Advanced Multi-Tasking AGROBOT
A friend Of Farmer’s
PRASUN SHRIVASTAVA
FACULTY OF ELECTRONICS AND
COMMUNICATION
SHRI MATA VAISHNO DEVI UNIVERSITY
KATRA, INDIA
2012eec32@smvdu.ac.in
Abstract— A Multitasking robot for the field of Agriculture
has been studied in this research. The whole process used in this
research is based on DTMF (Dual Tone Multi-Frequency); GSM
module; thermal sensor sound sensor; GPS locator, flex sensor.
DTMF is a process of technology by the medium of which
humans in voice frequency range band are able to switch data by
the phone network and the sensors like thermal sensors are used
for the intimation of any intruder in the field. Infrared sensors
are used for serving the purpose of obstacle avoidance and the
sound sensors are used for the purpose of sensing sound in the
premise and respond to it as a breach in security whereas the flex
sensors are attached in such a fashion that it will help the robot
for its. Also the technology that has been utilised here is for
removing the difficulty level faced by the farmers for the issue of
distant farming i.e. the issue of distance controlling is sort out
with the help of this AGROBOT and the operations applied are
only reducing the efforts of farmers by providing ease to them.
For being adaptable to any weather it will have a plastic fibre
body and the facility of GPS tracking if it has been lost or taken
away by someone whereby providing immediately with an alert
in the form of a text message over a wider range. With the
advancement in its properties this bot can be taken to a broad
implementation.
Keywords—Microcontroller 8052; Sensors; Tracking; self
security; DTMF
I. INTRODUCTION
The branch of a robotics is the base root of advancements in
today’s technology by the help of which we are able to put up
our thoughts in working condition. A combination of different
technologies can be tied up together for making a more
advance system and so it is done in this research. Being easily
adaptable this bot is and will be the most important aspect of
AKASH SINGH
FACULTY OF ELECTRONICS AND
COMMUNICATION
SHRI MATA VAISHNO DEVI UNIVERSITY
KATRA, INDIA
akasheec38@gmail.com
AMRITANSHU SRIVASTAVA
FACULTY OF ELECTRONICS AND
COMMUNICATION
SHRI MATA VAISHNO DEVI UNIVERSITY
KATRA, INDIA
2011eec67@smvdu.ac.in
advancement in present and future world. The acceptance of
this bot for our society arises because of the easy available
technology implied on it. On the concern of this bot it is
basically a farming robot which can be used by user as per his
requirements with timely modifications which is because of
bot’s capacity for logic conclusion as well as its abstraction
power.
While the one of the advantage in this bot is the easy
connection to the bot from any part of the country because the
bot is activated by the technology of DTMF. The actual
utilisation will be by the farmers which usually not able to
watch out their farming lands frequently. Earlier work
includes [1] the work of Blackmore, S., Stout, B., Wang, M.,
& Runov, B. who developed an idea of the advancement in
mechanisation for the field of agriculture [2] Jagannathan
Kanniah, who developed an obstacle avoidance mobile robot
with an inevitable accent towards the game version.[3] Fong,
T., Thorpe, C., & Baur, C. Who take initiative on the
advanced interfaces for vehicle tele-operation: collaborative
control, sensors working. [4] Sarig, Y. (1993) who initiated
and developed the technique of sowing and harvesting the
crops [5]. Yun Chan Cho, who worked on developing a
Remote Robot Control System based on DTMF of Mobile
Phone. [6] Amritanshu Srivastava , earlier worked on the
development of GSM Calling based Multi-tasking Robot
vehicle with Password protection. [7] Zungeru, A.M whose
work was on A Simple and Reliable Touch sensitive security
System. [8] Takeshi Yamada and Narimasa Watanab both of
them worked on the voice detection technique for the non
speech models as well as for HMM composition.
Our work provides a benefit here i.e. we have reduce the
load of farmers as the robot is multi tasking so that whenever
the bot will be activated it will start its movement in the typical DTMF keypad and the associated row/column
borders of the farming premise and this is possible because of frequencies. When any of the key like "1", "2", "*",
the concept of DTMF .Now whenever the bot has to be shut "#" etc is pressed particular code is transmitted. This
down the same concept of DTMF is to be applied. In this code is consist of two frequency among which one is
manuscript, we are controlling this robot by the help of DTMF higher frequency and second one is lower frequency (see
as mentioned above, GSM technology for forwarding the Fig 1).columns.
warnings to the farmer in the format of text messages in his
cell phone .Also the sensors like sound sensor for avoiding the
infiltration of aerial animals like crow etc; i.e. The play of a
noise by an audio player as the sound sensor is activated. Also
flex i.e. Pressure sensor for the sensation of any pressure on
bot if any one tries to stole the robot and thermal sensor for
detection of any pests or insects like mice The bot runs on the
H driving technique by attachment of 12V battery and the
whole microcontroller is working on the attachment of 5V
battery whereas the different modules have different
attachments of battery source mechanical attachments etc.. As
the system is supplied with 5V. . whenever there will be
infiltration the bot will start moving to that location and
thereafter it will scan for images and if the result will come
positive than it will send the location through GPS and text the
Fig. 1 DTMF Keypad Layout
prior saved message to the operating switching device.
The similar case can be seen his template, modified in MS When any DTMF code has been received at mobile
Word 2007 and saved as a “Word 97-2003 Document” for the phone it can be audible through speaker. So to decode
PC, provides authors with most of the formatting this DTMF code speaker output itself can be used. Output of
specifications needed for preparing electronic versions of their speaker is connected to IC MT8870 which is DTMF decoder
papers. All standard paper components have been specified for IC. It used widely to decode DTMF code. It gives 4-bit digital
three reasons: (1) ease of use when formatting individual output Q1; Q2, Q3, and Q4 according to the received key (see
papers, (2) automatic compliance to electronic requirements Fig. 2).
that facilitate the concurrent or later production of electronic
products, and (3) conformity of style throughout a conference
proceedings. Margins, column widths, line spacing, and type
styles are built-in; examples of the type styles are provided
throughout this document and are identified in italic type,
within parentheses, following the example. Some components,
such as multi-leveled equations, graphics, and tables are not
prescribed, although the various table text styles are provided.
The formatter will need to create these components,
incorporating the applicable criteria that follow.

II. OVERVIEW OF THE TECHNOLOGY USED

A. DTMF Description
DTMF stands for dual tone multiple frequencies. DTMF
generation is the production of a composite audio signal
Fig. 2 The code table of DTMF.
consist of two tones between the frequency of 697Hz and
1633Hz [6]. The mathematical coding definition can be The corresponding Time- Domain graph for each symbol
expressed as: is shown in fig 3.
f(t)=A _{ a }sin(2C{ a}t)+A _{b }sin(2C{b }t) (1)
In the formula (1), the two terms separately express the
Values of low and high voice frequency. Aa and Ab
respectively indicate the sample quantization baseline of
tone cluster of low voice frequency and high voice
frequency, and the ratio of their amplitude is:
K=Ab/Aa (0.7<K<0.9) ( 2)
The DTMF keypad is arranged such that each row will
have its own unique tone frequency and also each column will
have its own unique tone. Below is a representation of the

Fig. 3 Time domain analysis of DTMF frequencies
B. Pressure sensor or Flex Sensor
The Flex or Pressure sensors are analog sensors used for
sensing the amount of pressure .They work as variable Analog
Voltage Divider bending. Inside this sensor there are carbon
resistive elements within a thin flexible substrate and
whenever the substrate is bend than according to the bend of
the substrate the analog voltage varies .Their main function is
to convert the change in bend into electrical resistance i.e.
more the bend more is the resistance values. They can be
made unidirectional or Bi- directional depending upon the user
needs. The diagrammatic circuit of this sensor is (see Fig. 4).
Fig.4 Basic Flex Sensor Circuit.
C. Infrared Sensor
Infrared sensors are used here for the purpose of edge
avoidance so that the bot will not fall out of his track.As it is
well known that every body above 0K emits infrared
radiations and so we are using here i.e. the bot will emit have
infrared sensor which will bmit infrared wave through it ; and
as soon as the receiver stops absorbing the waves the output
will become zero and thus the bot will be programmed in a
way to turn from his path.The circuit of infrared is shown in is
(seeFig.5).
Fig.5 Basic Infrared Sensor Circuit.
and also the image for the thermal image of the small plants
while robot will be sensing them through thermal sensor isw
shown (in fig. 6)
Fig. 6 Thermal view of the grass or plant sown by farmer
III. PROPOSED ARCHITECTURE
A. Block Diagram And Description
The microcontroller 89S52 is the basic operator of this whole
robot which is interfaced with all the modules acquired of
technologies like DTMF, GSM, sensors, as well as motor
driving circuits. The procedure of working of this bot is as
soon as the DTMF signal is received by the bot , the bot will
get activated and start moving with the help of H motor
driving concepts than there are different level of checking
zones which bot will check and thereafter taking correct
decision will move further .The bot will check for obstacle (if
any) in the front of it than if there will be any it will move its
direction than it will check the edge i.e. weather it is in the
corner or not and than if the path observed will be right it will
go ahead in it by changing its direction. Now it will check for
any pressure or any thermal vision or any sound near y the
premise and if any one of above will be sensed it will perform
pre defined action coded by the developer. The action as pre
defined in it are if pressure or any thermal vision (as per
intensity) is observed an interrupt will be generated and either
a pesticide or a message to the user will be send that “intruder
is sensed” else if there is a noise generated by any animal like
crow than a pre recorded audio will be played. All of this
activity are processed by microcontroller and comes to
conclusion. The block diagram representing the Bot structure
is shown (in fig.7)

Fig.7 Basic Flex Sensor Circuit.

Fig.8 Basic Flex Sensor Circuit.
and then by the help of block diagram the flow chart
prepared is shown (in fig.8) and also the simulation of code is The simulation of the code written below is also shown in
attached. We have drawn the block diagram and flow chart (fig.9)
online by software MICROSOFT VISIO

Fig.9 Simulation of Code in µVision4 software

The simulation result shown above was done on Micro

vision 4 and the coding used for it is:
#include<reg51.h> }
sbit A = P1^6;sbit C = P1^4;
sbit OE = P3^1; sbit IR1 = P3^0; sbit
IR2 = P3^1;sbit Flex = P3^4;sbit SS = else
P3^5; {
void main() P2=0x00; // stop if any other
{ condition red led is on
P1=0xff;// initialized for input port }
P3=0xff;// initialized for input port }
P2=0x00; // initialized for output
port
while(1) // looping else
{ {
if (P1==0xfb) // for key start the P2=0x00; //for buzzer on
power on P2=0x40; //for gsm module to sent
the messege at mobile
{ P2=0x10; // for audio player on
if (Flex=='0' || SS=='0') // for till 5 second and bot stop
preassure sensor to protect the bot and }}}
for sound sensor to detect the birds }
and animals void obstacle()interrupt 1
{ {
IE = 0;
if(P1==0xf2 && IR1=='1' && IR2=='1') // P2 = 0x18; // move left
key 2-decision in forward }
{
P2=0xa0; // m1 and m2 forward
as 1010 these are 4 msb bit of port 2
} void thermal()interrupt 0
else if (P1==0xf4 && IR1 =='1' && IR2 {
=='0' ) // key 4 and level of surface IE=0;
for left turn P2 = 0x30; // start the relay for
{ laser to kill the insect and during
P2 = 0x18; this bot will stop
} P2 = 0x00; //for buzzer on to
else if (P1==0xf6 && IR1 =='0' && IR2 indicate insect detection
=='1') // key 6 and level of surface }
for right turn
{
P2=0x12; IV. APPLICATION AND FUTURE SCOPE
}
A. AGRICULTURE
else if(P1==0x18 && IR1 =='1' && IR2
=='1') // key 8 for back ward
{ The application of this bot is mainly concerning towards the
P2=0x15; farmers which are not able to frequently visit their farming
} land or premise. Here the bot can be used by the farmer for
spreading pesticide in the fields as well as removing the mice,
else if(P1==0xf5) // key 5 to stop
crow like animals which can harm the yield of his farming
{
land. Also the device can be used for serving the purpose of
P2=0x10;
indication of mishaps like forest fire and will serve the
} purpose of stolen of grains or any material in the premise of
else if (P1==0xfc) // # key to farmer.
stop the whole ckt
{
P2 == 0x00; // red led is on
B. ALARM PHONE DIALER
By replacing DTMF Decoder IC CM8870 by a 'DTMF
Transceiver IC CM8880, DTMF tones can be generated from
the robot. So, a project called 'Alarm Phone Dialer can be built
which will generate necessary alarms for something that is
desired to be monitored (usually by triggering a relay). For
example, a high water alarm, low temperature alarm, opening
of back window, garage door, etc.
C. DEFENCE PURPOSE
Also if few modification are introduced in this bot than the bot
can serve the purpose of securities, washing the machines
where human reach is not possible and can be used by defence
purpose for sighting enemies area and finding the intruders in
our area. As the bot involves technology of DTMF so it has
the coverage of wider area and thus can be implemented from
a wider range
V. CONCLUSION
By the development of this robot a easy way to the farmer’s
for farming has been introduced so that they can give their
attention to the other sectors in their life and try to develop
them. Being readily using the cell phones the operation of this
robot will be easier and will provide high coverage. The main
advantage of this robot is that it facilitates the farmers to ease
their work and increase their productivity with its multitasking
attributed. Considering all the situations, the robot integrated
with different sub modules can be used for redemption and
security purpose.
integrated with different sub modules can be used for
redemption and security purpose.
REFERENCES
[1] G. Blackmore, S., Stout, B., Wang, M., & Runov, B. (2005). Robotic
Agriculture - The Future of Agricultural Mechanisation. In T. R. V. and
A. U. Agro Technology (Ed.), . Presented at the 5th European
Conference on Precision Agriculture.
[2] Kanniah Jagannathan, “Control of an obstacle avoidance robot”, Motion
Control Proceedings, 1993, Asia-Pacific Workshop on Advances in 15-16
Jul 1993.
[3] Fong, T., Thorpe, C., & Baur, C. (2001). Advanced interfaces for
vehicle teleoperation: collaborative control, sensor fusion displays, and
remote driving tools. Autonomous Robots, 11(1), 77–85.
doi:10.1023/A:1011212313630.
[4] Sarig, Y. (1993). Robotics of Fruit Harvesting: A State-of-the-art
Review. Journal of Agricultural Engineering Research, 54, 265–280.
[5] Yun Chan Cho, “Remote robot control system based on DTMF of mobile
phone”, Industrial Informatics, 2008. INDIN 2008. 6th IEEE
International Conference on 13-16 July 2008 at Daejeon.
[6] Amritanshu Srivastava, “GSM Calling based Multi-tasking
Robot vehicle with Password protection”, © 2014, IJARCSSE
All Rights Reserved Srivastava et al., International Journal of
Advanced Research in Computer Science and Software Engineering
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[7] Zungeru, A.M. et al., (2012). A Simple and Reliable Touch sensitive
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security System. International Journal of Network Security & Its
Applications (IJNSA), 4(5), 149–165.