field from locust swarm, the system will be implemented in the field which consists of
specific ranged buzzers of which locust hearing is sensitive ranging over 1-30KHz[52]
[53] and the sprayers with intense garlic smell. AGROBOT’s job is to perform the basic
functions in the agricultural field which are ploughing, seeding and spraying. AGROBOT
will operate on solar energy[54, 55]. This unique combination of AGROBOT and locust free
system will enhance the agricultural growth in the land.

19
 CHAPTER 03
HARDWARE SPECIFICATIONS

20
 Now we shall discuss the main components which are the basis of the project one
by one. The list of names and their respective explanation is given below:

3.1 Arduino UNO:

The Arduino UNO is an open-source microcontroller board developed via Arduino.cc
and primarily built on the Microchip ATmega328P microcontroller[56]. The board is
equipped with analog input/output (I/O) pins and units of digital that may be interfaced to
many expansion boards (shields) and different circuits . The board has 14 digital pins I/O(six
capable of PWM output), 6 analog pins I/O, and is programmable with Arduino
IDE (Integrated Development Environment), with a type B USB cable. Arduino UNO contain
USB interface i.e. USB port is added on the board to form a serial communication with the
computer[56]. Only 5 V is required to turn the board ON, which can be obtained directly using
port of USB or external adopters, however, it can support external power source up to 12 V
which can be controlled and limit to 5 V or 3.3 V based on the demand of the project. The
Arduino Uno has many of resources for communicating with a computer, another Arduino
board, or other micro controllers. The ATmega328 gives UART TTL (5V) serial
communication, which is obtainable on digital pins 0 (RX) and 1 (TX). An AT mega 16U2 on
the board channels this serial communication over USB and comes as a virtual port to software
on the computer. The 16U2 firmware uses the level USB COM drivers, and no external driver
is needed there. But, on Windows a file is needed. A Software Serial library permits serial
communication on any of the Uno's digital pins. There are two types of pins mentioned below.
1. General pin Functions
2. Special pin functions

Figure 3.1 Arduino UNO

21
 3.2 Arduino NANO:
The Arduino Nano in Figure 3.2 is a small, complete, and bread board friendly board
built on the ATmega328 (Arduino Nano 3.x)[57]. It needs only a DC power jack, and works
with a Mini-B USB cable rather of a standard one[58]. Each of the 14 digital pins on the Nano
can be used as an output or input, using pin Mode (), DigitalWrite () and digitalRead ()
functions. They work at 5 Volts. Each pin can receive or provide a maximum of 40 mA and
has an internal pull up resistor (disconnected by default) of 20-50 K-ohms. The Nano contain
8 analog inputs, each of which provide resolution of 10 bits (i.e. 1024 different values). By
default, they measure, starting from ground to 5 Volts, although it is possible to change the
higher end of their range using the analog Reference () function. Analog pins 6 and 7, that do
not used as digital pins.

Figure 3.2 Arduino NANO

3.3 RF (radio frequency) Module:

An RF module (short for radio-frequency module) in Figure 3.3 is a small electronic
device used to receive and/or transmit radio signals between two different devices. In an
embedded system, it is often advisable to communicate with another device wirelessly. This
wireless communication may be carried out through optical communication or through the
radio frequency (RF) communication. For many applications, the medium of option is RF since
it does not need line of sight[59]. RF communications incorporate a receiver and a transmitter .
They are different types and ranges. Some of them can transmit up to the range of 500 feet.
RF modules are most commonly used in low volume and medium products for consumer
applications such as wireless alarm or monitoring systems, garage door openers, smart sensor
applications, industrial remote controls, and wireless home automation systems. They are used

22
to replace older infrared communication designs because they have the benefit of not requiring
line-of-sight operation.

Figure 3.3 Radio Frequency Module

3.4 Power supply:

A power supply is an electrical device that provide electric current to other devices.
The main function of a power supply is to convert electric current from a source to the exact
current, voltage, and frequency to power the load. As a consequence, power supplies are often
referred as an electric power converters[60]. Some power supplies are separate independent
pieces of an equipment, while others are based into the load devices that they power. There are
three cells each of them is 4V. Power supplies are classified in different ways, including by
functional attributes. In Figure 3.4 For example, there is a regulated power supply that keeps
the output current or output voltage despite variations in an input voltage or load current
constant . Contrarily, the output of an unregulated power supply can change remarkably when
its load current or input voltage changes. Adjustable power supplies let the output voltage or
output current to be programmed by means of a control input or mechanical controls (e.g.,
knobs on the power supply front panel), or both. An adjustable regulated power supply is both
adjustable and regulated. An isolated power supply has a power output that is electrically self-
sufficient of its power input. This is in difference to other power supplies that share a common
connection between power output and input.

23
 Figure 3.4 Power supply

3.5 Gear motors:

A gear motor is any electric motor associated with a gear train. Gear motors utilize either
DC (Direct Current) power or AC (Alternating Current). In the majority of cases, the gear
reducer is deliberated to multiply the available output torque without an increment of the power
utilization of the motor while keeping a compact size. The compromise for torque
multiplication is a proportional depletion in the speed of the output shaft, and minimize overall
efficiency[61]. Their main function is to permit the reduction from the beginning of the high
speed to a lower one without negatively influencing the mechanism. Additionally, to this
adjustment, a gear motor is in charge of balancing the mechanical power of a system. By using
the proper gear technology and ratio for particular applications, the ideal output and speed
profiles can be gained along with the perfect mechanical fit to unlock the highest value of your
OEM equipment. The motors maintained an input voltage between 3V and 7.5V, with a peak
voltage giving more output[62]. This motor has a return axis on which a spinning encoder can
be installed in order to see how the motor moves with high resolution. It runs with a revolution
of 80 Rotation Per Minute (RPM). Shown in Figure 3.5.

Figure 3.5 Gear motors

24
 3.6 Motor driver L298D:
Whenever we use the DC motors for any project the main points are,
 Speed of DC motor
 The direction of the DC motor
The L298N is a dual-channel H-Bridge motor driver able of driving one stepper motor
and two DC motors. Means it can independently and individually run up to two DC motor for
any devices like small drill machine, solenoid valve, 2WD robots, DC lock etc. This L298N
Motor driver module is a supreme power motor driver module for stepper motors and driving
DC. This module made up of a 78M05 5V [63] regulator and L298 motor driver IC. L298N
Module can control up to 2 DC motors, or 4 DC motors with directional and speed control.
The L298 is an integrated circuit in a PowerSO20 packages and 15-lead Multi-watt. It is a high
current, high voltage dual full-bridge driver designed to accept standard TTL drive inductive
loads and logic levels such as solenoids, DC and stepping motors and relays. As shown in
Figure 3.6.

Figure 3.6 Motor driver L298D

3.7 Relay:
Relays as shown in Figure 3.7 are most frequently used as a switching device in electronics.
Relay has two important parameters, first is the voltage required to turn on the relay that is to
change the connection from Common → NC to Common → NO known as Trigger
Voltage,[64]. Load Voltage and Current is the other parameter that is required, this is the
amount of current or voltage that the NO, NC or Common terminal of the relay could stand up
to, it is maximum of 30V and 10A in our case for DC. Make certain the load you are utilizing
falls into this obtained range. JQC3F(T73) relay is used in our hardware[65]. Relays are used

25
where several circuits must be controlled by one signal, or where it is necessary to control a
circuit by a self-standing low-power signal. In long-distance telegraph relays were first used
circuits as signal repeaters: they revive the signal coming in from one circuit by transferring it
on another circuit. Relays were used widely in early computers to perform logical operations
telephone exchanges.

Figure 3.7 Relay

3.8 Servo Motor:

The MG946R servo motor from Tower pro is a digital metal gear servo which contained a
stalling torque of the magnitude of 13kg in a package of 55g, and it's larger and heavier in size
than the MG938. The whole package comes complete with 3 pin 'S' female header connector
type that fits most including Futaba, GWS, receivers, JR, Blue Bird, Cirrus, Blue Arrow,
Corona, Berg, Spectrum and Hi-tec and 32cm wire. As shown in Figure 3.8.
The Features of Tower Pro MG946R Servo [66], are given below :
 MG946R Digital Servo with Metal Gearing
 Genuine Tower Pro Product
 Weight: 55g
 Dimension: 40.7×19.7×42.9mm
 Stall torque: 10.5kg.cm (4.8V); 13kg.cm (6V) Operating speed:
 Operating voltage: 4.8-6.6V

26
 Figure 3.8 Servo Motor
3.9 Donut Humidifier:
This is a tiny floating USB portable humidifier device. As shown in Figure 3.9. This USB
humidifier convert a cup of water into humidity. This donut type humidifier is a mini fogger
mist generator device. Mini-donut humidifier produces moisture into the air and used to
remove dryness. This USB humidifier uses ultrasonic vibrations to turn liquids into cooling
vapors and floats in the water. ABS + TPE is its material. Its color is pink, white and blue. It has
5V DC Voltage and has 500mA current range. Its weight range is 24g. 1.6cm is its internal
diameter. Its external diameter range is 5cm.

Figure 3.9 Donut Humidifier

3.10 Water pump:

Water pump is planted on AGROBOT for watering purpose. Watering is an essential
part in the field of agriculture. Water pump is operated on 12 Volts and it has a capacity
to pump 2 to 3 liter of water in one minute. It is remote controlled water pump[67]. This
technique will reduce the wastage of water. Water pumps are used in private
city water systems, residences, industrial applications, and agricultural irrigation. They
range from small pond pumps, to multistage pumps used in wells, to the huge pumps
used in municipal and industrial applications. Water pump is shown in Figure 3.10.

27
 Figure 3.10 Water pump
3.11 Solar plate:
A photo-voltaic (PV) module, or solar panel is a collection of photo-voltaic cells
arranged in a framework for installation. Sunlight is used by solar panels as a source of energy
in order to generate direct current DC electricity. An assembly of PV photo-voltaic modules is
called a PV panel, and an array is a system of panels. Solar electricity is supplied to electrical
equipment by arrays of a photovoltaic system. Solar plate is used to convert solar energy into
electrical energy for powering the system. Solar energy is an environment friendly and
renewable source of energy. It won’t be wrong to say that it’s a free energy[68]. Solar plate
which is used in our Agrobot has maximum voltage of 12 Volts and has a power of 10 watt. It
will automatically start charging when it is placed under the Sun shown in Figure 3.11.

Figure 3.11 Solar plate

28
 CHAPTER 04
HARDWARE SIMULATION

29
 4.1 Motor driver L298

Figure 4.1Motor driver L298

Arduino pin Vin is connected to the connector of the motor driver and Pins EN1, IN1 and IN2
are connected to the pins of Arduino which are pins 10, 9 and 8 respectively. Output pins of
motor driver which are OUT1, OUT2, OUT3, OUT4 are connected to the DC motors for
driving wheels. The function of the motor driver has been discussed before that it can control
two DC motors at a time. As shown in Figure 4.1.

30
 4.2 Relay 1:

Figure 4.2 Relay 1

Relay 1(RL1) is connected to the pin 7 of the Arduino having resistors of 1k and 10k ohms
represented by R10 AND R9 respectively and NPN transistor represented by Q1. It also has
diode represented by D1. It is 12V relay as discussed before in Hardware specification. As
shown in Figure 4.2.

31
 4.3 Relay 2:

Figure 4.3 Relay 2

Relay 2(RL2) is connected to the pin 7 of the Arduino having resistors of 1k and 10k ohms
represented by R12 AND R11 respectively and NPN transistor represented by Q2. It also has
diode represented by D2. It is also 12V relay. As shown in Figure 4.3.

32
 4.4 Arduino UNO:

Figure 4.4 Arduino

The board has 14 digital I/O pins, 6 analog I/O pins. Pin 7 is connected to R10, Pin 8 is
connected to R12. Pin 0 is connected to Pin 1 of Arduino UNO and Pin 1 is connected to the
pin 0 of Arduino UNO. As shown in Figure 4.4.

33
 4.5 Arduino NANO:

Figure 4.5 Arduino NANO

Arduino Nano Pinout contains 14 digital pins, 8 analog Pins, 2 Reset Pins & 6
Power Pins. Each of these digital & analog Pins are assigned with multiple functions
However, their main function is to be configured as input or output. Functions like pin Mode
() and digital Write () are used to control the operations of digital pins while analogRead() is
used to control analog pins. F-pin is connected to R1, B-pin is connected to R2, R-pin is
connected toR3, L-pin is connected to R4, U-pin is connected to R5, D-pin is connected to
R6, P-pin is connected to R7. R-pin is connected to R8. Pin 0 is connected to Pin 1 of Arduino
UNO; Pin 1 is connected to Pin 0 of Arduino UNO. As shown in Figure 4.5.

34
 CHAPTER 05
FUTURE IMPLEMENTATION

35
 Agrobot is a robot that will help farmers in the farming land and performs the farming
techniques. Arduino controlled this robot that will perform the farming Functions such as seed
dispensing, ploughing and watering. In the third world countries, it could replace old
conventional farming methods or mechanisms. As we know, domestic animals are still used in
conventional farming in rural villages and they suffer a lot. The growing human population
has lessened the agricultural sources. Thus, in order to improve efficiency of agriculture all
around the world, it is necessary to find new ways. This new way of farming in which robots
will be used to reduce all those problems and issues that confront in traditional farming. It
comprises new instruments and machines that will be going to give high productions. This
Agrobot is also sketched in a way that it can carry out all the possible farming functions
independently by utilizing low man power and increasing the productivity rate. This approach
of developing the robot (the smarter machine) will going to change the old methods of farming
and taking this agriculture field into a new world. Artificial intelligence is steadily being
integrated in robotics developed for this sector and is gaining attention in the agricultural
industry. As automated technologies pierce the market, we need to answer all the most
important questions that business leaders are asking now a days.
1- In agriculture robotics market which types of AI applications are currently available?
2- How are these agricultural companies and farms using these technologies to take the lead
of the competition?
3- What innovations have the potential to change the industry over the next decade?
Battery power supply can be replaced by the solar panel in order to reduce the recharge cost.
Then it also includes the weeding and ploughing in this system.

5.1 ADVANTAGES
 This remote-controlled robot which works on open architecture principle and does a lot of
work in farms, so it reduces human labor.
 It works more efficiently than humans do.
 The system takes actions accordingly which humans can’t do accurately and observes
different environmental conditions.
 The sensors and electronic drives for making this system are cheap which reduces the cost
of the system and easily available in market. In the future, the project can be actualized with

36
tremendous outcomes in huge scale that will profit each farmer. Apart from seed dispensing,
ploughing. Our Agrobot was made keeping in mind of the uneducated farmers and poor and it
is specially designed to make the work easy for farmers. So, that the demand of food can be
fulfilled easily. Agriculture robot serves better result than manual system. It is a very effective
and a yet very simple robot for carrying out farming functions and processes in the field and
land. From both the poor farmers and engineering point of view this is a very cost-effective
robot that uses readily available and cheap machinery parts. Also, this is eco-friendlier than
pumps and tractors that use oil as their as a primary source of energy. It is anticipated that this
robot will change the farming trend in future days from manual farming to automate farming.
The advantages of Agrobot are as it saves time, reduces man power, no wastage of resources,
has more efficiency and also it works at much reasonable price. By the help of this robot we
can shape the interest of young generation in farming area which is very important for the
development of the country. These robots can be created as per the requirement of farmer
which will make it to produce in high productivity. Robots can come over with the flaws in
farming and can be developed better and better by doing further enhancement in it.

37
CHAPTER 06
CONCLUSION

38
 6.1 Summary
To summarize all the applications and all the workings of Locust free field with an
Agricultural Robot (AGROBOT) we need to extract conclusion. We divide the conclusion of
our project in three categories:

6.2 The Engineer and Society

It is as clear as the sunlight that there is a marked relationship between the Engineers
and the Society. Society flourishes due to the avant-garde innovations of assiduous engineers.
As far as our project is concerned, Locust free field with an Agricultural Robot (AGROBOT)
will play a cardinal role in society. It will benefit the farmers community and will ameliorate
the deteriorating condition of country’s agricultural sector. By introducing robotics in farming,
we shall surely observe an increment in crops production. These new methods will assist us in
eradicating poverty from the country.

6.3 Environment and Sustainability

We as engineers must introduce technology which is environment friendly and helps us
to abate the pollution from environment. Global warming and climate change are one of the
burning issues now a days and has paramount importance among scientists. We have recently
seen devastating effects of flood in sector E-11, Islamabad which took lives of two people. The
reason of increasing floods and disasters is climate change and increasing pollution in
Environment. So, engineers should be cognizant in making technologies and make sure that
their technology is not polluting environment because polluted environment has detrimental
effects on human health. Locust free field with an Agricultural Robot (AGROBOT) will not
only ameliorate crop production, it will also help in diminishing pollution from environment
because it operates on clean renewable energy i.e. Solar energy.

6.4 Life Long Learning

A man keeps learning throughout his life. Knowledge is food of soul. Human’s urge of
learning new things and his curiosity leads him to invent marvelous inventions. Locust free
field with an Agricultural Robot (AGROBOT) is not the verge rather it is just an initiative in
an agrarian field. This project will actuate other engineers to come up with new and creative
ideas which can be implemented in agriculture. Further creativity in this project will surely

39
result in avant-garde inventions which will help farmers to increase crop production and also
protect their crops from the ravages of locusts and other creatures. This project also enabled
us to understand the necessities of agricultural sector. We learnt about the damage caused by
locusts to the crops every year and what methods we should adopt to ameliorate crop
production. After working on this project, it was realized that introducing robots in agricultural
field could be the solution which farmers require. So, it is the right time to repudiate the
traditional methods of farming and bring technology to get better results.

40
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46
 Annexure
Coding at Transmitter’s end:

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
RF24 radio(6, 7); // CE, CSN
const byte address[6] = "00010";

const int FWD_B = A2;

const int BCK_B = A1;
const int LFT_B = A0;
const int RGHT_B = A3;

const int Btn1 = 3;

const int Btn2 = 2;
const int Btn3 = 5;
const int Btn4 = 4;

int FWD_C = 0;
int BCK_C = 0;
int LFT_C = 0;
int RGHT_C = 0;

int Btn1_C = 0;
int Btn1_Cnt = 0;
int Btn2_C = 0;
int Btn2_Cnt = 0;
int Btn3_C = 0;
int Btn3_Cnt = 0;
int Btn4_C = 0;

47
int Btn4_Cnt = 0;

void setup()
{
Serial.begin(9600);
pinMode(FWD_B, INPUT);
pinMode(BCK_B, INPUT);
pinMode(LFT_B, INPUT);

pinMode(RGHT_B, INPUT);

pinMode(Btn1, INPUT);
pinMode(Btn2, INPUT);
pinMode(Btn3, INPUT);
pinMode(Btn4, INPUT);

radio.begin();
radio.openWritingPipe(address);
radio.setPALevel(RF24_PA_MIN);
radio.stopListening();
}
void loop()
{

if(digitalRead(FWD_B)==LOW && FWD_C==0){FWD_C=1; Serial.println("F"); const

char text[] = "F"; radio.write(&text, sizeof(text)); delay(40);}
if(digitalRead(FWD_B)==HIGH && FWD_C==1){FWD_C=0; Serial.println("S"); const
char text[] = "S"; radio.write(&text, sizeof(text));}

48
if(digitalRead(BCK_B)==LOW && BCK_C==0){BCK_C=1; Serial.println("B"); const
char text[] = "B"; radio.write(&text, sizeof(text)); delay(40);}
if(digitalRead(BCK_B)==HIGH && BCK_C==1){BCK_C=0; Serial.println("S"); const
char text[] = "S"; radio.write(&text, sizeof(text));}

if(digitalRead(LFT_B)==LOW && LFT_C==0){LFT_C=1; Serial.println("L"); const char

text[] = "L"; radio.write(&text, sizeof(text)); delay(40);}
if(digitalRead(LFT_B)==HIGH && LFT_C==1){LFT_C=0; Serial.println("S"); const char
text[] = "S"; radio.write(&text, sizeof(text));}

if(digitalRead(RGHT_B)==LOW && RGHT_C==0){RGHT_C=1; Serial.println("R"); const

char text[] = "R"; radio.write(&text, sizeof(text)); delay(40);}
if(digitalRead(RGHT_B)==HIGH && RGHT_C==1){RGHT_C=0; Serial.println("S");
const char text[] = "S"; radio.write(&text, sizeof(text));}

if(digitalRead(Btn2)==LOW && Btn2_C==0){Btn2_C=1; Serial.println("U"); const char

text[] = "U"; radio.write(&text, sizeof(text)); delay(40);}
if(digitalRead(Btn2)==HIGH && Btn2_C==1){Btn2_C=0; Serial.println("S"); const char
text[] = "S"; radio.write(&text, sizeof(text));}

if(digitalRead(Btn4)==LOW && Btn4_C==0){Btn4_C=1; Serial.println("D"); const char

text[] = "D"; radio.write(&text, sizeof(text)); delay(40);}u
if(digitalRead(Btn4)==HIGH && Btn4_C==1){Btn4_C=0; Serial.println("S"); const char
text[] = "S"; radio.write(&text, sizeof(text));}

if(digitalRead(Btn1)==LOW && Btn1_C==0)

{
Btn1_C=1; Btn1_Cnt++;

49
 if(Btn1_Cnt==1){Serial.println("Bt1O"); const char text[] = "bt1O"; radio.write(&text,
sizeof(text));
}else{Serial.println("Bt1F"); const char text[] = "bt1F"; radio.write(&text, sizeof(text));}
if(Btn1_Cnt>1){Btn1_Cnt=0;}
delay(300);
}
if(digitalRead(Btn1)==HIGH && Btn1_C==1){Btn1_C=0;}

if(digitalRead(Btn3)==LOW && Btn3_C==0)

{
Btn3_C=1; Btn3_Cnt++;
if(Btn3_Cnt==1){Serial.println("Bt3O"); const char text[] = "bt3O"; radio.write(&text,
sizeof(text));
}else{Serial.println("Bt3F"); const char text[] = "bt3F"; radio.write(&text, sizeof(text));}
if(Btn3_Cnt>1){Btn3_Cnt=0;}
delay(300);
}
if(digitalRead(Btn3)==HIGH && Btn3_C==1){Btn3_C=0;}

//delay(1000);
}

Coding at Receiver’s end:

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
RF24 radio(9, 10); // CE, CSN
const byte address[6] = "00010";

#include <Servo.h>

50
Servo myservo;
int ServoPos = 50;
int cntrl = 0;

const int MotorA = A0;

const int MotorB = A1;
const int MotorC = A2;
const int MotorD = A3;

const int Pump = 7;

const int Roller = 8;

void setup() {

pinMode(MotorA, OUTPUT);
pinMode(MotorB, OUTPUT);
pinMode(MotorC, OUTPUT);
pinMode(MotorD, OUTPUT);
pinMode(Pump, OUTPUT);
pinMode(Roller, OUTPUT);
pinMode(3, OUTPUT);
pinMode(5, OUTPUT);

analogWrite(3, 100);
analogWrite(5, 100);

digitalWrite(MotorA, LOW);
digitalWrite(MotorB, LOW);
digitalWrite(MotorC, LOW);
digitalWrite(MotorD, LOW);

51
 digitalWrite(Pump, LOW);
digitalWrite(Roller, LOW);

myservo.attach(6);
myservo.write(70);
Serial.begin(9600);
radio.begin();
radio.openReadingPipe(0, address);
radio.setPALevel(RF24_PA_MIN);
radio.startListening();
}
void loop() {
if (radio.available())
{
char text[32] = "";
radio.read(&text, sizeof(text));
Serial.println(text[3]);
if(text[0]=='b' && text[1]=='t' && text[2]=='1' && text[3]=='O'){digitalWrite(Pump,
HIGH);}
if(text[0]=='b' && text[1]=='t' && text[2]=='1' && text[3]=='F'){digitalWrite(Pump,
LOW);}

if(text[0]=='b' && text[1]=='t' && text[2]=='3' && text[3]=='O'){digitalWrite(Roller,

HIGH);}
if(text[0]=='b' && text[1]=='t' && text[2]=='3' && text[3]=='F'){digitalWrite(Roller,
LOW);}

if(text[0]=='F')
{
analogWrite(3, 120);

52
analogWrite(5, 120);
digitalWrite(MotorA, HIGH);
digitalWrite(MotorB, LOW);
digitalWrite(MotorC, LOW);
digitalWrite(MotorD, HIGH);
}
if(text[0]=='B')
{
analogWrite(3, 120);
analogWrite(5, 120);
digitalWrite(MotorA, LOW);
digitalWrite(MotorB, HIGH);
digitalWrite(MotorC, HIGH);
digitalWrite(MotorD, LOW);
}
if(text[0]=='L')
{
analogWrite(3, 255);
analogWrite(5, 255);
digitalWrite(MotorA, HIGH);
digitalWrite(MotorB, LOW);
digitalWrite(MotorC, HIGH);
digitalWrite(MotorD, LOW);
}
if(text[0]=='R')
{
analogWrite(3, 255);
analogWrite(5, 255);
digitalWrite(MotorA, LOW);
digitalWrite(MotorB, HIGH);
digitalWrite(MotorC, LOW);

53
 digitalWrite(MotorD, HIGH);
}
if(text[0]=='S')
{
analogWrite(3, 0);
analogWrite(5, 0);
digitalWrite(MotorA, LOW);
digitalWrite(MotorB, LOW);
digitalWrite(MotorC, LOW);
digitalWrite(MotorD, LOW);
cntrl=0;
}

if(text[0]=='U'){cntrl=1;}
if(text[0]=='D'){cntrl=2;}

if(cntrl==1 && ServoPos<145){myservo.write(ServoPos); ServoPos++; delay(10);}

if(cntrl==2 && ServoPos>50){myservo.write(ServoPos); ServoPos--; delay(10);}

54