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FINAL YEAR PROJECT PROPOSAL

Automated Agricultural Robot

Submitted To
Syed Muhammad Hamedoon
Assistant Professor

Submitted By
Minhaj Mustafa BSET01153003.
Nabeel Tariq BSET01153051.
Faraz Javed BSET01153015.
Ameer Hamza BSET01151005
SECTION: (EE7).

The Department of Electrical Technology

The University of Lahore

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Table of Contents
(mention table contents mark with page no)

1. Abstract.
2. Introduction.
3. Methodology.
4. Required Microcontroller.
5. Required Motors.
6. Communication Link.
7. Block Diagram.
8. Advantages.
9. Disadvantages.
10. Conclusion.
11. Future Scope.
12. References.

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ABSTRACT
In agriculture there are many automatic machines developed in order save the human energy and
time but they are either won’t be much efficient features or economical in cost. So, we proposed
an idea will make an Agricultural robot which is capable of doing all basic function required to be
done by a farmer. One of the important professions in Pakistan is farming so it is essential to look
out for automation in field work to reduce man power. Here this project focuses on farming work
features like automatic irrigation system, monitoring of the field using parameters such as
temperature, soil moisture, humidity, seeding, cutting, watering. These parameters are monitored
from field and transmitted to mobile unit using Bluetooth module. As well as here we will observe
disease spread on plant using interfacing of camera. The performance of the system can be
further improved in terms of the speed, memory capacity. The system can be modified with the
use of some additional features such as, spraying of pesticides and plucking of fruits and
vegetables.

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INTRODUCTION

Literature Review
Throughout the earlier years many devices and technologies has been utilized to provide
automation in farming and accordingly to reduce efforts of farmers. After doing literature review in
the area of agriculture, various applications provided a solution to reduce manpower like Camera
based detection of disease on plant, automatic irrigation system, humidity and temperature
detection ,soil moisture detection, seed plantation machine and plants cutting machine. One
project presented system combination of such technology together having automatic irrigation
system, cutting feature, seed planting feature. With this project we show that how we use the
sensor’s and electronics circuit for agriculture industry also. Some time one experiment change
the whole world, so it’s the duty of engineers to try something different for the future science. May
be we don’t know which one would click and verify the concept. In this project we show that how
we use moisture sensor to control the working of water pump. The proposed system is an
embedded system which will closely monitor and control the microclimatic parameters of a field to
control water provided to farm and cutting of plants at specific level. This proposed system also
includes motion sensor which can measures the exact location for seeding, cutting, watering on
field. Disease is analyzed using camera placed on farm which takes leaf sample and transmitted
to farmer monitor where it compares with database and gives disease information which will useful
for spreading of pesticides on plants. This robot also introducing weeding feature having scissor
fitted on robot for cutting unwanted grass in crop. This robot can also takes the soil moisture
readings and humidity and temperature of field readings and send it to the users mobile by SMS
send by the Bluetooth. Robot can move on a black track using IR so that it can’t move on other
way.
(http://www.ijircce.com/upload/2016/march/235_59_AGRICULTURAL.pdf )

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Figure 1. Agricultural Robot working in field

METHODOLOGY
1. Automatic Irrigation System:
In the field of agriculture, use of proper method of irrigation is very important from yield point of
view and scarcity of water. This system introducing automatic irrigation system by using Arduino
microcontroller, Various sensors were used to detect need of water supply to the field. In this
project , soil moisture sensor is used for checking the level of moisture of soil. A fixed value of
time is set for turing ON and OFF the water pump. Soil moisture sensor gives information about
moisture level of the soil which will then transmitted to mobile through SMS using Bluetooth
module. Robot can reach to every plant and put the soil moisture sensor inside the plant soil and
check the moisture level. If the moisture of soil is wet then robot moves forward or if the soil is dry
then the water pump ON and water is come out from the water pipe and water is drown from the
pipe and fill the soil with water.
2. Seed Plantation System:
In the farming process, often used conventional seeding operation takes more time and more labor. The
seed feed rate is more but the time required for the total operation is more and the total cost is increased
due to labor, hiring of equipment. The conventional seed sowing is less efficient, time consuming. This
seed plantation section of robot reduces the efforts and total cost of sowing the seeds and fertilizer
placement.In this section of robot,there is a feature of seed plantation and then cover the area at which
seed is planted by soil and then watering process is started by using the water pump. This sections
contains several high power servo motors which are connected to the PVC pipes through which the seeds
are coming and planted.The seeds are subjected to a container. This robot can measure the distance at
which seed is planted by using distance sensor so that the distance is covered accurately.
3. Plants cutting System:
Plants cutting robot is advancement and can be efficiently used for agricultural purpose. Robot
pants cutter is a cost friendly robot that reduces man labor, no fuel cost, no pollution, no fuel
residue, less wear and tear because of less number of moving components and this can be
operated by using microcontroller. This will give much more physical exercise to the people and
can be easily handled. In proposed system, plants cutting section is introducing having cutter
scissor are fitted on robot for cutting unwanted grass in crop. When the level of grass is increase
above specific level then the cutter robot start cutting operation. For that high-power servo motors
is used, a mechanical hand connected with the scissor which can cut the plants and this
mechanism is controlled thorugh the Arduino controller. This reduces the man power as well as
time.
Camera.
4. Field Monitoring Section:
Field can be monitoring contains the detection of temperature of field so that weather condition will
detected if any case of emergency like fire burns the plants and then temperature of the field will
be increased and SMS is generated and send to the user by Bluetooth. SMS system is send to
the user on daily bases so that the user can be known. Field humidity can also be monitored by
the robot. For this monitoring humidity sensor is used and is values can also be send to the user
by SMS. Field can also be monitored by interfacing the camera on the robot so that any kind of
detection of animal and unknown presence of human can be captured. Camera interference can
also be used for detecting any plant disease The All videos and pictures can be seen by the user
on their mobile screen.

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Required Hardware

 Microcontroller (Arduino)
 Servo Motor
 Soil moisture Sensor
 Temperature Sensor
 Humidity Sensor
 Ultrasonic distance sensor
 Infra-red sensor
 HC 06 Bluetooth module

(Explain the above hardware with detail in your words not more than one
paragraph also mention the diagram and reference number to each paragraph
in the end. No need extra explanation.)

Microcontroller (Arduino):
Arduino is an open-source electronics platform based on easy-to-use hardware and
software. Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a
Twitter message - and turn it into an output - activating a motor, turning on an LED, publishing
something online. You can tell your board what to do by sending a set of instructions to the
microcontroller on the board. To do so you use the Arduino programming language (based
on Wiring), and the Arduino Software (IDE), based on Processing.Arduino was born at the Ivrea
Interaction Design Institute as an easy tool for fast prototyping, aimed at students without a
background in electronics and programming. As soon as it reached a wider community, the
Arduino board started changing to adapt to new needs and challenges, differentiating its offer from
simple 8-bit boards to products for IoT applications, wearable, 3D printing, and embedded
environments. All Arduino boards are completely open-source, empowering users to build them
independently and eventually adapt them to their particular needs. The software, too, is open-
source, and it is growing through the contributions of users worldwide.
(https://www.arduino.cc/en/Guide/Introduction )

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Figure 2. Arduino Mega 2560 pinout

Servo Motor:
A servomotor is a rotatory actuator or linear actuator that allows for precise control of angular or
linear position, velocity and acceleration. [1] It consists of a suitable motor coupled to a sensor for
position feedback. It also requires a relatively sophisticated controller, often a dedicated module
designed specifically for use with servomotors. Servomotors are not a specific class of motor
although the term servomotor is often used to refer to a motor suitable for use in a closed-loop
control system. Servomotors are used in applications such as robotics, CNC
machinery or automated manufacturing .Servo motors are great devices that can turn to a
specified position. Usually, they have a servo arm that can turn 180 degrees. Using the Arduino,
we can tell a servo to go to a specified position and it will go there. As simple as that! Servo
motors were first used in the Remote Control (RC) world, usually to control the steering of RC cars
or the flaps on a RC plane. With time, they found their uses in robotics, automation, and of course,
the Arduino world.
(https://en.wikipedia.org/wiki/Servomotor )

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Figure 3. Servo motor(inside) Figure 4. Servo motor(outside)

Soil Moisture Sensor:

Soil moisture sensors measure the volumetric water content in soil.[1] Since the
direct gravimetric measurement of free soil moisture requires removing, drying, and weighting of a
sample, soil moisture sensors measure the volumetric water content indirectly by using some
other property of the soil, such as electrical resistance, dielectric constant, or interaction
with neutrons, as a proxy for the moisture content. The relation between the measured property
and soil moisture must be calibrated and may vary depending on environmental factors such as
soil type, temperature, or electric conductivity. Reflected microwave radiation is affected by the
soil moisture and is used for sensing in hydrology and agriculture. Portable probe instruments can
be used by farmers or gardeners.Measuring soil moisture is important for agricultural applications
to help farmers manage their irrigation systems more efficiently. Knowing the exact soil moisture
conditions on their fields, not only are farmers able to generally use less water to grow a crop,
they are also able to increase yields and the quality of the crop by improved management of soil
moisture during critical plant growth stages.
(https://en.wikipedia.org/wiki/Soil_moisture_sensor )

Figure 5. humidity sensor

Temperature Sensor:

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Temperature should be taken in consideration for measuring and monitoring, as temperature

affects the crops if varies suddenly. In proposed system LM35 temperature sensor module were
used which is analog in nature is again converted into digital using formula:
T= temp*0.48876
The LM35 series are precision integrated-circuit temperature sensors, whose output voltage is
linearly proportional to the Celsius (Centigrade) temperature. The adequate temperature required
for healthy plant growth.
(http://www.ijircce.com/upload/2016/march/235_59_AGRICULTURAL.pdf )

Figure 6. Temperature sensor (LM35)

Humidity Sensor:
Humidity is the presence of water in air. The amount of water vapor in air can affect human
comfort as well as many manufacturing processes in industries. The presence of water vapor also
influences various physical, chemical, and biological processes. Humidity measurement in
industries is critical because it may affect the business cost of the product and the health and
safety of the personnel. Hence, humidity sensing is very important, especially in the control
systems for industrial processes and human comfort.  Controlling or monitoring humidity is of
paramount importance in many industrial & domestic applications. In semiconductor industry,
humidity or moisture levels needs to be properly controlled & monitored during wafer processing.
In agriculture, measurement of humidity is important for plantation protection (dew prevention),
soil moisture monitoring, etc.
(https://www.engineersgarage.com/articles/humidity-sensor )

Figure 7. Humidity sensor Figure 8. Humidity sensor (pinout)

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Ultrasonic Distance sensor:

Ultrasonic sensor provides an easy method of distance measurement. This sensor is perfect for
any number of applications that require you to perform measurements between moving or
stationary objects. Interfacing to a microcontroller is a snap. A single I/O pin is used to trigger an
ultrasonic burst (well above human hearing) and then "listen" for the echo return pulse. The
sensor measures the time required for the echo return, and returns this value to the
microcontroller as a variable-width pulse via the same I/O pin. It can provide precise, non-contact
distance measurements within a 3 cm to 3 m range. Simple pulse in/pulse out communication
requires just one I/O pin. Burst indicator LED shows measurement in progress. 3-pin header
makes it easy to connect to a development board, directly or with an extension cable, no soldering
required.(https://www.parallax.com/product/28015 )

Figure 9. Ultrasonic distance sensor(working)

Infrared Sensor:
An infrared sensor is an electronic device, that emits in order to sense some aspects of the
surroundings. An IR sensor can measure the heat of an object as well as detects the
motion.These types of sensors measures only infrared radiation, rather than emitting it that is
called as a passive IR sensor. Usually in the infrared spectrum, all the objects radiate some form
of thermal radiations. These types of radiations are  invisible to our eyes, that can be detected by
an infrared sensor.The emitter is simply an IR LED (Light Emitting Diode) and the detector is
simply an IR photodiode which is sensitive to IR light of the same wavelength as that emitted by
the IR LED. When IR light falls on the photodiode, The resistances and these output voltages,
change in proportion to the magnitude of the IR light received.(https://www.electronicshub.org/ir-
sensor/ )

IR Transmitter:
Infrared Transmitter is a light emitting diode (LED) which emits infrared radiations. Hence, they
are called IR LED’s. Even though an IR LED looks like a normal LED, the radiation emitted by it is
invisible to the human eye.(https://www.electronicshub.org/ir-sensor/ )

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IR Receiver:
Infrared receivers are also called as infrared sensors as they detect the radiation from an IR
transmitter. IR receivers come in the form of photodiodes and phototransistors. Infrared
Photodiodes are different from normal photo diodes as they detect only infrared radiation.
(https://www.electronicshub.org/ir-sensor/ )

Figure 10. Infrared sensor Figure 11. Infrared sensor(working)

HC-06 Bluetooth Module:

The HC-06 is a class 2 slave Bluetooth module designed for transparent wireless serial
communication. Once it is paired to a master Bluetooth device such as PC, smart phones and
tablet, its operation becomes transparent to the user. All data received through the serial input is
immediately transmitted over the air. When the module receives wireless data, it is sent out
through the serial interface exactly at it is received. No user code specific to the Bluetooth module
is needed at all in the user microcontroller program.
The HC-06 will work with supply voltage of 3.6VDC to 6VDC, however, the logic level of RXD pin
is 3.3V and is not 5V tolerant. A Converters recommended to protect the sensor if connect it to a
5V device (e.g. Arduino Uno and Mega).
(https://www.sgbotic.com/index.php?dispatch=products.view&product_id=2471 )
Features:
 Bluetooth v2.0+EDR
 2.4GHz ISM band frequency
 Default baud rate: 9600
 Power supply: 3.6V to 6V DC
 Passkey: 1234

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Block Diagram(should be make after methodology

block diagram. In the end of diagram write the flow of
diagram in your words)

BATTERY

CAMERA
TEMPERATURE
SENSOR BUZZER

SOIL MOISTURE PUMP VALVE

SENSOR
ARDUINO
HUMIDITY MICRO SERVO MOTOR
SENSOR CONTROLLER
CUTTER Seeding
IR SENSOR

ULTRASONIC
DISTANCE SENSOR

BLUETOOTH

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ADVANTAGES
1. This system reduces the man power and saves the time.
2. The main purpose of these system is to find out the proper requirements of the crop.
3. Mechanical Plants cutting is done easily.
4. This system can find disease using weather conditions and soil , leaf sample taken by the
pictures using camera.
5. It is low cost.
6. Automatically plant irrigation can be done.
7. Speed of work is more.
8. No extra effort is required.
9. Accuracy is high.
10. Very economical and beneficial.
11. Problem of labor shortage is overcome.

Disadvantages

1. Accuracy should be reducing due to clod and mud.

2. Electronics component cannot sustain the vibrations and the high temperature.
3. No any protection provided to robot in raining

Conclusion
1. The proposed systems have remotely controlled which reduces the man efforts, wastage of
water as well as power consumption.
2. Use of technology in the field of agriculture plays important role in increasing the production as
well as
3. SMS based remote control for irrigation pump is beneficial for the human generation , because
mobile is most recently used technology now a days.
4. This system also used for automatically grass cutting by using cutter.
5. Disease can be detected after testing of leaf sample using pictures taken by camera.
6. Automatic seeding plantation can be done.

Future Scope:

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The performance of the system can be further improved in terms of the speed, memory
capacity. The system can be modified with the use of some additional features such as
spraying of pesticides. Protection of robot can increase such as in rain and other weather
conditions.

Total Budget calculation

Write the Cost estimation of your project

Project completion Time line

Write the time required to complete your project in terms of month
1st month to 7th month .

References
1]. Gholap Dipak Dattatraya, More Vaibhav Mhatardev, LokhandeManojkumarShrihari, Prof. Joshi
S.G “Robotic Agriculture Machine”, Vishwabharati Academy’s College of engineering,
Ahmednagar, International Journal of Innovative Research in Science, Engineering and
Technology, ISSN (Online) : 2319 – 8753, ISSN (Print) : 2347 – 6710, Volume 3, Special Issue 4,
April 2014.

[2]. Pooja Chandran, Aravind S, “Autonomous System for Cultivation Process”, Sree Buddha
College of Engineering for Women, Elavumthitta, International Journal For Advance Research In
Engineering And Technology, ISSN 2320-6802, Vol. 2, Issue VI, June, 2014.

[3]. Du Danfeng, MaYan, Guo Xiurong, Lu Huaimin, “Research on a Forestation Hole Digging
Robot”, Northeast Forestry University, Harbin, International Conference on Intelligent Computation
Technology and Automation, Oct 2010.

[4]. Kazuya Tashiro, Mamoru Minami, Seiji Aoyagi, “Development of Redundant Robot Simulator
for Avoiding Arbitrary Obstacles Based on Semi-Analytical Method of Solving Inverse Kinematics”
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
San Diego, CA, USA, Oct 29 - Nov 2, 2007.

[5]. S.Chandika, T.Mohanraj, “Automation and Emerging Technology Development of 2D Seed

Sowing Robo”, Journal of Agricultural Science, Vol. 1, No. 1, June 2009.

[6]. Swetha S., Shreeharsha G.H., “Solar Operated Automatic Seed Sowing Machine”,
International Journal of Advanced Agricultural Sciences and Technology, Volume 4, Issue 1, pp.
67-71, Article ID Sci-223 ISSN: 2320 – 026X, February 2015.

[7]. Solar cell operation and modeling, DragicaVasileska, ASU Gerhard Klimeck, Purdue H.
Mazidi, Microcontroller and its Application

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