“FABRICATION OF ADVANCED AGRICULTURE ROBOT”

MAJOR PROJECT REPORT

Submitted in partial fulfilment for the award of the degree of

BACHELOR OF TECHNOLOGY
in
MECHANICAL ENGINEERING

Under the Supervision of

Mr. Amit Sharma
By
Tarun Pachori Roll No.- 2103410409014
Bhavesh Bhardwaj Roll No.- 2103410409002
Prashant Kumar Roll No.- 2103410409006
Jatin Agrawal Roll No.- 2103410409004

DEPARTMENT OF MECHANICAL ENGINEERING

Institute of Technology and Management
Khair Road , (Aligarh)

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 CANDIDATE DECLARATION

It is hereby certified that the work which is being presented in the B. Tech Major Project Report entitled
"FABRICATION OF ADVANCED AGRICULTURE ROBOT" in partial fulfilment of the requirements for
the award of the degree of Bachelor of Technology and submitted in the Department of Mechanical

Engineering, Institute of Technology and Management Khair Road , Aligarh

is an authentic record of our own work carried out during a period from January 2024 to May 2024 under the
guidance of Mr. Amit Sharma, H.O.D

The matter presented in the B. Tech Major Project Report has not been submitted by me for the award of any
other degree of this or any other Institute.

(Tarun Pachori) (Bhavesh Bhardwaj) (Prashant Kumar)

(Roll No.- 2103410409014) (Roll No.- 2103410409002) (Roll No.- 2 103410409006)

(Jatin Agrawal)

(RollNo.-2103410409004)

This is to certify that the above statement made by the candidate is correct to the best of my knowledge. They
are permitted to appear in the External Major Project Examination

(Mr. Mukesh Varshney) Mr. Amit Sharma

Assistant Professor, ME Dept. Assistant Professor&Head, ME Dept.

The B. Tech Major Project Viva-Voce Examination of Tarun Pachori (Roll No: -2103410409014), Bhavesh
Bharadwaj (Roll No: - 2103410409002), Prashant Kumar (Roll No: - 2103410409006) ), Jatin Agrawal
(Roll No: - 2103410409004) has been held on 01st October 2020.

Mr. Amit Sharma (Signature of External Examiner)

Project Coordinator Project Coordinator

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 ACKNOWLEDGEMENT

We express our deep gratitude to Mr. Amit Sharma, Professor Department of Mechanical Engineering,

Institute of Technology and Management, Khair Road , Aligarh, for his valuable guidance and
suggestion throughout my project work. We are thankful to Mr. Amit Sharma, Professor &Project
Coordinators for their valuable guidance.

We would like to extend my sincere thanks to Mr. Amit Sharma Assistant Professor &Head Department of

Mechanical Engineering, Institute of Technology and Management, Aligarh for his time to time
suggestions to complete my project work. I am also thankful to Mr. Y.K Upadhyay, Director of Institute of
Technology and Management, Khair Road , Aligarh for providing me the facilities to carry out my
project work.

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 ABSTRACT

Agricultural Robot is a robot deployed for agricultural purposes. Fruit picking robots, driverless tractor /
sprayer, and sheep shearing robots are designed to replace human labour. In most cases, a lot of factors have to
be considered (e.g., the size and colour of the fruit to be picked) before the commencement of a task. Robots can
be used for other horticultural tasks such as pruning, weeding, spraying and monitoring. Robots can also be used
in livestock applications (livestock robotics) such as automatic milking, washing and castrating. Robots like
these have many benefits for the agricultural industry, including a higher quality of fresh produce, lower
production costs, and a smaller need for manual labour. Our robotic vehicle is an agricultural machine of a
considerable power and great soil clearing capacity. This multipurpose system gives an advanced method to
seed sowing, ploughing, watering the crops and harvesting with minimum man power and labour making it an
efficient vehicle. The machine will cultivate the farm by considering particular rows and specific columns at
fixed distance depending on crop. Moreover, the vehicle can be controlled through Bluetooth medium using an
Android smart phone. The whole process calculation, processing, monitoring are designed with motors and
interfaced with Microcontroller.

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 TABLE OF CONTENTS

Chapter No Title Page No.

1 Introduction............................................................................................................1

1.1 The current state of agricultural robotics……………………………………….....1

1.2 Robots Used for Agriculture……………………………………………………....2

1.3 Fungicides…………………………………………………………………………2

1.4 Herbiscides……………………………………………………………………......2

1.5 Pesticide…………………………………………………………………………..2

1.6 Mushroom Picking Robot ………………………………………………………..2

2.0 Literature Survey………………………………………………………………....5

3.0 Scope of Work……………………………………………………………………7

3.1 System Analysis and Design…………………………………………………….7

3.2 Overview of System Interaction…………………………………………………7

3.3 Modules………………………………………………………………………….7

3.4 Android for front End Interaction……………………………………………….7

3.5 Bluetooth HC-05 Module………………………………………………………..11

3.6 Agricultural Robot……………………………………………………………….11

3.7 System Design…………………………………………………………………..16

4 Hardware &Requirements………………………………………………………..21

4.1 System Requirements Specifications………………………………………….....21

4.2 Hardware Specification………………………………………………………….21

4.3 Functional………………………………………………………………………..21

4.4 Non Functional…………………………………………………………………..21

4.5 Operational ………………………………………………………………………22

4.6 Hardware Requirements…………………………………………………………..22

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4.7 Bluetooth Module HC-05 …………………………………………………………..22

4.8 Motor Driver (L298N) ……………………………………………………………...23

4.9 DC Motor ………………………………………………………………………… 25

4.10 Servo Motor ………………………………………………………………………..26

4.11 Software Requirement ……………………………………………………………..26

4.12 Developed Program………………………………………………………………. 27

4.13 Project Implementation…………………………………………………………… 28

5.0 System Testing and Result ……………………………………………………… .34

5.1 Unit test cases………………………………………………………………………...34

5.2 Testing Methodology………………………………………………………………...36

6.0 Conclusion & Future Scope………………………………………………………….40

6.1 Conclusion……………………………………………………………………………40

6.2 Future Scope…………………………………………………………………………40

7.0 References…………………………………………………………………………...42

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 LIST OF ABBREVIATION

ADT: Application Development Toolkit

API: Application Programming Interface

CPU: Central Processing Unit

DC: Direct Current

DVM: Dalvik Virtual Machine

EA: Enable Address

ESP: Embedded System Programming

EPROM: Erasable Programmable Read Only Memory

GPS: Global Positioning System

IC: Integrated Circuit

ID: Identifier

IOT: Internet of Things

ISM Band: Industrial Scientific and Medical Band

ISP: In-System Programmable

KBPS: Kilo Bytes per Second

MBPS: Mega Bytes per Second

MCS: Micro Computing System

MCU: Micro Controller Unit

PAF: Precision Autonomous Farming

PC: Program Counter

PFDS: Precision Farming Data Set

PSEN: Program Store Enable

RAM: Random Access Memory

RD: Read

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SMS: Short Message Service

SQL: Structured Query Language

UK: United Kingdom

WR: Write

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CHAPTER 1

INTRODUCTION

“The discovery of agriculture was the first big step toward a civilized life. “is a famous quote by arthurkeith.
This emphasizes that the agriculture plays a vital role in the economy of every nation. Since the dawn of history
agriculture has been one of the significant earnings of producing food for human utilization. Today more and
more lands are being developed for the production of a large variety of crops. The field of agriculture involves
various operations that require handling of heavy materials. For example, in manual ploughing, farmers make
use of heavy ploughing machines. Additionally, while watering the crops farmers still follow the traditional
approach of carrying heavy water pipes. These operations are dull, repetitive, or require strength and skill for the
workers. In the 1980’s many agricultural robots were started for research and development. Kawamura and co-
workers developed the fruit harvesting robot. Grand and co-workers developed the apple harvesting robot. They
have been followed by many other works. Over history, agriculture has evolved from a manual occupation to a
highly industrialized business, utilizing a wide variety of tools and machines. Researchers are now looking
towards the realization of autonomous agricultural vehicles. The first stage of development, automatic vehicle
guidance, has been studied for many years, with a number of innovations explored as early as the 1920s. The
concept of fully autonomous agricultural vehicles is far from new; examples of early driverless tractor
prototypes using leader cable guidance systems date back to the 1950s and 1960s. The potential benefits of
automated agricultural vehicles include increased productivity, increased application accuracy, and enhanced
operational safety. Additionally, the rapid advancements in electronics, computers, and computing technologies
have inspired renewed interest in the development of vehicle guidance systems. Various guidance technologies,
including mechanical guidance, optical guidance, radio navigation, and ultrasonic guidance, have been
investigated. A robot is a machine that can be programmed and reprogrammed to do certain tasks and usually
consists of a manipulator such as a claw, hand, or tool attached to a mobile body or a stationary platform.

Autonomous robots work completely under the control of a computer program. They often use sensors to
gather data about their surroundings in order to navigate.

Tele-controlled robots work under the control of humans and/or computer programs.

Remote-controlled robots are controlled by humans with a controller such as a joystick or other hand-held
device. The word “Robot” came from the Czech word Robota, which means forced labour or work.

1.1) The current state of agricultural robotics: -

Today agricultural robots can be classified into several groups: harvesting or picking, planting, weeding, pest
control, or maintenance. Scientists have the goal of creating robot farms. Where all of the work will be done by
machines. The main obstacle to this kind of robot farm is that farms are a part of nature and nature is not
uniform. It is not like the robots that work in factories building cars. Factories are built around the job at hand,
whereas, farms are not. Robots on farms have to operate in harmony with nature. Robots in factories don’t have
to deal with uneven terrain or changing conditions. Scientists are working on overcoming these problems.

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1.2) Robots Used for Agriculture: -

The number of agricultural robots, agrobots, is increasing each year. The jobs they can do are also increasing
with new technology in hardware and software. Robots are milking cows, shearing sheep, picking fruit,
weeding, spraying, and cultivating, they use GPS and sensors for navigation. The new robots are getting smaller
and smarter.

1.3) Fungicides:- Robots can be used to combat plant diseases that cause a lot of damage to crops. Fungi
are the most common causes of crop loss in the entire world. To kill a fungal disease, you need a
fungicide, a kind of pesticide. Fungal diseases interfere with the growth and development of a crop.
They attack the leaves which are needed for photosynthesis and decrease the productivity of the crop
and cause blemishes on the crops which make them worth less on the market. After the crops are
harvested fungi can grow and spoil the fruits, vegetables, or seeds. Robots can treat plants that have
been infected or destroy them if necessary. They could treat just the plants that need it, instead of
covering the entire crop with fungicide.
1.4) Herbicide: - Another use for robots is in weeding. Robots can pull weeds from around the plants or
just cut the tops off. All of the material can be collected by a robot and brought to a composting site
limiting the need for herbicides, chemicalsthat destroy or inhibit the growth of plants. Herbicides are
intended to kill weeds but many times also damage the crops.
1.5) Pesticide: - Pesticides are used to control insects that can be harmful to crops. They are effective but
have many side effects for the environment. Insects also adapt to the toxin in a pesticide and the
survivors breed and pass the resistant trait on to the next generation making stronger insects that are
harder to kill. Robots could solve this by removing pests from the crops without using chemicals. They
might suck them up with a vacuum. A bellow base air system makes a vacuum that doesn’t require the
large amount of power of regular vacuum systems. There are ways to kill the insects without
chemicals. Microbial fuel cells could be used to reduce the insects to electrical power with bacteria.
Pesticides kill everything. Robots could be programmed to rid particular pests and not harm anything
else.
1.6) Mushroom Picking Robot: -Mushrooms are a very difficult crop to grow. There is a lot of
labour involved. Many mushroom farms are becoming extremely high tech. They use computerized
systems and monitor all production phases. The robot mushroom picker is an ongoing research project
at the University of Warwick in the UK. Their goal is to develop farm machinery that can reduce the
labour costs of producing farm crops, in this case, mushrooms. The robot picks the mushrooms using a
small suction cap on the end of its robotic arm. The robot has a charged coupled camera on board to tell
which mushrooms to pick in a tray or bed, since mushrooms mature at different times during a six to
ten-week period. It uses the camera to tell the exact size of the mushroom and only pick the correct
ones. Mushrooms grow in dark, damp places that are often inhospitable to humans. This makes the
robot a perfect choice to work on a mushroom farm. The robots can only work half as fast as a human,
but it doesn’t mind working in the dark, or for 24 hours a day. There are many advantages to robotics
as well as removing the high cost of labour. One is that it will do a job very repetitively and very much

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 the same every time, so you can get some huge quality improvements in a number of areas. One of the
key advantages in agriculture is that robots can work 24 hours a day – often when there’s no light,
which can be a big factor with certain crops.” In this project we will be designing a multipurpose
vehicle that will be able to plough the land, sow the seeds, water the crops, level the land and carry out
harvesting. We will be using an android smart phone application to control the vehicle to respond to the
control signal. This type of vehicle should be useful for the farmers as a low investment option, also for
the ease of use and friendly user interface it provides. Instead of buying 2 or more machines to carry
out the various functionalities, the farmer can get his work done by using our single efficient
multipurpose agribot.

Fig1.0 :- Block Diagram of Agribot

AGRICULTURE ROBOT is deployed on a metal sheet developed with inbuilt roller and cultivator. The front
end of the metal sheet is given the harvesting feature, while both Water pump used to water the crops and seed
sowing will be added at the cultivator end. We use two motors to control the forward, backward, left and right
movement. One motor each is used to control harvesting, seed sowing and watering the crops. The working
begins when the Farmer opens the application and can press the options provided on the display screen. This
android application is developed using Java. The Bluetooth on the android phone will send the RF signals
serially, on the other hand the Bluetooth present in the robot will take actions according to the instructions given
by the Farmer. We use Embedded C and Keil Vision compiler. The Interfacing is done using Microcontroller
8051. The heart of our robot is Intel’s most powerful family of microcontroller 8051,we are using AT89C2051
Two microcontrollers IC2 is first microcontroller which acts as master controller decodes all the commands
received from the transmitter and is responsible for executing all the commands received from the remote and
also generating pwm pulses for the speed control .LD293 motor driver IC which drives two motors these two
motors are vehicle driver motors and it also runs the motors for all other attachments of agriculture in the
vehicle.

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 CHAPTER 2

LITERATURE SURVEY

[1] SurajChavan ,AnilkumarDongare , Pooja Arabale , Ushasuryanwanshi ,

SheetalNirve, et al.,(2017);_

Agriculture Based Robot (AGRIBOT). Numerous nations in Asia including India are agrarian economies and
the majority of their country populaces rely upon farming to gain their occupation. Planned for expanding the
profitability and diminishing the work in question, this robot is intended to execute the fundamental capacities
required to be completed in ranches. We intend to make a performing multiple tasks horticulture robot which
will concentrate on essential work of estate. To plant the seeds a mechanical arm will burrow to an exact
profundity with equivalent separation between the seeds. At base of robot water siphon will be put and
according to the necessity water will be sprinkled.

The perfect measure of manure will be spread over the seed.

[2] Pavan T V1, Dr. R. Suresh2, Dr. K R Prakash3, Dr. C. Mallikarjuna et al(2017);-

.,Design and Development of AGRICULTURE ROBOT for Seeding. This paper is an exertion towards the
computerization of seeding process. The created framework is fit for playing out the seeding activity in the rural
field. The significant confinement that was found in the past frameworks is the seeding plan. The seeding course
of action isn't adaptable and just one kind of seeds can be utilized. This impediment is defeated in the current
framework. In view of the preliminaries done the framework is equipped for playing out the seeding activity.
Uniform profundities for the seed situation and uniform separation between the two progressive seeds were
gotten. The created robot is fit for playing out its activity with no human exertion and the human intercession in
the process is fundamentally decreased. Building up a robot that can perform wide assortment of farming
undertaking is a difficult procedure. The utilization of robots can be monetarily defended when they are fit for
performing wide assortment of horticultural procedure without human mediation. Aside from the agrarian
procedure these sorts of seeding robots can be utilized for mass manor, reforestation and afforestation.

[3] Mr. V. Gowrishankar, Dr. K. Venkatachalam et al(2018);

IoT Based Precision Agriculture utilizing Agribot. In excess of 60 percent of the populace in the India,
horticulture as the essential segment occupation. As of late, due increment in labor deficiency intrigue has
developed for the advancement of the independent vehicles like robots in the farming. A robot called
AGRICULTURE ROBOT have been intended for rural purposes. It is intended to limit the work of ranchers
notwithstanding speeding up and exactness of the work. It plays out the basic capacities engaged with
cultivating for example showering of pesticide, planting of seeds, etc. Showering pesticides particularly

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significant for the laborers in the territory of conceivably unsafe for the wellbeing and soundness of the laborers.
This is particularly significant for the laborers in the zone of possibly destructive for the security and soundness
of the laborers. The Proposed framework targets structuring multipurpose self-governing rural automated
vehicle which can be controlled through IoT for seeding and showering of pesticides. These robots are utilized
to diminish human mediation, guaranteeing high return and effective use of assets.

[4] Dr. PremjyotiPatil, et al (2016);-

Wsn Based Advanced Agricultural Vehicle Operated Using Smart Phone – Agribot, this venture presents
remote innovation in the field of agribusiness. It diminishes difficult work and can work in any kind of climatic
condition too as can work relentless not at all like people. The time required to complete the five functionalities
lessens extensively in correlation with doing similar exercises physically. Rural robot or AGRICULTURE
ROBOT is a robot sent of rural purposes. This multipurpose framework gives a propelled strategy to seed
planting, furrowing, watering the yields and reaping with least labor and work making it a productive vehicle.
The entire procedure count, preparing, checking are planned with engines and interfaced with Microcontroller.

[5] Ankit Singh, Abhishek Gupta, AkashBhosale, Sumeet Poddar.et al.(2016)”; Agribot:
An Agriculture Robot. This paper has set out a dream of how parts of harvest creation could be robotized one.
Albeit existing kept an eye on activities can be proficient over enormous regions there is a potential for
diminishing the size of medications with independent machines that may result in much higher efficiencies. The
improvement procedure might be gradual yet the general idea requires a change in outlook in the manner in
which we consider automation for crop creation that depends more on plant needs and novel methods for
meeting them instead of altering existing strategies. AGRICULTURE ROBOT is a robot intended for agrarian
purposes. As one of the patterns of improvement on mechanization and insight of horticultural hardware in the
21st century, a wide range of farming robots have been looked into and created to actualize various rural
creations in numerous nations. This Bot can perform essential rudimentary capacities like picking, gathering,
weeding, pruning, planting, joining.

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 CHAPTER 3

SCOPE OF WORK

3.1) SYSTEM ANALYSIS AND DESIGN:-

The dissection of a system into its component pieces to study how these component pieces interact and work.
System design is the process of defining the architecture, components, modules, interfaces and data for a system
to satisfy specified requirements.

3.2 Overview of System Interaction:-

Fig 3.1: System Interaction

The above fig 3.1 shows overview of system interaction, central to which is the android smart phone which has
the application installed. Depending upon the option selected by the user in the application, the corresponding id
of the selected option is sent via radio frequency signals to the Bluetooth receiver on the agricultural robot.
Based upon the id received the corresponding activity is performed.

3.3) Modules: -

 Android Front End

 Bluetooth
 Agricultural Robot

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3.4) Android for Front End Interaction (Communication with the system):-

Android is a free, open source mobile platform. It is a Linux-based, multiprocess, multithreaded Operating
System. It is a software stack for mobile devices that includes an operating system, middleware and key
applications. By providing an open development platform, Android offers developers the ability to build
extremely rich and innovative applications. The Android SDK provides the tools and APIs necessary to begin
developing applications on the Android platform using the Java programming language. Android operating
system is a stack of software components which is roughly divided into five sections and four main layers as
shown below in the architecture diagram in figure 3.2.

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 Fig 3.2: Android Architecture

 Applications:

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These are applications written in Java. Some of the basic applications include calendar, email client, SMS
program, maps, making phone calls, accessing the Web browser, accessing contacts list and others. This is the
layer which an average user uses the most, rest of the layers are used by programmers, developers and hardware
manufacturers.

 Application Framework:-
 This is the skeleton or framework which all android developers have to follow. The developers can access
all framework apis and manage phone’s basic functions like resource allocation, switching between
processes or programs, telephone applications, and keeping track of the phone’s physical location.

The architecture is well designed to simplify the reuse of components. Any application can publish its
capabilities and any other application can then make use of those capabilities. Content providers enable
application to access data from other applications. Resource manager provides access to non-code resources
such as graphics, localized strings and layout. Notification manager displays custom alerts in the status bar.
Activity manager manages the life cycle of an application and provides common navigation. Application
framework is a set of basic tools with which a developer can build much more complex tools. Libraries: This
layer consists of Android libraries written in C, C++, and used by various systems. These libraries tell the device
how to handle different kinds of data and are exposed to Android developers via Android application
framework. Some of these libraries include media, 3D graphics, SQLite, Web browser library etc The Android
runtime layer which includes set of core java libraries and DVM (Dalvik Virtual Machine) is also located in
same layer. Runtime Android: This layer includes set of base libraries that are required for java libraries. Every
Android application gets its own instance of Dalvik Virtual Machine. Dalvik has been written so that a device
can run multiple VMs efficiently and it executes files in executable (.Dex) optimized for minimum memory.
Kernel-Linux: Android relies on Linux version. This layer includes Android’s memory management programs,
security settings, power management software and several drivers forhardware, file system access, networking
and inter-process communication. The kernel also acts as an abstraction layer between hardware and the rest of
the software stack. The Activity Life Cycle of Android is as shown below:

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 Fig 3.3 Activity Life Cycle of Android

The set of functions are explained below:

 onCreate(Bundle): This is called when the activity first starts up. You can use it to perform one-time
initialization such as creating the user interface. onCreate( ) takes one parameter that is either equal to null
or some state information previously saved by the onSaveInstanceState( ) method.
 onStart( ): This indicates that the activity is about to be displayed to the user.
 onResume( ): This is called when your activity can start interacting with the user. This is a good place to
start animations and music.
 onPause( ): This runs when the activity is about to go into the background, usually because another activity
has been launched in front of it. This is where you should save your program’s persistent state, such as a
database record being edited
 onStop( ): This is called when your activity is no longer visible to the user and it won’t be needed for a
while. If the memory is tight, onStop( ) may never be called (the system may simply terminate your
process)
 onRestart( ): If this method is called, it indicates that your activity is being
 redisplayed to the user from a stopped state.
 onDestroy( ): This is called right before your activity is destroyed. If the memory is tight, onDestroy( ) may
never be called (the system may simply terminate your process).

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 onSaveInstanceState(Bundle): Android will call this method to allow the activity to save per-instance state,
such as a cursor position within a text field. Usually you won’t need to override it because the default
implementation saves the state for all your user interface controls automatically.

 onRestoreInstanceState(Bundle): This is called when the activity is being reinitialized from a state
previously saved by the onSaveInstanceState( ) method. The default implementation restores the state of
your user interface.

3.5) Bluetooth HC-05 Module: -

Description: HC-05 is a class-2 bluetooth module with Serial Port Profile, which can configure as either Master
or slave. a Drop-in replacement for wired serial connections, transparent usage. You can use it simply for a
serial port replacement to establish connection between MCU, PC to your embedded project and etc.

 Specification:-
 Bluetooth protocol: Bluetooth Specification v2.0 EDR
 Frequency: 2.4GHz ISM band
 Modulation: GFSK(Gaussian Frequency Shift Keying)
 Emission power: ≤4dBm, Class 2
 Sensitivity: ≤-84dBm at 0.1% BER
 Speed: Asynchronous: 2.1Mbps(Max) / 160 kbps, Synchronous: 1Mbps/1Mbps
 Security: Authentication and encryption
 Profiles: Bluetooth serial port
 Power supply: 3.3VDC 50mA
 Working temperature: -20 ~ 75Centigrade
 Dimension: 26.9mm x 13mm x 2.2 mm

3.6) Agricultural Robot: -

The agricultural robot has the following major components: -

1) Microcontroller AT89S52

Fig 3.4 Microcontroller AT89S52 IC

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 Description:-

The AT89S52 is a low-power, high performance CMOS 8-bit microcontroller with 8K bytes of in-system
programmable Flash memory. The device is manufactured using Atmel’s high-density nonvolatile memory
technology and is compatible with industry standard 80C51 instruction set and pinout. The on-chip Flash allows
the program memory to be reprogrammed in-system or by conventional non-volatile memory programmer. By
combining a versatile 8-bit CPU with in-system programmable flash on a monolithic chip, the Atmel 89S52 is a
powerful microcontroller which provides a highly flexible and cost effective solution to many embedded control
applications.

The AT89S52 provides the following standard features: 8K bytes of flash, 256 bytes of RAM, 32 I/O lines,
Watchdog timer, two data pointers, three 16-bit timer/counters, a six-vector two-level interrupt architecture, a
full duplex serial port, on-chip oscillator, and clock circuitry. In addition, the AT89S52 is designed with static
logic for operation down to zero frequency and supports two software selectable power saving modes. The Idle
Mode stops the CPU while allowing the RAM, timer/counters, serial port, and interrupt system to continue
functioning. The Power-down mode saves the RAM contents but freezes the oscillator, disabling all other chip
functions until the next interrupt or hardware reset. Features: • Compatible with MCS-51® Products

 8K Bytes of In-System Programmable (ISP) Flash Memory

 4.0V to 5.5V Operating Range
 Fully Static Operation: 0 Hz to 33 MHz
 Three-level Program Memory Lock
 256 x 8-bit Internal RAM
 32 Programmable I/O Lines
 Three 16-bit Timer/Counters
 Eight Interrupt Sources
 Full Duplex UART Serial Channel
 Low-power Idle and Power-down Modes
 Interrupt Recovery from Power-down Mode
 Watchdog Timer
 Dual Data Pointer
 Power-off Flag
 Pin configuration: -

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 Fig 3.5: Pin configuration of AT89S52 IC

ALE/PROG: Address Latch Enable output pulse for latching the low byte of the address during accesses to
external memory. ALE is emitted at a constant rate of 1/6 of the oscillator frequency, for external timing or
clocking purposes, even when there are no accesses to external memory. (However, one ALE pulse is skipped
during each access to external Data Memory.) This pin is also the program pulse input (PROG) during EPROM
programming.

PSEN: Program Store Enable is the read strobe to external Program Memory. When the device is executing out
of external Program Memory, PSEN is activated twice each machine cycle (except that two PSEN activations
are skipped during accesses to external Data Memory). PSEN is not activated when the device is executing out
of internal Program Memory.

EA/VPP: When EA is held high the CPU executes out of internal Program Memory (unless the Program
Counter exceeds 0FFFH in the 80C51). Holding EA low forces the CPU to execute out of external memory
regardless of the Program Counter value. In the 80C31, EA must be externallywired low. In the EPROM
devices, this pin also receives the programming supply voltage (VPP) during EPROM programming.

XTAL1: Input to the inverting oscillator amplifier.

XTAL2: Output from the inverting oscillator amplifier. Port 0: Port 0 is an 8-bit open drain bidirectional port.
As an open drain output port, it can sink eight LS TTL loads. Port 0 pins that have 1s written to them float, and
in that state will function as high impedance inputs. Port 0 is also the multiplexed loworder address and data bus
during accesses to external memory. In this application it uses strong internal pullups when emitting 1s. Port 0
emits code bytes during program verification.

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Port 1: Port 1 is an 8-bit bidirectional I/O port with internal pullups. Port 1 pins that have 1s written to them are
pulled high by the internal pullups, and in that state can be used as inputs. As inputs, port 1 pins that are
externally being pulled low will source current because of the internal pullups.

Port 2: Port 2 is an 8-bit bidirectional I/O port with internal pullups. Port 2 emits the high-order address byte
during accesses to external memory that use 16-bit addresses. In this application, it uses the strong internal
pullups when emitting 1s.

Port 3: Port 3 is an 8-bit bidirectional I/O port with internalpullups. It also serves the functions of various
special features of the 80C51 Family as follows:

Port Pin Alternate Function

P3.0 RxD (serial input port)

P3.1 TxD (serial output port)

P3.2 INT0 (external interrupt 0)

P3.3 INT1 (external interrupt 1)

P3.4 T0 (timer 0 external input)

P3.5 T1 (timer 1 external input)

P3.6 WR (external data memory write strobe)

P3.7 RD (external data memory read strobe)

VCC: Supply voltage

VSS: Circuit ground potential.

In our project the microcontroller acts as the brain of the Agribot. It receives the ID(identifier) transferred via
Bluetooth and selects which motor has to be turned on. It also performs the other tasks like stopping all the
activities, turning on the relay switch when the appropriate commands are received.

 DC MOTOR:-

A DC motor is a mechanically commutated electric motor powered from direct current (DC). The stator is
stationary in space by definition and therefore so is its current. The current in the rotor is switched by the
commutator to also be stationary in space. This is how the relative angle between the stator and rotor magnetic
flux is maintained near 90 degrees, which generates the maximum torque.

DC motors have a rotating armature winding but non-rotating armature magnetic field and a static field winding
or permanent magnet. Different connections of the field and armature winding provide different inherent
speed/torque regulation characteristics. The speed of a DC motor can be controlled by changing the voltage

14
applied to the armature or by changing the field current. The introduction of variable resistance in the armature
circuit or field circuit allowed speed control. Modern DC motors are often controlled by power electronics
systems called DC drives.

The introduction of DC motors to run machinery eliminated the need for local steam or internal combustion
engines, and line shaft drive systems. DC motors can operate directly from rechargeable batteries, providing the
motive power for the first electric vehicles. Today DC motors are still found in applications as small as toys and
disk drives, or in large sizes to operate steel rolling mills and paper machines.

 Principles of Operation of DC Motor:-

In any electric motor, operation is based on simple electromagnetism. A current-carrying conductor generates a
magnetic field; when this is then placed in an external magnetic field, it will experience a force proportional to
the current in the conductor, and to the strength of the external magnetic field. As you are well aware of from
playing with magnets as a kid, opposite (North and South) polarities attract, while like polarities (North and
North, South and South) repel. The internal configuration of a DC motor is designed to harness the magnetic
interaction between a current-carrying conductor and an external magnetic field to generate rotational motion.

Let's start by looking at a simple 2-pole DC electric motor (here red represents a magnet or winding with a
"North" polarization, while green represents a magnet or winding with a "South" polarization)

Fig 3.6: DC Motor

Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator, commutator, field magnet(s), and
brushes. In most common DC motors (and all that BEAMers will see), the external magnetic field is produced
by high-strength permanent magnets1. The stator is the stationary part of the motor -- this includes the motor
casing, as well as two or more permanent magnet pole pieces. The rotors (together with the axle and attached
commutator) rotate with respect to the stator. The rotor consists of windings (generally on a core), the windings
being electrically connected to the commutator. The above diagram shows a common motor layout -- with the
rotor inside the stator (field) magnets.

The DC Motors operate at 12 Volts and have the specification of 60 rotations per minute. In our project they are
responsible for the movement of the AGRICULTURE ROBOTand to perform harvesting and seed dropping.

15
 EMBEDDED C:-

C is the most widely used programming language for embedded processors/controllers. Assembly is also used
but mainly to implement those portions of the code where very high timing accuracy, code size efficiency, etc.
are prime requirements.

As time progressed, use of microprocessor-specific assembly-only as the programming language reduced and
embedded systems moved onto C as the embedded programming language of choice. C is the most widely
used programming language for embedded processors/controllers. Assembly is also used but mainly to
implement those portions of the code where very high timing accuracy, code size efficiency, etc. are prime
requirements. Initially C was developed by Kernighan and Ritchie to fit into the space of 8K and to write
(portable) operating systems. Originally it was implemented on UNIX operating systems. As it was intended for
operating systems development, it can manipulate memory addresses. Also, it allowed programmers to write
very compact codes. This has given it the reputation as the language of choice for hackers too. As assembly
language programs are specific to a processor, assembly language didn’t offer portability across systems. To
overcome this disadvantage, several high level languages, including C, came up. Some other languages like
PLM, Modula-2, Pascal, etc. also came but couldn’t find wide acceptance. Amongst those, C got wide
acceptance for not only embedded systems, but also for desktop applications. Even though C might have lost its
sheen as mainstream language for general purpose applications, it still is having a strong-hold in embedded
programming. Due to the wide acceptance of C in the embedded systems, various kinds of support tools like
compilers & cross-compilers, ICE, etc. came up and all this facilitated development of embedded systems
using C Embedded systems often have the real-time constraints, which is usually not there with desktop
computer applications. Embedded systems often do not have a console, which is available in case of desktop
applications.

For embedded applications, we need to optimally use the resources, make the program code efficient, and satisfy
real time constraints, if any. All this is done using the basic constructs, syntaxes, and function libraries of ‘C’.

3.7) System Design

 Activity Diagram

The figure 3.7 shows the activity diagram at user end. When the user opens the application, a message
requesting Bluetooth to be enabled appears. Once the Bluetooth is switched on and the AGRICULTURE
ROBOT is paired a list of activities appears. The user selects the desired activity and the id corresponding to the
activity is sent to the AGRICULTURE ROBOT via Bluetooth.

16
 Fig 3.7: Activity Diagram at Agribot.

As illustrated in the figure 3.8, the Bluetooth receiver at the AGRICULTURE ROBOT receives the
ID(Identifier) passes by the user and passes the message on to the Microcontroller. Appropriate DC Motor that
has to be activated is deduced by the Microcontroller. The Motor Driver activates the corresponding motor and
performs the selected operation. The AGRICULTURE ROBOT now waits for the stop signal to be received in
order to stop functioning.

 Sequence Diagram: -

17
 Fig 3.8: Sequence Diagram at the user end

The sequence diagram shown in fig 3.8 shows the flow of process occurred and in which order the actions are
performed when user operates on the application. When the user opens the application a message appears
requesting to activate Bluetooth. Once the connection is established a list of activities appear and the user select
an activity and the command is sent to the AGRICULTURE ROBOT via Bluetooth.

18
 Fig 3.9: Sequence Diagram at the Agribot

As shown in the figure 3.9, As soon as the AGRICULTURE ROBOT receives the command the
Microcontroller interprets the command and selects the appropriate DC Motor to be activated. The DC motor
driver activates the operation and the activity is performed.Once the AGRICULTURE ROBOT receives the stop
signal it stops functioning.

Fig 3.10: Flowchart o f overall System

19
Figure 3.10 shows the flow of events in overall system. The user activates Bluetooth Once connection is
established he selects an activity from the list and the selected activity is performed until the stop signal is
received.

CHAPTER -4

4.0) HARDWARE AND REQUIREMENTS

This section describes the details of requirements the proposed system is intended to meet when in operation.
Some operational requirements are: Arduino Uno, Bluetooth Transceiver HC-05

4.1) SYSTEM REQUIREMENTS SPECIFICATIONS:-

System requirements specification (SRS) is a text written to specify in detail the system components, both
hardware and software, which are needed for the system implementation, along with functional and non-
functional and operational requirements, as anticipated from the system.

4.2) Hardware Specification: -This section gives details of the hardware components required for the
system implementation and deployment. Agricultural Robot requires the following hardware components:

1. An android smart phone having Bluetooth facility that acts as a controller of the Agribot.

2. An agricultural robot having the following components:

A. A microcontroller 8051 development board which acts as the heart of the robot and controls the entire
device.
B. The IC used is 89S52.
C. Motor driver circuit L293 to increase the current rating.
D. Bluetooth HC05 module to establish connection with the smart phone and receive commands.
E. 5 DC motors for performing the activities.

4.3 ) Software Specification: -

This section gives details of the software components required by the intended system under development.
Agricultural Robot requires the following software components.

20
 1. Operating System: This application works well with android 4.0 and all versions above this.
2. Backend: Java will be used for developing backend of the AGRICULTURE ROBOT application.
Embedded C is used to program the agricultural robot.
3. Front End: It is developed using ADT Bundle toolkit and the language used is XML.
4. The cross compiler used is Keil Micro Vision 3.
5. Flash Magic software is used for dumping code into microcontroller.

4.4) Functional Requirements: -

This section describes the basis functionality of the system, as expected once the system is deployed.
Agricultural Robot meets the following functional requirements:

1. Agricultural activities must b performed with minimal effect.

2. The application developed must be easily usable.
3. The farmer must be able to start, switch or stop any activity effortlessly and with minimum time.

4.5) Non-Functional Requirements: -

This section describes additional performance criteria which the proposed system is aimed to meet. Some non-
functional requirements are:

1. The total cost of the development must be nominal.

2. Performance must be high.
3. The size of the robot must be manageable.

4.6) Operational Requirements: -

This section describes the details of requirements the proposed system is intended to meet when in operation.
Some operational requirements are:

1. The system must run smoothly with no freezing or latching of device

2. The Agricultural Robot must immediately perform the specified operation when the user selects an option.

4.7) Hardware Components:-

Arduino Uno is a microcontroller board based on the ATmega328P. It has 14 digital input/output pins (of which
6 can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack.

21
 Fig:-4.1-Arduino uno

 Specifications:-
 Microcontroller: ATmega328P

 Operating Voltage: 5V

 Input Voltage (recommended): 7-12V

 Input Voltage (limit): 6-20V

 Digital I/O Pins: 14 (of which 6 provide PWM

 output) PWM Digital I/O Pins: 6

 Analog Input Pins: 6

 DC Current per I/O Pin: 20mA

 DC Current for 3.3V Pin: 50mA

 Flash Memory: 32 KB (ATmega328P) of which 0.5

. KB used by boot loader SRAM: 2 KB (ATmega328P)

 EEPROM: 1 KB (ATmega328P)

 Clock Speed: 16 MHz

 LED_BUILTIN: 13

 Length: 68.6 mm

 Width: 53.4 mm

 Weight: 25 g

22
 Fig-4.2: Arduino Uno Pin Configuration

4.8) Bluetooth Module HC-05:-

The Bluetooth Transceiver HC-05 TTL Module (With EN Pin)) Breakout is the latest Bluetooth wireless serial
cable. This version of the popular Bluetooth uses theHC-05/HC-06 module. These modems work as a serial
(RX/TX) pipe.HC‐05 module is an easy to use Bluetooth SPP(Serial Port Protocol) module, designed for
transparent wireless serial connection setup. This serial port Bluetooth module is fully qualified Bluetooth V2.
0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and baseband.

23
 Fig-4.3:- Pin Configuration of HC-05

 Specifications:-
 Serial Serial Bluetooth module for Arduino and other microcontrollers
 Operating Voltage: 4V to 6V (Typically +5V)

 Operating Current: 30mA

 range <100

 Works with Serial communication (USART) and TTL compatible Follows IEEE 802.15.1 standardized
protocol

 Uses Frequency-Hopping Spread spectrum (FHSS)

 Can operate in Master, Slave or Master/Slave mode

 Can be easily interfaced with Laptop or Mobile

 phones with Bluetooth Supported baud rate:- 9600,19200,38400,57600,115200,230400,460800

Fig:-4.4 Motor Driver L298N

4.9) Motor Driver (L298N):-

The L298N Motor Driver Module is a high voltage Dual HBridge manufactured by STCompany.Itis designed to
accept standard TTL voltage levels. H-bridge drivers are used to drive inductive loads that requires forward and
reverse function with speed control such as DC Motors, and Stepper Motors. It uses the popular L298 motor
driver IC and has an on-board 5V regulator which it can supply to an external circuit. It can control up to 4 DC
motors, or 2 DC motors with directional and speed control. Motor drivers acts as an interface between the
motors and the control circuits. Motor require high amount of current whereas the controller circuit works on
low current signals. So the function of motor drivers is to take a low-current control signal and then turn it into a
higher-current signal that can drive a motor

24
 Specifications:-
 Motor driver: L298N
 Motor channels: 2

 Maximum operating voltage: 46V

 Peak output current per channel: 2A

 Minimum logic voltage: 4.5V

 Maximum logic voltage: 7V

Fig-4.5:-12V DC Gear Motor

4.10) DC Gear Motor:-

This is 12V DC motor which has a gearbox of 45mm diameter. The planetary type gearbox of this motor has a
metal gears and a centre shaft. The Shaft of the motor is loaded with bearing for wear resistance and smooth
operation. 300RPM 12V Johnson, high torque DC geared motors is used for robotics applications. It gives a
massive torque of 9Kgcm. The motor comes with metal gearbox and off-centered shaft.

 Specifications:-

300RPM 12V DC motors with Metal Gearbox and Metal Gears.

6mm diameter shaft with M3 thread hole

 Specifications:-
 300RPM 12V DC motor Gearbox diameter 40 mm

. Motor Diameter 28.5 mm.

 Length 63 mm without shaft

. Shaft length 30mm.

 180gm weight.

25
 9.06 kgcm Holding Torque

 load current = 800 mA, Load current = up to 7.5 A (Max). Recommended to be used with DC Motor

 Driver 20A or Dual DC Motor Driver 20A

4.11) Servo Motor SG90:-

A servomotor is a rotary actuator or linear actuator that allows for precise control of angular or linear position,
velocity and acceleration. It consists of a suitable motor coupled to a sensor for position feedback. Servomotors
are used in applications such as robotics, CNC machinery or automated manufacturing. SG90 1.2kgCm 180
Degree Rotation Servo Motor rotates 90° in each direction making it 180° servo motor. It is a Digital Servo
Motor which receives and processes PWM signal faster and better. The Tower Pro SG90 9g Mini Servo is 180°
rotation servo. It is a Digital Servo Motor which receives and processes PWM signal faster and better. It equips
sophisticated internal circuitry that provides good torque, holding power, and faster updates in response to
external forces. A servomotor is a closed-loop servomechanism that uses position feedback to control its motion
and final position. The input to its control is a signal(either analogue or digital) representing the position
commanded for the output shaft. The motor is paired with some type of position encoder to provide position and
speed feedback. In the simplest case, only the position is measured. The measured position of the output is
compared to the command position, the external input to the controller. If the output position differs from that
required, an error signal is generated which then causes the motor to rotate in either direction, as needed to bring
the output shaft to the appropriate position. As the positions approach, the error signal reduces to zero and the
motor stops. The very simplest servomotors use position-only sensing via a potentiometer and bang-bang
control of their motor; the motor always rotates at full speed (or is stopped). This type of servomotor is not
widely used in industrial motion control, but it forms the basis of the simple and cheap servos used for radio-
controlled models.

More sophisticated servomotors use optical rotary encoders to measure the speed of the output shaft and a
variable speed drive to control the motor speed. Both of these enhancements, usually in combination with a PID
control algorithm, allow the servomotor to be brought to its commanded position more quickly and more
precisely,with less overshooting

Fig-4.6:- Servomotor SG90

Table -4.1:- Description about Wires of Servomotor SG90

26
 Wire number Wire color Description
1 Brown Ground wire connected to the
ground of system
2 Red Powers the motor typically +5V is
used
3 Orange PWM signal is given in through
this wire to drive the motor

Specifications:-

 Operating Voltage is +5V typically

 Torque: 2.5kg/cm

 Operating speed is 0.1s/60°

 Rotation: 0°-180

° Weight of motor: 9gm

4.12) SOFTWARE REQUIREMENTS:-

Bluetooth Electronics Control your electronic project with an Android device. This app communicates using
Bluetooth to an HC-06 or HC-05 Bluetooth module in your project. Since version 1.2 of the app, it will now
also communicate to Bluetooth low energy modules such as the HC-08 and via USB-serial connection This app
comes with a library containing 11 Bluetooth examples for Arduino. See the electronics page for examples. It
can also be used with Raspberry Pi or any other rapid prototyping system in which you have included a suitable
Bluetooth module to your project.

 Ideal for learning electronics in a fun way.

• Ideal for rapid prototyping a new idea.

• Ideal for exhibiting your project. Some electronics skills required.

Requires an Android device with Bluetooth capability enabled. Large selection of controls available including
buttons, switches, sliders, pads, lights, gauges, terminals, accelerometers and graphs, Drag and drop them onto
the panel grid.

Then edit their properties. 20 customizable panels available.

Import/Export panels to share them. Discover, Pair and connect to Bluetooth devices. Then click Run to use the
panel.

Arduino Uno IDE The Arduino Integrated Development Environment (IDE)is a cross-platform application (for
Windows, mac OS, Linux) that is written in functions from C and C++. It is used to write and upload programs

27
to Arduino compatible boards, but also, with the help of 3rd party cores, other vendor development boards. The
source code for the IDE is released under the GNU General Public License, version 2. The Arduino IDE
supports the languages C and C++ using special rules of code structuring. The Arduino IDE supplies a software
library from the Wiring project, which provides many common input and output procedures. User-written code
only requires two basic functions, for starting the sketch and the main program loop, that are compiled and
linked with a program stub main() into an executable cyclic executive program with the GNU tool chain, also
included with the IDE distribution. The Arduino IDE employs the program av dude to convert the executable
code into a text file in hexadecimal encoding that is loaded into the Arduino board by a loader program in the
board's firmware.

4.13) Developed Program:-

#include <Servo.h>

Servo myservo; // create servo object to control a servo

// twelve servo objects can be created on most boards

Servo myservo1;

int pos = 0; // variable to store the servo position

Servo myservo2;

char bt;

void setup()

Serial.begin(9600);

myservo.attach(9);

myservo1.attach(11);

myservo2.attach(12);

pinMode(6, OUTPUT);

digitalWrite(6, LOW);

28
 pinMode(A0, INPUT);

pinMode(2, OUTPUT);

pinMode(3, OUTPUT);

pinMode(4, OUTPUT);

pinMode(5, OUTPUT);

myservo.write(90);

delay(1000);

myservo1.write(85);

myservo2.write(90);

digitalWrite(2, LOW);

digitalWrite(3, LOW);

digitalWrite(4, LOW);

digitalWrite(5, LOW);

pinMode(7, OUTPUT);

pinMode(8, OUTPUT);

digitalWrite(7, LOW);

digitalWrite(8, LOW);

Serial.println("Agri bot");

void loop()

if(Serial.available()>0)

bt=Serial.read();

29
//5

if(bt=='L')

Serial.println("LEFT");

digitalWrite(2, HIGH);

digitalWrite(3, LOW);

digitalWrite(4, LOW);

digitalWrite(5, HIGH);//fwd

if(bt=='R')

Serial.println("RIGHT");

digitalWrite(2, LOW);

digitalWrite(3, HIGH);

digitalWrite(4, HIGH);

digitalWrite(5, LOW);//fwd

if(bt=='F')

Serial.println("fwd");

digitalWrite(2, LOW);

digitalWrite(3, HIGH);

digitalWrite(4, LOW);

digitalWrite(5, HIGH);//fwd

if(bt=='D')

30
{

Serial.println("drill");

digitalWrite(8, LOW);

digitalWrite(7, HIGH);

delay(2000);

digitalWrite(7, LOW);

digitalWrite(8, LOW);

if(bt=='E')

Serial.println("seed ");

myservo1.write(120);

delay(2000);

myservo1.write(85);

delay(1000);

if(bt=='P')

Serial.println("p");

myservo2.write(120);

if(bt=='T')

Serial.println("t");

myservo2.write(90);

31
}

if(bt=='X')

Serial.println("x");

myservo.write(60);

if(bt=='Y')

Serial.println("y");

myservo.write(90);

if(bt=='E')

Serial.println("seed ");

myservo1.write(90);

delay(2000);

myservo1.write(90);

delay(1000);

if(bt=='W')

Serial.println("water ");

32
digitalWrite(6, HIGH);

delay(2000);

digitalWrite(6, LOW);

if(bt=='B')

Serial.println("back ");

digitalWrite(2, HIGH);

digitalWrite(3, LOW);

digitalWrite(4, HIGH);

digitalWrite(5, LOW);//back

if(bt=='S')

Serial.println("stop");

digitalWrite(2, LOW);

digitalWrite(3, LOW);

digitalWrite(4, LOW);

digitalWrite(5, LOW);

sis headquartered in San Rafael, California, and features a gallery of its customers' work in its San Francisco
building. The company has offices worldwide. The company was founded in 1982 by JohnWalker,whowas a co-
author of the first versions of AutoCAD .AutoCAD,which is the company's flagship computer-aided design
(CAD) software and Revit software are primarily used by architects, engineers, and structural designers to

33
design, draft, and model buildings and other structures.Autodesk software has been used in many fields, and on
projects from the One World Trade Centre to Tesla electric cars. Autodesk became best known for AutoCAD,
but now develops a broad range of software for design, engineering, and entertainment—and a line of software
for consumers, including Sketchbook. The manufacturing industry uses Autodesk's digital prototyping software
—including Autodesk Inventor, Fusion 360, and the Autodesk Product

4.14) PROJECT IMPLEMENTATION

 Working:-
 Mainly works with the help of an Arduino platform and Bluetooth module.
 Consists of mobile application controls with Bluetooth interface.

A motor is used to rotate a blade to cut the weeds

. A coupled wheel is used so that it can travel easily

 A pesticide pump is placed on one side and water pump on other side.

A servomotor is used to drop seeds.

This is an agricultural-based robot. In this robot, we are using the L293DN IC motor driver that operates the
robot forward, backward, right side and left side. A motor is used rotate a blade to cut the weeds. It also consist
of water pump for watering. A servomotor is used that helps to drop the seeds. All the instructions are given
through Bluetooth controlled android application

CHAPTER – 5

SYSTEM TESTING & RESULTS

5.1) SYSTEM TESTING

The primary purpose of testing is to discover errors and weaknesses in the system to ensure it
meets the required specifications and user expectations. Testing involves a comprehensive
process of evaluating components, sub-assemblies, assemblies, and the finished product. It
aims to verify the functionality of the software and hardware, ensuring they perform as
intended under various conditions. Below is a detailed account of the design and execution of
test cases, validating the internal program logic and ensuring the inputs yield valid outputs.

34
5.1 Unit Test Cases

1. Unit Test Case: Activating Bluetooth

Table 5.1 (UT): Unit Test Case for Activating Bluetooth

Test ID Activate Bluetooth

This test case involves enabling Bluetooth on the smartphone and pairing it
with the Bluetooth module on the Agribot. The application relies on a
Description Bluetooth connection to send and receive commands. This test ensures that
the Bluetooth connection is established successfully and that the devices are
paired correctly.
The Bluetooth module should be properly installed on the Agribot, and the
Preconditions
smartphone should have Bluetooth capability enabled.
The user initiates the Bluetooth pairing process on the smartphone, selects
Input
the Agribot from the list of available devices, and confirms the pairing.
The connection between the smartphone and Agribot is established
Expected
successfully. The devices should appear as paired on both the smartphone
Output
and the Agribot’s Bluetooth module.
The connection was established successfully. Devices were paired and
Actual Output
ready to communicate.
The Agribot is now ready to receive commands from the smartphone via the
Postconditions
Bluetooth connection.
Result Success

2. Unit Test Case: Select an Activity (Basic Operations)

Table 5.2 (UT): Unit Test Case for Selecting a Basic Operation on the Smartphone

Test Case ID Select an Activity (Basic Operation)

This test case involves selecting a basic operational activity from the
Bluetooth signal app on the smartphone. The basic operations include
Description moving the Agribot forward, reversing, turning left, turning right, and
stopping. This test ensures that the Agribot responds correctly to each
command.
The smartphone and Agribot should be paired via Bluetooth, and the app
Preconditions
should be running and ready to send commands.
The user selects an activity (e.g., forward, reverse, left, right, stop) from the
Input
app interface.
Expected The Agribot performs the selected activity, such as moving forward,

35
 Test Case ID Select an Activity (Basic Operation)
Output reversing, turning left, turning right, or stopping.
Actual Output The Agribot moved as expected based on the selected activity.
The Agribot should return to a ready state after performing the selected
Postconditions
activity, ready to receive the next command.
Result Success

3. Unit Test Case: Select an Activity

Table 5.3 (UT): Unit Test Case for Selecting an Activity from a List of Activities

Test Case ID Select an Activity

This test case involves selecting an advanced operational activity from the
Bluetooth signal app on the smartphone. The main operations include
Description
seeding, harvesting, and water pumping. This test ensures that the Agribot
can perform these specific tasks correctly.
The smartphone and Agribot should be paired via Bluetooth, and the app
Preconditions
should be running and ready to send commands.
The user selects an advanced activity (e.g., seeding, harvesting, water
Input
pumping) from the app interface.
Expected The Agribot performs the selected advanced activity, such as initiating
Output seeding, starting the harvesting mechanism, or pumping water.
Actual Output The Agribot performed the selected activity successfully.
After performing the advanced activity, the Agribot should be in a state
Postconditions
ready for the next command or activity.
Result Operation performed successfully

4. Unit Test Case: Motor Control Testing

Table 5.4 (UT): Unit Test Case for Motor Control via Bluetooth Commands

Test Case ID Motor Control Testing

This test case involves testing the motor control functionalities as
programmed in the Arduino code. The motors control the movement and
Description specific operations of the Agribot, such as seeding, drilling, and watering.
This test ensures that each motor responds correctly to the Bluetooth
commands sent from the smartphone.
The smartphone and Agribot should be paired via Bluetooth, and the app
Preconditions should be running and ready to send commands. The motors should be
correctly connected to the Agribot.
The user sends commands from the app to control various motors (e.g.,
Input
move left, move right, perform seeding, start drilling, pump water).
Expected The corresponding motors activate and perform the intended operations
Output accurately, such as moving in the specified direction, drilling, or seeding.
Actual Output The motors activated as expected and performed the specified operations

36
 Test Case ID Motor Control Testing
correctly.
The Agribot should be in a ready state after each motor operation, prepared
Postconditions
to receive the next command.
Result Success

5.2 Testing Methodology

Testing was performed using a structured methodology to ensure comprehensive coverage of

all functionalities and to validate both individual components and the integrated system.

5.2.1 Unit Testing

Unit testing was focused on verifying the correct functioning of individual modules and
components of the system. Each unit test case was designed to test specific functionalities
and ensure they perform as expected.

 Bluetooth Activation: This unit test case verified that the Bluetooth connection
between the smartphone and the Agribot is established successfully. It involved
pairing the devices and checking the connection status.
 Basic Operations: These unit test cases validated that the Agribot responds correctly
to basic movement commands sent from the smartphone app. Commands tested
included moving forward, reversing, turning left, turning right, and stopping.
 Advanced Operations: These unit test cases ensured that the Agribot can perform
specific tasks such as seeding, harvesting, and water pumping. Each task was tested to
ensure proper execution and desired outcome.
 Motor Control: This unit test case verified that the motors controlling the Agribot's
movement and specific operations responded accurately to the commands sent from
the smartphone.

Detailed Testing Steps:

1. Bluetooth Activation:
o Preconditions: Ensure the Bluetooth module is properly connected to the
Agribot and the smartphone has Bluetooth enabled.
o Input: Pair the devices by selecting the Agribot from the list of available
Bluetooth devices on the smartphone.
o Expected Output: Successful pairing and connection establishment.
o Actual Output: Verified successful connection.
o Postconditions: Agribot is ready to receive commands.
2. Basic Operations:
o Preconditions: Ensure Bluetooth connection is established.
o Input: Select each basic operation (forward, reverse, left, right, stop) from the
app.
o Expected Output: Corresponding movement of the Agribot.
o Actual Output: Observed correct movement.
o Postconditions: Agribot returns to ready state after each operation.
3. Advanced Operations:
o Preconditions: Ensure Bluetooth connection is established.

37
 oInput: Select each advanced operation (seeding, harvesting, water pumping)
from the app.
o Expected Output: Corresponding advanced task performed by the Agribot.
o Actual Output: Observed correct execution of tasks.
o Postconditions: Agribot ready for next command.
4. Motor Control:
o Preconditions: Ensure Bluetooth connection is established and motors are
properly connected.
o Input: Send motor control commands from the app.
o Expected Output: Motors activate and perform specified operations (e.g.,
moving in specified direction, drilling, seeding).
o Actual Output: Observed correct motor activation and operation.
o Postconditions: Agribot and motors are ready for the next command.

5.2.2 Integration Testing

Integration testing focused on ensuring that the different modules work together seamlessly.
It involved testing the interaction between the Bluetooth signal app and the Arduino-based
Agribot to ensure commands are correctly communicated and executed.

Integration Testing Steps:

1. Communication Testing:
o Objective: Verify that the Bluetooth signal app can send commands to the
Arduino and receive feedback.
o Process: Establish Bluetooth connection, send various commands from the
app, and observe the Agribot’s response.
o Expected Outcome: Commands are received and executed correctly by the
Agribot.
o Actual Outcome: Verified that the Agribot responded to commands as
expected.
2. System Functionality Testing:
o Objective: Ensure that the system as a whole performs the required functions.
o Process: Test all basic and advanced operations in sequence to verify system
reliability.

38
 Fig 5.1 Main Layout

Figure 5.1 shows the Main layout of the Android application. It consists of all the list of activities and also
gives the information of Bluetooth connectivity

39
 Fig 5.2 Movements and operations selection

Figure 5.2 shows Movement and operation selection. The selected activity gets highlighted. In the above
snapshot harvesting option is selected

40
 CHAPTER -6

6.0) CONCLUSION AND FUTURE SCOPE

6.1) Conclusion: -

 This project introduces wireless technology in the field of agriculture.

 Exploits features of Android platform to help Farmers Significantly.
 Provides a flexible user interface to farmer to control the machine effectively.
 It reduces manual labour requirement which is a boon to the farmers as finding labourers is a very difficult
job today.
 The AGRICULTURE ROBOTcan work in any sort of climatic condition as well as can work nonstop
unlike humans
 The time required to carry out the five functionalities reduces considerably in comparison with carrying
out the same activities manually.
 It is a onetime investment which reduces the overall farming cost considerably.
 This AGRICULTURE ROBOTacts as a gateway to automated smart farming.
 An initial outcome of this study indicates that most of these systems that which work autonomously are
more flexible than traditional systems. The benefits of reduction in labor costs and restrictions on the
number of daily working hours significantly improved. Thus it has made possible to automate the most
significant working routines. The project presents a low cost, low power & simple system for device
control. This system will have high application in farming, gardening and Agro University. By
implementing this system, agricultural, horticultural lands, gardens can be irrigated. Thus, this system is
cheaper and efficient when compared to other type of automation system. In large scale applications, high
sensitivity sensors can be implemented for large areas of agricultural lands. Thereby reducing the stress on
farmers.

6.2) Future Scope: -

 As far as future enhancements are concerned, this project has ample scope.
 As an extension to this initial prototype many sensors can be added to detect obstacles and make the robot
smarter
 Sensors to detect the depth of the land to appropriately sow seeds can be added
 A camera can be installed on the AGRICULTURE ROBOTand the application can be modified in order
to display the field with a 360-degree view on the app as the robot moves.
 New technologies like Zigbee, Wifi, IOT, WiSmart can be used to have a large connectivity range.
 Sensors to detect temperature and moisture content and take actions of sprinkling water can be added.
 A pesticide sprinkler can be added along with a sensor that detects the quantity of pesticide required.

41
 CHAPTER -7

REFERENCES

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[2] Pavan T V1, Dr. R. Suresh2, Dr. K R Prakash3, Dr. C. Mallikarjuna et al., Design and Development of
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[14] S Mahendra Kumar and T Guna Sekar, (2016) et al.,“Cross-Layer Design for Energy Efficient
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[15] Gulam Amer, S.M.M. Mudassir, M.A. Malik, et al.,“Design and operation of Wi-Fi AGRICULTURE
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LIST OF FIGURES

Chapter No:- 1

Fig1.0 :- Block Diagram of Agribot

45
Chapter No:- 3

Fig 3.1: System Interaction

Fig 3.2: Android Architecture

Fig 3.3 Activity Life Cycle of Android

Fig 3.4 Microcontroller AT89S52 IC

Fig.3.5: Pin configuration of AT89S52

Fig 3.6: DC Motor

Fig 3.7: Activity Diagram at Agribot.

Fig 3.8: Sequence Diagram at the user end

Fig 3.9: Sequence Diagram at the Agribot

Fig 3.10: Flowchart o f overall System

Chapter No:-4

Fig:-4.1-Arduino uno

Fig-4.2: Arduino Uno Pin Configuration

Fig-4.3:- Pin Configuration of HC-05

Fig:-4.4 Motor Driver L298N

Fig-4.5:-12V DC Gear Motor

Fig-4.6:- Servomotor SG90

Chapter No:-5

Fig 5.1 Main Layout

Fig 5.2 Movements and operations selection

LIST OF TABLES

Chapter No:– 4

Table -4.1:- Description about Wires of Servomotor SG90

46
Chapter No:-5

Table 5.1 Unit test case for activating Bluetooth

Table 5.2 Unit test case for selecting a basic operation on the Smartphone

Table 5.3 Unit test case for selecting an activity from a list of activities

Table 5.4 Unit Test Case for Motor Control via Bluetooth Commands

47