VISVESVARAYA TECHNOLOGICAL UNIVERSITY “Jnana Sangama”, Belagavi – 590018

A PROJECT REPORT On

“MULTIPURPOSE AGRICULTURE ROVER”

Submitted in partial fulfillment of the requirements in the 8thsemester of

BACHELOR OF ENGINEERING

IN

ELECTRONICS AND COMMUNICATION

BY

NITHIN E (1NH16EC068)

YATHIN S (1NH16EC120)

YESHWANTH M (1NH16EC124)

YESHWANTH M L (1NH16EC125) Under the guidance of

Dr. NAVEEN H

Assistant Professor

Dept. of ECE,

NHCE, Bengaluru

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING NEW HORIZON COLLEGE OF ENGINEERING

(ISO-9001:2000 certified, Accredited by NAAC ‘A’, permanently affiliated to VTU)

Outer Ring Road, Panathur Post, Near Marathahalli,

Bangalore-560103

Certificate

Certified that the Internship work entitled “Multipurpose Agriculture Rover ” carried out byNithin E 1NH16EC068, Yathin S (1NH16EC120), Yeshwanth M (1NH16EC124), Yeshwanth M L (1NH16EC125)a bonafide student of New Horizon College of Engineering in partial fulfillment for the award of Bachelor of Engineering / Bachelor of Technology in Electronics and Communication Engineering of the Visvesvaraya Technological University, Belgaum during the year 2020. It is certified that all corrections/suggestions indicated for Internal Assessment have been incorporated in the Report deposited in the departmental library. The internship report has been approved as it satisfies the academic requirements in respect of internship work prescribed for the said Degree.

GUIDE HOD PRINCIPAL

(Dr. NAVEEN H) (Dr. SANJEEV SHARMA) (Dr.MANJUNATHA)

External Viva

NAME OF THE INTERNAL/EXTERNAL SIGNATURE WITH DATE

1. ______

2. ______DECLARATION

We, Nithin E 1NH16EC068, Yathin S (1NH16EC120), Yeshwanth M (1NH16EC124), Yeshwanth M L (1NH16EC125) students of 8th semester in ELECTRONICS AND COMMUNICATION ENGINEERING, NEW HORIZON COLLEGE OF ENGINEERING, Bangalore hereby declare that the project work entitled as “MULTIPURPOSE AGRICULTURE ROVER” submitted to the Visvesvaraya Technological University during the academic year 2019-2020, is a record of an original work done by us under the guidance of Dr. NAVEEN H, Assistant professor, Department of Electronics and Communication, New Horizon College of Engineering, Bangalore. This project work is submitted in partial fulfilment of the requirements for the award of degree of Bachelor of Engineering in Electronics and Communication. The results embodied in the thesis have not been submitted to any other University or Institute for the award of any degree.

NITHIN E (1NH16EC068)

YATHIN S (1NH16EC120)

YESHWANTH M (1NH16EC124)

YESHWANTH M L (1NH16EC125)

PLACE :BENGALURU

DATE : ACKNOWLEDGEMENT

It is our pleasure to present a project in partial fulfillment of the requirements for the project work on “MULTIPURPOSE AGRICULTURE ROVER”in Bachelor of Engineering, Department of Electronics and Communication.

We thankfully express our gratitude to Shri Mohan Manghnani, Chairman of New Horizon College of Engineering. We are very much thankful to Dr. Manjunatha, Principal of New Horizon College of Engineering. They have provided us with the opportunity to reach the most cherished goal and thus helping us to make a brighter career through Engineering.

We are very much thankful to our guide Dr. Naveen H Assistant Professor, Department of Electronics and Communication Engineering, for their guidance and support during the course of our project. We express our sincere thanks to all the staff members of ECE Department for their guidance and encouragement. Plagiarism-check certificate from NHCE library ABSTRACT

Temperature, humidity and soil moisture has a very strong impact on agriculture due to its constant changing factors, it is important for the farmers to keep a note of these values, and also farmers still follow tradition method of spraying pesticides by carrying a hand pump on their shoulders. Getting better yield by producing quality plants and to make a good profit is very important, but apart from that farmer safety is also our concern These pesticides are injurious to health. This project is divided into major three parts:

1. Data acquisition by various sensors

2. Live video streaming

3. Rover control section

We present our projects as a solution for the above agricultural problems. Multipurpose agricultural rover helps the farmers to spray pesticides at constant or at variable height. As this rover is wirelessly controlled by a joystick, a live video streaming feature is available for the farmers in their mobiles and ultrasonic sensor is attached to the rover to notify any obstacles in the farm. If all the five LED’s glow Blynk application glow, then it notifies that the rover is above to hit the obstacle. Temperature, humidity and soil moisture sensors are attached to the rover for data acquisition. This data can be used by the farmers to take precautions before the plants prone to any kind of diseases. TABLE OF CONTENT

CHAPTER 1 INTRODUCTION 1- 4

1.1 Introduction 1

1.2 Problem Statement 2

1.3 Aim and Objective 3

1.4 Methodology 3

CHAPTER 2 BACKGROUND THEROY 5 - 16

2.1 Impacts 5

2.2 Types of Framing 7

2.2.1 Organic Framing 7

2.2.2 Multi-crop Framing 8

2.2.3 Vertical Framing 9

2.2.4 Greenhouse Framing 11

2.2.5 Nursery Framing 13

2.3 Pesticides 14

2.4 Types of Pesticides 15

2.5 Health Effects 16

CHAPTER 3 LITERATURE SURVEY 18 - 19

3.1 Literature Review 18

CHAPTER 4 DETAILED DESIGN 20 - 46

4.1 Block Diagram 20

4.2 Algorithm 21

4.3 FlowChart 22

4.4 Hardware Specifications 23 4.4.1 Raspberry Pi 3B+ 23

4.4.2 NodeMCU 27

4.4.3 L298N Motor Driver 28

4.4.4 Brushless Motor 29

4.4.5 NRF24L01 wireless Transceiver 30

4.4.6 ESP32-CAM 32

4.4.7 DHT11 Sensor 33

4.4.8 Soil Moisture Sensor 34

4.4.9 Ulitrasonic Senor 36

4.4.10 Joystick Shield Module 37

4.4.11 Submersible Pump 38

4.4.12 Lithium Ion Battery 39

4.5 Software Specification 40

4.5.1 Arduino Software IDE 40

4.5.2 Python IDE 41

4.5.3 Blynk Application 42

CHAPTER 5 IMPLEMENTATION 46 - 54

5.1 Vehicle Design 46

5.2 Working 47

CHAPTER 6 RESULTS AND SNAPSHOTS 55

6.1 Online Application 55 CHAPTER 7 ADVANTAGES AND APPLICATION 56

7.1 Advantages 56

7.2 Application 56

CHAPTER 8 CONCLUSION AND FUTURE SCOPE 57 - 58

8.1 Conclusion 57

8.2 Future scope 58

REFERENCES 59 LIST OF FIGURES

Fig 1.1 Agriculture Rover ...... 2

Fig 2.1 Organic Framing ...... 8

Fig 2.2 Multicrop Framing ...... 9

Fig 2.3 Vertical Framing ...... 10

Fig 2.4 Greenhouse Framing ...... 12

Fig 2.5 Nursery Framing...... 14

Fig 4.1 Block Diagram...... 20

Fig 4.2 Flow chart ...... 22

Fig 4.3 Raspberry Pi 3B+...... 24

Fig 4.4 Details of Raspberry Pi 3B+...... 26

Fig 4.5 NodeMCU ...... 28

Fig 4.6 L298N Motor Driver ...... 29

Fig 4.7 Brushless Motor ...... 30

Fig 4.8 NRF20L01 Module ...... 31

Fig 4.9 Data Channel ...... 32

Fig 4.10 ESP32-CAM...... 33

Fig 4.11 DHT11 Sensor ...... 34

Fig 4.12 Soil Moisture Sensor ...... 36

Fig 4.13 Ultrasonic Sensor ...... 37

Fig 4.14 Joystick Shield Module ...... 37

Fig 4.15 Jumper Wires ...... 38

Fig 4.16 Submersiable Pump ...... 39

Fig 4.17 Lithium Polymer Battery...... 40

Fig 4.18 Arduino IDE...... 41

Fig 4.19 Python IDE ...... 42 Fig 4.20 Blynk Login ...... 43

Fig 4.21 Create New Project ...... 43

Fig 4.22 Interface b/w hardware componets & Blynk ...... 45

Fig 5.1 3D Model ...... 46

Fig 5.2 Circuit Diagram ...... 49

Fig 5.3 Transmitter ...... 51

Fig 5.4 Receiver ...... 52

Fig 5.5 Differential Drive ...... 53

Fig 6.1 Sensor Value ...... 55 MULTIPURPOSE AGRICULTURE ROVER

CHAPTER 1

INTRODUCTION

1.1 INTRODUCTION

Agriculture is one of the main aspect in the history of human being civilization. It is one of the oldest and important activities of human beings. We know the ace of industrialization and urbanization growth in the world, even then approximately fifty percentage of the working population adopted agriculture has their profession. The major source of employment is agricultural activities in most of the developing countries and it also majorly contributes to that nations economy.

The backbone of Indian economy is undoubtedly agriculture since sixty four percentage of our population is depended on agricultural activities for their living. The main problems that Indian farmers face constantly are nothing but meeting the high demand of supply due to increasing population and also lack of awareness of advanced techniques to increase the yield according to the demand. Adding up to this farmers still follow traditional methods to spray pesticides to the crops or the plants. Intially farmers had to manually sprinkle pesticides on the crops and later they had a hanging spraying machine was introduced where the farmers have to hang it on their shoulders to spray pesticides in order to kill the pests. Inspite of having a machine also farmers can easily come in contact with the harmful pesticides that would kill his/her life if it’s consumed unknowingly.

According to the latest researches the commonly found pesticide-induced diseases are asthma, autism, birth defects, learning disabilities, reproductive dysfunction, Alzeheimer’s diseases, and several other chronic diseases. To reduce the farmers contact with these harmful pesticides and to help the farmers to get better yield with less risk, new technologies have to be adopted and efficiently used according to the needs.

The field of robotics now has spread its wings and now its been used in home automations, various military operations along with agricultural related activities. Automation in farming as

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER made young educated farmers to increase the yield efficiently and to have a safe cultivation practices. Another good way of farming is precision farming where the farmers the agricultural inputs about the temperature and humidity, soil moisture content and various other inputs to ensure proper productivity, quality and profitability in agricultural activities.

By bringing out modern technologies into farming and ensuring these techniques are easy to be adopted by farmers, the aim of harmless and precision farming can to achieved. By this farmers can conserve soil for sustainable food production hence a stable food will be supplied which all lead to a strong community.

Fig 1.1 Agricultural Rover

1.2 PROBLEM STATEMENT

Farmers are following traditions way of framing. In these days it is very much important to involve science and its technologies in farming practices. The change is temperature, humidity and the soil moisture values effects the growth of the plants. It is very important for the farmers to know these parameters value so that necessary precautions can be taken if a drastic change occurs in any of the parameters. When plants are prone to diseases caused by pests and insides present inside the field, pesticides as to be sprayed. It important for the famers to avoid the contact of the pesticides as it is injurious to health. Many diseases are caused if exposed to these pesticides. But farmers still follow traditional method of spraying pesticides that is through hand pumps. Later aerial spraying was introduced, but its efficiency turned out to be low and its cost was high. So it is important to build and rover for this purpose that can travel

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER on the land and spray pesticides. But these pesticides to should every part of the plant evenly that contains pest. Finally a rover moving on the uneven agricultural land, there is high chances to get damaged. Precaution has to be taken to reduce the chance of damage.

1.3 AIM AND OBJECTIVE

Aim: To build a multi-purpose rover for agricultural purpose.

Objective:

To customize a Blynk application for data acquisition.

To acquire helpful data that will benefit farming practices.

To control a rover wirelessly on an uneven agricultural land.

To provide live video streaming of the farm.

To spray pesticides at variable height.

1.4 METHODOLOGY

As we have seen in the previous chapters science and latest technologies should be involved in agricultural practices by farmers. Farmers should adopt latest technologies with their conventional methods to get better yield without loss. Getting better yield by producing quality plants and to make a good profit is very important, but apart from that farmer safety is also our concern. So our project deals with helping the farmers to use technology in its simplest form and also to avoiding the farmers from making a direct contact with chemical pesticides which is harmful to their life.

This project is mainly divided into three major parts:

 Data acquisition by various sensors  Live video streaming.  Rover controller section.

As temperature, humidity and soil moisture has a very strong impact on agriculture due to its constant changing factors, it is important for the farmers to keep a note of these values. In our

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER model we are using temperature and humidity sensor (DHT11) and soil moisture sensor (YL-69) to get the real-time data. These real-time data is loaded on an IOT platform. The IoT platform we have used is Blynk application. The sensors are connected to the digital pins of ESP8266MOD microcontroller and this microcontroller is connected to a WiFi network through its inbuilt WiFi module. The required code is dumped to ESP8266MOD in arduino IDE to transmit the digital or analog values from sensors. The blynk application is customized according to the project requirements and the mobile phone will be connected to the same WiFi networks. As soon as both ESP8266MOD and mobile that as Blynk application is ready after the connection with the same WiFi network, the values that the sensor reads will be displayed on the application.

The above mentioned sensors will be placed on the agricultural rover. This rover is physically designed for spraying the pesticides at variable heights. The moments of the rover is controlled by a joystick. The transmitter part of the joysticks transmits the data required to the receiver section placed on the rover.

The various actions controlled by the joystick are:

 Differential drive of the rover  Switching on the pump to spray pesticides at constant height  Switching on the dc motor to spray pesticides at variable heights

As the rover is wirelessly controlled by a joystick its important to have a live video streaming. By this the farmers sitting at far distance from the rover can easily use is mobile to check where pesticides as to be sprayed and can do it accordingly. We have used ESP32-CAM for live video streaming. This video will be streamed on Blynk application. So the farmer can use the joystick to transmit data to control the operations of the rover from a distance and also can see the live video of place where the rover will be approaching. In addition to these advantages an ultrasonic sensor is been placed on the rover, so whenever the rover find an obstacle in the field farmer get notified by the LED’s customized on Blynk. Because of this feature the rover’s tendency to get damaged in the field will get reduced.

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CHAPTER 2

BACKGROUND THEORY

2.1IMPACTS

2.1.1 IMPACT OF TEMPERATURE ON AGRICULTURE:

It is very important for the farmers to know the temperature and climatic conditions crops should be grown. Few crops sustains and give good outputs even at high temperatures and for some crops the temperature should be less than some benchmark. Rice is growth at the temperature between 22-32 degree Celsius, wheat at 10-15 degree Celsius at the sowing time and it needs 21-26 degree Celsius while its ripening and harvesting. The following are few more examples:

Millets: temperature required for its growth is between 27-32 degree Celsius.

Grams: temperature required to grow is between 20-25 degree Celsius under mild cool and dry climax.

Sugarcane: It needs 21-27 degree Celsius to grow properly and give a good yield.

Tea: Temperature- 20-30 degree Celsius

Coffee: Temperature- 15-28 degree Celsius

As various crops needs various temperature to grow properly, it is very important for farmers to know temperature value at the zone where the crops will be grown. Depending upon the temperature value farmers can decide which crops are suitable to grow and also the farmers can take suitable method in controlling the drastic change in temperature by the means of some external factors so that the cultivation is not affected.

2.1.2 IMPACT OF HUMIDITY ON AGRICULTURE:

The concentration of water vapour present is air is called as humidity. These water vapours (the gaseous state of water) are not visible to human eyes. Precipitation, dew, or fog present in the

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER atmosphere is indicated by humidity. So it is the ratio of mass of water vapours to the parcel mass of total moist air. Humidity also plays an important role in the growth of crops and plants.

The most difficult environmental factor to be controlled is humidity. Even the most worldly- wise environmental control equipment cannot perfectly control the humidity level in greenhouses and in other agricultural fields. When the plants are constantly transpiring or due to the change it air temperature, the humidity level changes accordingly. In the northern areas, these challenges are multiplied by many other factors such as the drier, the outdoor air which are too cold to perform air exchanges. Problems such as root diseases, foliar, growing parts slowly drying up, quality loss and finally less yield are due to change in humidity. Because of this pesticides requirements increases so the plants become very weak. These kind of stretched growth make plants less desirable.

The humidity level should be maintained properly. If the humidity is too low then:

Wilting: Due to loss of water or due to heat the plants or its leaf becomes limp.

Dry tip burn: This problem usually occurs in cold climatic condition.

Leaf curl: disease caused by to fungus Taphrina deformans due to low humid.

Spider mites infestations increases.

But due to very high humid level the following problem occur:

Soft growth: This is weak growth of a plant where the quality is very low.

Foliar diseases: This disease includes Stagonospora, nodorum blotch, Septoria tritici blotch, tan spots etc.

Nutrient deficiencies occur so that the plants grow in a health way.

Root diseases will increase. So it is important for the farmers to also know about the humidity value for proper and healthy growth of plants. If the humidity drop or rise is known to the farmers then they can take necessary precaution to control the change.

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2.1.3 IMPACT OF SOIL MOISTURE ON AGRICULTURE:

Soil moisture is the water stored in the soil and this is strongly affected by temperature, characteristics of soil, precipitation and many other factors. The amount of water that the soil can hold is decided by the size of soil particles and pores and also on the path of water moving inside the soil. For exchange of water and heat energy between the land surface and atmosphere through evaporation and plant transpiration, the key variable is soil moisture. Due to all these factors soil moisture plays an vital role in developing the weather patterns and in the production of precipitation.

The effects of agricultural practices on soil quality include erosion, desertification, salinization, compaction, and pollution. The resultant impacts on water resources include pollution due to nutrient and pesticide leaching and intrusion of seawater into aquifers. Moisture level is the soil effects the growth of the plants:

 If there is too much of water, the roots can rot up and the plants will not be able to get enough of oxygen from the soil.  If the water is not sufficient for the plant, then the required nutrients will not reach the plant.  The roots will become weak and proper balance of water will be disturbed.

Therefore for the proper growth of a plant the temperature, humidity and soil moisture values play a vital role. In imbalance in these factors will lead to less quality and due to that less yield. Hence providing the technology where the farmers can keep in trace with these values so any drastic changes in the values they can take suitable measures and precautions.

2.2 TYPES OF FARMING

2.2.1 ORGANIC FARMING

In 20th century a rapid changes occurred in farming practices due to the introduction of organic farming. This type of farming is dependent on crop rotation, organic compost, green manure, biological ways to control pests and many mechanical ways to maintain soil quality and

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER productivity. It strictly limits or removes the use of synthetic fertilizers and synthetic pesticides, usage of plant growth regulators the improvise the strength of the crops and genetically modified organisms.Organic farming allows traditional way of farming to combine with the latest science to get better yield on fields. The health of the soil, ecosystem and people are sustained by this type of farming practices. From COS (2006) general principle of organic farming includes to:

 To minimize soil erosion and degradation, control pollution, protecting environment.  Optimizing biological productivity  Maintain biological diversity within the ecosystem.  Provide care that promotes the health and meets the needs of livestock.  Prepare organic products instead of using synthetic sources.  Depend on renewable resources that are available for agricultural systems.

Fig 2.1 Organic farming

2.2.2 MULTI-CROP FARMING

As the word Multi which means more than one, so here in this type of farming the farmers tend to cultivate more than one type of crop on his/her field. Due to practice of multi-farming farmers can make more profit. When two or more different kind of crops can be cultivated under the same temperature, humidity, soil moisture level and many other factors then the farmers can spilt the land according and cultivate different crops simultaneously. By doing this the farmer can cultivate the required amount of crops of each kind and meet the demands of the people in the market.

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER

Usually in multi-crap farming vegetables and fruits are grown together. The farmer divides the land into smaller portions of finite length and width. Different vegetables and fruit saplings will be planted. To provide the required water to this saplings drip or sprinkler irrigation systems will be installed. Vegetables that are grown includes tomato, brinjal, okara and green chillies. These vegetables would be planted row wise and usually marigold saplings will be planted between these vegetables to protect it from pest and insects. Apart from veggies fruits like mango, amla, sapota, custard apple, coconut, lime, pomegranate etc are grown which fetches profit to the farmer throughout the year.

The various requirements of multi-crop farming are:

 Continuous supply of electricity to fetch water from tube wells through motor.  Availability of tube wells to fetch to collect water for farming.  Well-developed irrigation system with most of the modern equipment and modern practices should be involved.

Fig 2.2 Multi-crop farming

2.2.3 VERTICAL FARMING

In this type of farming soilless agricultural techniques such as aquaponics, hydroponics and aeroponics are adopted. The crops are growth in vertical stacked layers. Vertical farming helps to face challenging situation to get more yield in spite of having less availability of arable land. This method of farming helps people living in deserts, urban cities and mountainside towns to cultivate different types of vegetables and fruits by the help of precision farming or by using skyscrapers.

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The vertical stacked layers are the enclosed structures similar to greenhouses which is either staggered or directly placed above each other for natural light. Hydroponic methods will reduce the soil weight and water requirements to less than 70% and the use of aeroponics method further reduces to requirements. By using these two methods the space for farming is saved. Artificial light is used along with natural lightings. Usually this artificial lighting is LED-based lighting which is driven by any renewable energies such as wind turbines or solar energy.

Vertically farming eventually as to sides, it is praised by many because it increases the food security for the citizens now and in the future. This type of farming would also reduce the amount of farming land needed so this could reduce deforestation and as urban areas can get involved in in vertical farming hence they can be self-sufficient. But the darker side of this type of farming is the supply of artificial lights efficiently. Even if in case the artificial lights are supplied properly then the farmers have to pay hefty electric bills for good yield.

Even after having darker side, many crops grow healthy in vertical farming. For example:

Lettuces: Red leaf, Romaine, Butter-head.

Kales : Tuscan, Dinosaur, Winter-boar.

Basil : Lemons, Cinnamon.

Fig 2.3 Vertical framing

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2.2.4 GREENHOUSE FARMING

Under the controlled climatic conditions the fruits and the vegetables are grown inside a framed or inflated structure that is covered with a translucent or a transparent materials. Greenhouse is an area where farmers will be occupied with the works that carry out regular cultural operations. The covering transparent materials is basically made up of glass or plastics. When the solar energy enters the greenhouse sun rays will be trapped by the plants, soil and other things inside the building. Due to this the hot air will be developed inside the greenhouse which will be retained there in the building by the walls and roofs. In additions to this due to infrared spectrum plants and various structures inside the greenhouse re-radiates thermal energy, so as the glass or the plastic is partly opaque some energy will be trapped inside the greenhouse.

However this latter process is minor as compared to the former convective method. The heating mechanism in greenhouse is convection. To achieve the convection primary heating a small window will be opened in the roof of the greenhouse, hence through that temperature will considerably. Auto vent-automatic is the principle behind this mechanism. Thus the glass that is being used at the roof acts like an barrier to the flow of air flow and also helps in trapping the energy within the building. The warm air at the ground level is prevented from rising and flowing out of the greenhouse.

Greenhouse farming has greater control over the requirements for growing the crops. Considering the technical aspects of greenhouse the factors that can be controlled includes temperature, soil moisture level, humidity, intensity of light entering the greenhouse and its different shades. Greenhouse farming eliminates the disadvantages due to cultivation on short piece of land or places where light levels or poor, due to which people needs can be met. In this farming the farmer enables certain crops to grow throughout the year, so food supply at higher-latitude countries is made possible. Flowers, vegetables, fruits and transplants are usually grown in greenhouses. Many vegetables and flowers are growth in late winters or every spring season and transported outside the greenhouse once the weather is warm. As technology and science is developing Hi-tech greenhouses are built. In these type of houses the

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER temperature, moisture level, light intensity and various other factors are controlled automatically. This are indicated due to signal receiver, sensor and actuators. Sensors and actuators will measure the variables and compare these values at that time period with the standard values to recommend whether to run the corresponding devices or not. For example the temperature control unit will have a temperature sensors and thermostat operated fan for heating and cooling mechanism. So in case the temperature required for a kind of plantation is below 20 degree Celsius and the real-time value shown in the sensor is above 20 degree Celsius than the fan will be automatically switched on. Similar to this temperature unit, humidity will be sensed by optically tagged devices. The finally the boiler operations, misting systems and irrigation will be operated under pressure sensing unit. Hence the modern techniques become costly so quality employees should be employed for proper care maintenance and precautions.

The following are few advantages of greenhouse farming:

 Under controlled environment the crops are cultivated.  High quality crops are grown.  Within limited land resources high yield is achieved.  Successful nurseries are developed from vegetative and seeds propagations.  This farming can provide employed for educated people as it involves latest science.  Best place for the evolution of new varieties of seeds and its productions.

Fig 2.4 Greenhouse framing

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2.2.5 NURSERY FARMING

A nursery is a place where plants are propagated and grown to usable size. They include retail nurseries which sell to the general public, wholesale nurseries which sell only to businesses such as other nurseries and to commercial gardeners, and private nurseries which supply the needs of institutions or private estates. Nurseries can grow plants in open fields, on container fields and in tunnels or greenhouses. In open fields nurseries grow ornamental trees, shrubs and herbaceous perennials, especially the plants meant for the wholesale trade or for amenity plantings. On a container field nurseries grow small trees, shrubs and herbaceous plants, usually destined for sales in garden centre. Nurseries also grow plants in green houses, a building of glass or in plastic tunnels, designed to protect young plants from harsh weather (especially frost), while allowing access to light and ventilation.

Most nurseries remain highly labour-intensive. Although some processes have been mechanized and automated, others have not. It remains highly unlikely that all plants treated in the same way at the same time will arrive at the same condition together, so plant care requires observation, judgment and manual dexterity; selection for sale requires comparison and judgment. The largest UK nurseries have moved to minimize labour costs by the use of computer controlled warehousing methods: plants are located to a location and grown on there with little human intervention. Picking merely requires selection of a batch and manual quality control before dispatch. In other cases, a high loss rate during maturation is accepted for the reduction in detailed plant maintenance costs. A typical image is shown as an example for nursery farming.

The main advantages of nursery farming are:

1. Baby seedlings are taken care properly.

2. Difficult soil problems are eliminated.

3. Field maintenance and management cost is reduced.

4. Harvest date is predicted accurately.

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Fig 2.5 Nursery farming

2.3 PESTICIDES

The total world population probably never exceeded 15 million inhabitants before the development of agriculture Pesticide use has increased since 1950 to 2.5 million tons annually worldwide, yet crop loss from pests has remained relatively constant. The World Health Organization estimated in 1992 that 3 million pesticide poisonings occur annually, causing 220,000 deaths. Pesticides select for pesticide resistance in the pest population, leading to a condition termed the 'pesticide treadmill' in which pest resistance warrants the development of a new pesticide.

An alternative argument is that the way to 'save the environment' and prevent famine is by using pesticides and intensive high yield farming, a view exemplified by a quote heading the Centre for Global Food Issues website: 'Growing more per acre leaves more land for nature'. However, critics argue that a trade-off between the environment and a need for food is not inevitable, and that pesticides simply replace good agronomic practices such as crop rotation.

Pesticides are substances meant for preventing, destroying or mitigating any pest. They are class of biocide. The most common use of pesticides is as plant protection products, which in general protect plants from damaging influences such as weeds, diseases or insects. This use of pesticides is so common that the term pesticide is often treated as synonymous with plant protection product, although it is in fact a broader term, as pesticides are also used for non- agricultural purposes.

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A pesticide is generally a chemical or biological agent such as virus,bacterium,anti-microbial or disinfectant that through its effect deters, incapacitates, kills or otherwise discourages pests. Target pests can include insects plant pathogens, weeds, birds,mammals,fish, nematodes (roundworms), and microbes that destroy property, cause nuisance, spread disease or are vectors for disease. Although there are benefits to the use of pesticides, some also have drawbacks, such as potential toxicity to humans and other animals.

2.4 TYPES OF PESTICIDES

1. Organophosphate pesticides

These pesticides affect the nervous system by disrupting the enzyme that regulates acetylcholine, a neurotransmitter. Most organophosphates are insecticides. They were developed during the early 19th century, but their effects on insects, which are similar to their effects on humans, were discovered in 1932. Some are very poisonous (they were used in World War II as nerve agents). However, they usually are not persistent in the environment.

2.Carbamate pesticides

Carbamate pesticides affect the nervous system by disrupting an enzyme that regulates acetylcholine, a neurotransmitter. The enzyme effects are usually reversible. There are several subgroups within the carbamates.

3.Organ-chlorine insecticides

They were commonly used in the past, but many have been removed from the market due to their health and environmental effects and their persistence (e.g. DDT and chlordane).

4.Pyrethroid pesticides

They were developed as a synthetic version of the naturally occurring pesticide pyrethrin, which is found in chrysanthemums. They have been modified to increase their stability in the environment. Some synthetic pyrethroids are toxic to the nervous system. Sulfonyl urea

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER pesticides Includes nicosulfuron, a broad spectrum which kills plants by inhibiting the enzyme acetolactate synthase.

5.Bio-pesticides

Bio-pesticides are certain types of pesticides derived from such natural materials as animals, plants, bacteria, and certain minerals. For example, canola oil and baking soda have pesticide applications and are considered bio-pesticides. At the end of 2001, there were approximately 195 registered bio-pesticide active ingredients and 780 products. Bio-pesticides fall into three major classes:

6.Microbial pesticides consist of a microorganism (e.g., a bacterium, fungus, virus or protozoan) as the active ingredient. Microbial pesticides can control many different kinds of pests, although each separate active ingredient is relatively specific for its target pests. For example, there are fungi that control certain weeds, and other fungi that kill specific insects.

The most widely used microbial pesticides are subspecies and strains of Bacillus thuringiensis, or Bt. Each strain of this bacterium produces a different mix of proteins, and specifically kills one or a few related species of insect larvae. While some Bt's control moth larvae found on plants, other Bt's are specific for larvae of flies and mosquitoes. The target insect species are determined by whether the particular Bt produces a protein that can bind to a larval gut receptor, thereby causing the insect larvae to starve.

2.5 HEALTH EFFECTS DUE TO USE OF PESTICIDES

Pesticides may cause acute and delayed health effects in workers who are exposed. Pesticide exposure can cause a variety of adverse health effects. These effects can range from irritation of the skin, allergies of skin as shown in figure and eyes to more severe effects such as affecting the nervous system, mimicking hormones causing reproductive problems, and also causing cancer. A 2007 systematic review found that "most studies on non-Hodgkin lymphoma and

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER leukemia showed positive associations with pesticide exposure" and thus concluded that cosmetic use of pesticides should be decreased. Strong evidence also exists for other negative outcomes from pesticide exposure including neurological, birth defects, fetal death, and neuro developmental disorder.

The American Medical Association recommends limiting exposure to pesticides and using safer alternatives: "Particular uncertainty exists regarding the long-term effects of low-dose pesticide exposures. Current surveillance systems are inadequate to characterize potential exposure problems related either to pesticide usage or pesticide-related illnesses Considering these data gaps, it is pruden to limit pesticide exposure and to use the least toxic chemical pesticide or non-chemical alternative."

The World Health Organization (WHO) and the UN Environment Programme estimate that each year, 3 million workers in agriculture in the developing world experience severe poisoning from pesticides, about 18,000 of whom die. According to one study, as many as 25 million workers in developing countries may suffer mild pesticide poisoning yearly.

One study found pesticide self-poisoning the method of choice in one third of suicides worldwide, and recommended, among other things, more restrictions on the types of pesticides that are most harmful to humans. A 2007 study by the California Department of Public Health found that women in the first eight weeks of pregnancy who live near farm fields sprayed with the organo-chlorine pesticides dicofol and osulfan are several times more likely to give birth to children with autism.

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CHAPTER 3

LITERATURE SURVEY

3.1 Literature Review

1. Title: Agri-App-based Solution For Field-Robot-based Agriculture

Author: Christan Frese, Kai Pfeiffer, Amos Aibert

Outcomes: Plants and weeds are detected in the farm by various sensors. Then robotic is used to dig the soil around the plants for removal of weed and also for better water absorption. Argi- app is used to control the robotic actions.

Limitations: Agri-app cannot be customized if any changes are done in the working. This limit any further development on the model.

2. Title: An intelligent robot system for spraying pesticides.

Author: Yizou; Dostert K

Outcomes: Pesticides are sprayed by robot to kill the pest on the plants. The spraying part is non-movable.

Limitations: Since the spraying part is non-movable pesticides can be sprayed only in certain farms where the height of the plants and the height of the sprayer present are same or else it cannot be used. Pesticides will not reach the plants evenly.

3. Title: Smart agricultural robot

Author: M. Arun, R. Prathipa, Priyanka S

Outcomes: Detects obstacles and clears it. A prototype is designed for ploughing the farm. Temperature value is read on the LCD screen. Along with this the rover is controller wirelessly using a mobile application RC robotic car.

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Limitation: The connection type is Wi-Fi but the main microcontroller used to control the rover through online application is arduino Uno which needs an additional Wi-Fi module to be connected. The design is very bulk hence prone to get damaged in the farm.

4. Title: Design an operation of agriculture based pesticide spraying robot.

Author: Amrutha Sulakhe

Outcomes: This robotic design is used to spray pesticides to the plants at certain height. The height could be varied at different levels manually.

Limitations: manual adjustment of the spraying section. The pressure exerted by the pump used was to less due to that pesticides are sprayed at less pressure which eventually cannot cover every part of the plant with that sort of pressure.

5. Title: A robot that spray pesticides on farms.

Author: B S Satish Kumar

Outcomes: Spray pesticides on an agricultural and horticultural crops. The spraying is done at a press of a button.

Limitations: The rover is very bulk. It takes a lot of area in the farm. This rover can only move backward and forward spraying pesticides.

6. Title: Vision based pest detection and automatic spray of greenhouse plant.

Author: Y Li, C Xia, J Lee

Outcomes: This model proposed a new ways to detect pest by positioning based on stereo which is used to get the location of the pest and this information is used to guide the robot to spray pesticides.

Limitations: This model is mainly used in greenhouses. The plants in greenhouse prone to diseases due to rise or fall of temperature and humidity. This model is limited to only spraying pesticides. The area coverage to spray pesticides is limited.

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CHAPTER 4

DETAILED DESIGN

4.1 BLOCK DIAGRAM

Fig 4.1 Block Diagram

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4.2 ALGORITHM

1. Start

2. Power the rover data acquisition part by connecting it to 3.3v power supply.

3. Initialize the Wi-Fi connectivity NodeMCU and Blynk application by providing proper Wi-Fi credentials.

4. Interface the sensors with NodeMCU for data acquisition onto Blynk application.

5. Customize the Blynk application according to the requirements.

6. Read the data in Blynk widgets.

7. Interface camera for live video streaming.

8. Initialize the transmitter section in the joystick to control the rover.

9. Power the rover control system by connecting it to 5v power supply.

10. Interface the receiver section with raspberry pi.

11. Power the pump to spray pesticides.

12. Power the Dc motors to spray pesticides at variable heights.

13. Using joystick control the rover direction: forward, backward, right, left.

14. Using joystick turn on the pump to spray pesticides and turn on the Dc motors to spray the same pesticides at variable heights.

15. LED’s customized on Blynk application glows depending on the distance of any obstacles from the rover.

16. A notification of turning ON the water motor to the farm will be sent on Blynk, if the reading of the soil moisture sensor is less than 100.

17. Stop

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4.3 FLOW CHART

Fig 4.2 Flow chart 22

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4.4 HARDWARE SPECIFICATIONS

4.4.1 Raspberry pi 3 B+

The Raspberry Pi is a series of small single-board computers developed in the United Kingdom by the Raspberry Pi Foundation to promote teaching of basic computer science in schools. It now is widely used even in research projects, such as for weather monitoring because of its low cost and portability. There are many versions or models of it. Some of them are Raspberry Pi 1 A, Raspberry Pi 1 B, Raspberry Pi 2 B, Raspberry Pi 3 B, Raspberry Pi 3 B+, Raspberry Pi 4 B etc. Proccessor speed ranges from 700 MHz to 1.4 GHz. All models feature a Broadcom system on a chip (SoC) with an integrated ARM-compatible central processing unit(CPU) and on-chip graphics processing unit(GPU).

Raspberry pi 3 model B was released in february 2016 with a 1.2 Ghz 64-bit quadcore processor, built in wifi, Bluetooth and USB boot capabilities. The Raspberry Pi 3 Model B uses a Broadcom BCM2837 SoC with a 1.2 GHz 64-bit quad-core ARM Cortex-A53 processor, with 512 KB shared L2 cache.

The Raspberry Pi 3, with a quad-core ARM Cortex-A53 processor, is described as having ten times the performance of a Raspberry Pi 1. Benchmarks showed the Raspberry Pi 3 to be approximately 80% faster than the Raspberry Pi 2 in parallelised tasks.

In model B and B+ the Ethernet port is provided by a built-in USB Ethernet adapter using the SMSC LAN9514 chip. The Raspberry Pi 3 and Pi Zero W (wireless) are equipped with 2.4 GHz WiFi 802.11n (150 Mbit/s) and Bluetooth 4.1 (24 Mbit/s) based on the Broadcom BCM43438 FullMAC chip with no official support for monitor mode but implemented through unofficial firmware patching and the Pi 3 also has a 10/100 Mbit/s Ethernet port.

The special feature of this is that it can boot from a USB or any kind of flash drives. It has RAM of 1GB working at 400 MHz. It has 4 USB ports of 2.0 version. It works upto a current of 2.5A and voltage of 5 volts. It has video controller that can generate standard modern TV resolutions, like the HD and Full HD. The GPU in the Raspberry Pi 3 runs at higher clock frequencies of 300

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MHz or 400 MHz, compared to previous versions which ran at 250 MHz. It has 40 pin pinouts. Raspberry Pi is mainly used in education, home automation and industrial automation.

Fig 4.3 Raspberry pi 3B+

Technical Specification:

Processor

• Broadcom BCM2387 chipset.

• 1.2GHz Quad-Core ARM Cortex-A53 (64Bit) 802.11 b/g/n Wireless LAN and Bluetooth 4.1 (Bluetooth Classic and LE)

• IEEE 802.11 b / g / n Wi-Fi. Protocol: WEP, WPA WPA2, algorithms AES-CCMP (maximum key length of 256 bits), the maximum range of 100 meters.

• IEEE 802.15 Bluetooth, symmetric encryption algorithm Advanced Encryption Standard (AES) with 128-bit key, the maximum range of 50 meters.

GPU

• Dual Core Video Core IV® Multimedia Co-Processor. Provides Open GL ES 2.0, hardware- accelerated Open VG, and 1080p30 H.264 high-profile decode.

• Capable of 1Gpixel/s, 1.5Gtexel/s or 24GFLOPs with texture filtering and DMA infrastructure.

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Memory

• 1GB LPDDR2

Operating System

• Boots from Micro SD card, running a version of the Linux operating system or Windows 10 IoT.

Power

• Micro USB socket 5V1, 2.5A

Connectors:

• 10/100 BaseT Ethernet socket

Video Output

• HDMI (rev 1.3 & 1.4)

• Composite RCA (PAL and NTSC)

Audio Output

• Audio Output 3.5mm jack

• HDMI

• USB 4 x USB 2.0 Connector

GPIO Connector

• 40-pin 2.54 mm (100 mil) expansion header: 2x20 strip

• Providing 27 GPIO pins as well as +3.3 V, +5 V and GND supply lines

Camera Connector

• 15-pin MIPI Camera Serial Interface (CSI-2) Display Connector

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• Display Serial Interface (DSI) 15 way flat flex cable connector with two data lanes and a clock lane

Memory Card Slot

• Push/pull Micro SDIO

Fig 4.4 Details of Raspberry pi 3 B+

SoC

Built specifically for the new Pi 3, the Broadcom BCM2837 system-on-chip (SoC) includes four high-performance ARM Cortex-A53 processing cores running at 1.2GHz with 32kB Level 1 and 512kB Level 2 cache memory, a VideoCore IV graphics processor, and is linked to a 1GB LPDDR2 memory module on the rear of the board.

GPIO

The Raspberry Pi 3 features the same 40-pin general-purpose input-output (GPIO) header as all the Pis going back to the Model B+ and Model A+. Any existing GPIO hardware will work without modification; the only change is a switch to which UART is exposed on the GPIO’s pins, but that’s handled internally by the operating system.

USB chip

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The Raspberry Pi 3 shares the same SMSC LAN9514 chip as its predecessor, the Raspberry Pi 2, adding 10/100 Ethernet connectivity and four USB channels to the board. As before, the SMSC chip connects to the SoC via a single USB channel, acting as a USB-to-Ethernet adaptor and USB hub.

Antenna

There’s no need to connect an external antenna to the Raspberry Pi 3. Its radios are connected to this chip antenna soldered directly to the board, in order to keep the size of the device to a minimum. Despite its diminutive stature, this antenna should be more than capable of picking up wireless LAN and Bluetooth signals – even through walls

4.4.2 NodeMCU

NodeMCU is a low-cost open source IoT platform. It initially included firmware which runs on the ESP8266 Wi-Fi SoC from Espressif Systems, and hardware which was based on the ESP-12 module. Later, support for the ESP32 32-bit MCU was added. Both the firmware and prototyping board designs are open source.The firmware uses the Lua scripting language. The firmware is based on the e Lua project, and built on the Espressif Non-OS SDK for ESP8266. Due to resource constraints, users need to select the modules relevant for their project and build a firmware tailored to their needs. Support for the 32-bit ESP32 has also been implemented. The prototyping hardware typically used is a circuit board functioning as a dual in-line package (DIP) which integrates a USB controller with a smaller surface-mounted board containing the MCU and antenna. NodeMCU provides access to the GPIO (General Purpose Input/Output) and a pin mapping table is part of the API documentation.

The ESP8266 is a low-cost Wi-Fi microchip with full TCP/IP stack and microcontroller capability produced by manufacturer Espressif Systems in Shanghai, China.

The chip first came to the attention of western makers in August 2014 with the ESP-01 module, made by a third-party manufacturer Ai-Thinker. This small module allows microcontrollers to connect to a Wi-Fi network and make simple TCP/IP connections using Hayes-style commands. However, at first there was almost no English-language documentation on the chip and the

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The ESP8285 is an ESP8266 with 1 MiB of built-in flash, allowing for single-chip devices capable of connecting to Wi-Fi. The successor to these microcontroller chips is the ESP32, released in 2016.

Fig 4.5 NodeMCU

4.4.3 L298N Motor Driver L298N 46V, 2A Stepper Motor / Dual DC Motor Driver module from NEX Robotics can drive bipolar stepper motor or Two DC motors at the same time. Each L298 has two H-Bridges. Each H-Bridge can supply 2Amp. current. L298 has heat sink for better heat dissipation and flyback diodes for protection from back EMF. For higher current rating these H-Bridges can be connected in parallel. Board has terminal block for high power connections and open pads for logic interfacing. Board is made of double sided PTH PCB for giving better strength to the connectors. For easier mounting board have four mounting holes. Weight: 27 gms

Specifications:

• Operating voltage: 8V to 46V

• Output current: 2Amp per H-Bridge

• Can drive one bipolar stepper motor or two DC motors.

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• Heat sink for better heat dissipation

• Over temperature protection

• Fly back diodes for protection form back EMF

• Double sided PTH PCB for better giving better strength to the connectors

• Two LEDs per H-Bridge for easier debugging

Fig 4.6 L298 Motor Driver

4.4.4. Brushless Motor

A brushless DC motor (known as BLDC) is a permanent magnet synchronous electric motor which is driven by direct current (DC) electricity and it accomplishes electronically controlled commutation system (commutation is the process of producing rotational torque in the motor by changing phase currents through it at appropriate times) instead of a mechanically commutation system. BLDC motors are also referred as trapezoidal permanent magnet motors. Unlike conventional brushed type DC motor, wherein the brushes make the mechanical contact with commutator on the rotor so as to form an electric path between a DC electric source and rotor armature windings, BLDC motor employs electrical commutation with permanent magnet rotor and a stator with a sequence of coils. In this motor, permanent magnet (or field poles) rotates and current carrying conductors are fixed.

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The armature coils are switched electronically by transistors or silicon controlled rectifiers at the correct rotor position in such a way that armature field is in space quadrature with the rotor field poles. Hence the force acting on the rotor causes it to rotate. Hall sensors or rotary encoders are most commonly used to sense the position of the rotor and are positioned around the stator. The rotor position feedback from the sensor helps to determine when to switch the armature current.

This electronic commutation arrangement eliminates the commutator arrangement and brushes in a DC motor and hence more reliable and less noisy operation is achieved. Due to the absence of brushes BLDC motors are capable to run at high speeds. The efficiency of BLDC motors is typically 85 to 90 percent, whereas as brushed type DC motors are 75 to 80 percent efficient. There are wide varieties of BLDC motors available ranging from small power range to fractional horsepower, integral horsepower and large power ranges.

Fig 4.7 Brushless Motor

4.4.5. NRF24L01 Wireless Transceiver Module

NRF24L01+ is a single-chip radio transceiver for the worldwide 2.4-2.5 GHz ISM band.The radio transmitters and receivers include frequency generator, enhanced ShockBurst mode controller, power amplifier, crystal oscillator modulator and demodulator. You can select the output power channel and protocol by setting through the SPI port. The current consumption for the nRF24L01+ is extremely low - under the transmitter mode, when the transmitting power is 0dBm, the current consumption is only 11.3mA; under the receiving mode, it is 13.5mA; under

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DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER the power down and idle mode, the consumption is even lower. As for application, it's widely used in many devices such as wireless mouse and keyboard, game handle, remote control set, industry sensor, toys, etc. Features:  nRF24L01+ is a single-chip radio transceiver for the worldwide 2.4-2.5 GHz ISM band, suitable for Arduino and Raspberry Pi.  Supports 6-channel receiving, with a transmission speed of up to 2Mbps.  Multi-frequency point: With 125 frequency points, it can meet multipoint communication and frequency hopping communication requirements.  Ultra-small: 24*15mm, with built-in 2.4GHz antenna.  Easy to develop: the link layer is fully integrated on the module, making it easy for development.

Fig 4.8 NRF20L01 Module

The nRF24L01+ transceiver module transmits and receives data on a certain frequency called Channel. Also in order for two or more transceiver modules to communicate with each other, they need to be on the same channel. This channel could be any frequency in the 2.4 GHz ISM band or to be more precise, it could be between 2.400 to 2.525 GHz (2400 to 2525 MHz).Each channel occupies a bandwidth of less than 1MHz. This gives us 125 possible channels with 1MHz spacing. So, the module can use 125 different channels which give a possibility to have a network of 125 independently working modems in one place.

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Fig 4.9 Data channel

4.4.6.ESP32-CAM

The ESP32-CAM is a very small camera module with the ESP32-S chip that costs approximately $10. Besides the OV2640 camera, and several GPIOs to connect peripherals, it also features a microSD card slot that can be useful to store images taken with the camera or to store files to serve to clients. The ESP32-CAM doesn’t come with a USB connector, there must be an FTDI programmer to upload code through the U0R and U0T pins (serial pins).

Specifications:

 It is the smallest 802.11b/g/n Wi-Fi BT SoC module.  It has low power 32-bit CPU, can also serve the application processor.  Has Up to 160MHz clock speed, summary computing power up to 600 DMIPS.  It has built-in 520 KB SRAM and an external 4MPSRAM.  It supports UART/SPI/I2C/PWM/ADC/DAC.  It support OV2640 and OV7670 cameras, built-in flash lamp.  It Supports image WiFI upload, TF card, multiple sleep modes, STA/AP/STA+AP operation mode.  It has Embedded Lwip and FreeRTOS.  It Supports for serial port local and remote firmware upgrades (FOTA).

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Fig 4.10 ESP32-CAM

4.4.7 DHT 11 sensor

This DHT11 Temperature and Humidity Sensor features a calibrated digital signal output with the temperature and humidity sensor capability. It is integrated with a high-performance 8-bit microcontroller. Its technology ensures the high reliability and excellent long-term stability. This sensor includes a resistive element and a sensor for wet NTC temperature measuring devices. It has excellent quality, fast response, anti-interference ability and high performance.

Each DHT11 sensors features extremely accurate calibration of humidity calibration chamber. The calibration coefficients stored in the OTP program memory, internal sensors detect signals in the process, we should call these calibration coefficients. The single-wire serial interface system is integrated to become quick and easy. Small size, low power, signal transmission distance up to 20 meters, enabling a variety of applications and even the most demanding ones. The product is 4-pin single row pin package. Convenient connection, special packages can be provided according to users need.

The DHT11 is a basic, digital temperature and humidity sensor. It uses a capacitive humidity sensor and a thermistor to measure the surrounding air, and spits out a digital signal on the data pin(no analog pins needed).It is simple to use, but requires careful timing to grab data. Humidity sensors are used for measuring moisture content in the atmosphere. Then current temperature, humidity values are send to the microcontroller, those values will display in the users android app.

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Specification

 Supply Voltage: +5 V  Temperature range :0-50 °C error of ± 2 °C  Humidity :20-90% RH ± 5% RH error  Interface: Digital  Low cost  3 to 5V power and I/O  2.5mA max current use during conversion (while requesting data)  Good for 20-80% humidity readings with 5% accuracy  Good for 0-50°C temperature readings ±2°C accuracy  No more than 1 Hz sampling rate (once every second)  Body size 15.5mm x 12mm x 5.5mm  4 pins with 0.1" spacing

Fig 4.11 DHT Sensor

4.4.8 Soil Moisture Sensor

Soil moisture sensors measure the volumetric water content in soil. 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.

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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 remote sensing in hydrology and agriculture. Portable probe instruments can be used by farmers or gardeners.

Soil moisture sensors typically refer to sensors that estimate volumetric water content. Another class of sensors measure another property of moisture in soils called water potential; these sensors are usually referred to as soil water potential sensors and include tensiometers and gypsum blocks.

Specifications:-

 Operating voltage: 3.3V~5V  Dual output mode,analog output more accurate  A fixed bolt hole for easy installation  With power indicator (red) and digital switching output indicator (green)  Having LM393 comparator chip, stable  Panel PCB Dimension: Approx.3cm x 1.5cm  Soil Probe Dimension: Approx. 6cm x 3cm  Cable Length: Approx.21cm  VCC: 3.3V-5V  GND: GND  DO: digital output interface(0 and 1)  AO: analog output interface

Connections:-

 VCC connect to 3.3V-5V  GND connect to GND  DO digital value output connector（0 or 1）  AO analog value output connector

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Fig 4.12 Soil moisture Sensor

4.4.9.Ultrasonic sensor(HC-SR04)

The Ultrasonic transmitter transmits an ultrasonic wave, this wave travels in air and when it gets objected by any material it gets reflected back toward the sensor this reflected wave is observed by the Ultrasonic receiver module.It is commonly used with both microcontroller and microprocessor platforms like Arduino, ARM, PIC, Raspberry Pie etc. The following guide is universally since it has to be followed irrespective of the type of computational device used.

Power the Sensor using a regulated +5V through the Vcc ad Ground pins of the sensor. The current consumed by the sensor is less than 15mA and hence can be directly powered by the on board 5V pins (If available). The Trigger and the Echo pins are both I/O pins and hence they can be connected to I/O pins of the microcontroller. To start the measurement, the trigger pin has to be made high for 10uS and then turned off. This action will trigger an ultrasonic wave at frequency of 40Hz from the transmitter and the receiver will wait for the wave to return. Once the wave is returned after it getting reflected by any object the Echo pin goes high for a particular amount of time which will be equal to the time taken for the wave to return back to the sensor.

Specifications:

 Operating voltage: +5V  Theoretical Measuring Distance: 2cm to 450cm  Practical Measuring Distance: 2cm to 80cm

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 Accuracy: 3mm  Measuring angle covered: <15°  Operating Current: <15mA  Operating Frequency: 40Hz

Fig 4.13 Ultrasonic sensor

4.4.10 JoyStick Shield Module

This JoyStick Shield Module Robotics Control is an Uno compatible shield that allows you to turn an Arduino Uno or compatible into a game console or robotic controller. 3.3V to 5V Gamepad Joystick Shield Module Game Rocker Button Controller Expansion Board For Arduino Simulated Keyboard Mouse Module.The shield sits on top of your Arduino and turns it into a simple controller. 7 momentary push buttons ( 4 big buttons + 2 small buttons + joystick select button ).

Fig 4.14 JoyStick Shield Module

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Jumper wires

Jumper wires typically come in three versions: male-to-male, male-to-female and female-to- female. The difference between each is in the end point of the wire. Male ends have a pin protruding and can plug into things, while female ends do not and are used to plug things into. Male-to-male jumper wires are the most common and what you likely will use most often. When connecting two ports on a breadboard, a male-to-male wire is what you’ll need.

Fig 4.15 Jumper wires

4.4.11 Submersible Pump

A submersible pump (or sub pump, electric submersible pump (ESP)) is a device which has a hermetically sealedmotor close-coupled to the pump body. The whole assembly is submerged in the fluid to be pumped. The main advantage of this type of pump is that it prevents pump cavitation, a problem associated with a high elevation difference between pump and the fluid surface. Submersible pumps push fluid to the surface as opposed to jet pumps having to pull fluids. Submersibles are more efficient than jet pumps.

Electric submersible pumps are multistage centrifugal pumps operating in a vertical position. Liquids, accelerated by the impeller, lose their kinetic energy in the diffuser where a conversion of kinetic to pressure energy takes place. This is the main operational mechanism of radial and mixed flow pumps.

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Fig 4.16 Submersible Pump 4.4.12 lithium polymer battery

A lithium polymer battery, or more correctly lithium-ion polymer battery (abbreviated as LiPo, LIP, Li-poly, lithium-poly and others), is a rechargeable battery of lithium-ion technology using a polymerelectrolyte instead of a liquid electrolyte. High conductivity semisolid (gel) polymers form this electrolyte. These batteries provide higher specific energy than other lithium battery types and are used in applications where weight is a critical feature, like mobile devices and radio-controlled aircraft. Lithium-ion cells, LiPos work on the principle of intercalation and de- intercalation of lithium ions from a positive electrode material and a negative electrode material, with the liquid electrolyte providing a conductive medium. To prevent the electrodes from touching each other directly, a microporous separator is in between which allows only the ions and not the electrode particles to migrate from one side to the other.

The voltage of a LiPo cell depends on its chemistry and varies from about 2.7–3.0 V (discharged) to about 4.2 V (fully charged), for cells based on lithium-metal-oxides (such as LiCoO2); this compares to 1.8–2.0 V (discharged) to 3.6–3.8 V (charged) for those based on lithium-iron- phosphate (LiFePO4).

The exact voltage ratings should be specified in product data sheets, with the understanding that the cells should be protected by an electronic circuit that won't allow them to overcharge nor over-discharge under use.

For LiPo battery packs with cells connected in series, a specialised charger may monitor the charge on a per-cell basis so that all cells are brought to the same state of charge (SOC).

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Fig 4.17 lithium polymer battery

4.5 Software Specification

4.5.1 Arduino Software IDE

The ArduinoIntegrated Development Environment (IDE)is across-platformapplication (forWindows,macOS,Linux) that is written in functions fromCandC++. It is used to write and upload programs 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(The GNU is a series of widely usedfree software licensesthat guaranteeend usersthe freedom to run, study, share, and modify the software).TheArduino IDEsupports the languagesCandC++using special rules of code structuring.TheArduino IDEsupplies asoftware libraryfrom theWiringproject, 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 stubmain()into an executablecyclic executiveprogram with theGNU toolchain, also included with the IDE distribution.TheArduino IDEemploys the programavrdude(AVRDUDE is a utility to download/upload/manipulate the ROM and EEPROM contents of AVR microcontrollers using the in-system programming technique (ISP))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. By default, avrdude is used as the uploading tool to flash the user code onto official Arduino boards.

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Fig 4.18 Arduino IDE

4.5.2 Python IDE

Python is an interpreted, high-level, general-purposeprogramming language. Created by Guido van Rossum and first released in 1991, Python's design philosophy emphasizes code readability with its notable use of significant whitespace. Its language constructs and object-oriented approach aim to help programmers write clear, logical code for small and large-scale projects.

Python was conceived in the late 1980s as a successor to the ABC language. Python 2.0, released in 2000, introduced features like list comprehensions and a garbage collection system capable of collecting reference cycles. Python 3.0, released in 2008, was a major revision of the language that is not completely backward-compatible, and much Python 2 code does not run unmodified on Python 3.

The Python 2 language, i.e. Python 2.7.x, was officially discontinued on 1 January 2020 (first planned for 2015) after which security patches and other improvements will not be released for it.With Python 2's end-of-life, only Python 3.5. and later are supported.

Python interpreters are available for many operating systems. A global community of programmers develops and maintains CPython, an open sourcereference implementation. A non-profit organization, the Python Software Foundation, manages and directs resources for Python and CPython development.

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Fig 4.19 Python IDE

4.5.3 BLYNK APPLICATION

Paval Baiborodin is a founder of Blynk application. The main aim of this application is to help businesses and innovators to build their own connected products and provide faster along with it an easier services to their clients. Around five lakhs of people use Blynk application, the most user-friendly IOT platform. Blynk app is not only user-friendly, but also flexible for people who wants to different innovations in IOT platform.

Internet Of Things is made to look simple for businesess by Blynk application. The developers applications that includes data, people and various other things combines with cloud platform through Blynk. It’s a hardware-agnostic Internet Of Things platform which includes mobile applications for both IOS as well as android, private clouds, a process of data analytics will also takes place, device managements and machine learning.

 Application for IOS and android  Blynk server  Hardware libraries

Application for IOS and android :

It allows the developer to build his/her application depending on the needs using the various widgets available on Blynk application. Widgets are predefined sets of drag and droppable modules and further configuration on these are allowed.

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How to create Blynk account :

Fig 4.20 Blynk Login

After installing Blynk application go to CREATE NEW ACCOUNT which will direct to the other page with requires sign in through email.

Fig 4.21 Create New Project

Once account is been created a develop can start building an applications by choosing the hardware device that is being used and the connection type. The creation of new project will be

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List of microcontrollers that can be used to couple with Blynk :

Arduino : Arduino MRK1000, Arduino UNO, Arduino MRKZero, Arduino Yun, Arduino 101,Arduino Zero, Arduino MO, Arduino MO Pro, Arduino MO Pro mini, Arduino Nano, Arduino due, Arduino Leonardo, Arduino Mega 2560, Arduino Mega 1280, Arduino Mega ADK, Arduino Micro, Arduino Pro micro, Arduino Mini, Arduino Pro Mini, Arduino Fio, Arduino Decimilia, Arduino Ethernet etc.

Espressif : ESP8266, ESP32, NodeMCU, WeMos D1, Adafruit HUZZAH, SparkFun Blynk Board, SparkFun ESP8266 Thing.

Raspberry Pi: Raspberry Pi 2/A/A+/B+, Raspberry Pi 3B, Raspberry Pi A/B (Rev2), Raspberry Pi B.

Connection Type : To establish a connection between the microcontroller board with the Blynk Cloud and Blynk personal server.

 Ethernet  Wi-Fi  Bluetooth  Cellular  Serial

However, in our project we used Wi-Fi connectivity type to establish connection between the microcontroller board with Blynk Cloud and Bylnk personal server.

Blynk Server :

When the user develop an application through Blynk various messages would be forwarded between the application and the type of microcontroller used in developing the project. This is made possible by an open-source Netty based java server that is known as Blynk server, where

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Netty is a NIO client server framework that helps in enabling quick and easy way to develop network apps. It streamlines Transmission Control Protocol and User Datagram Protocol.

Blynk libraries :

The data exchange between the hardware component, Bylnk cloud and the user created project and all the connection routines is ensured and handled by Blynk libraries. This ensures the connectivity between the user developed application and the hardware component.

Fig 4.22 Interface between Hardware components and Blynk

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CHAPTER 5 IMPLEMENTATION

5.1 VEHICLE DESIGNS (3D MODEL)

In 3D computer graphics, 3D modeling is the process of developing a mathematical representation of any surface of an object (either inanimate or living) in three dimensions via specialized software. The product is called a 3D model. Someone who works with 3D models may be referred to as a 3D artist. It can be displayed as a two-dimensional image through a process called 3D rendering or used in a computer simulation of physical phenomena. The model can also be physically created using 3D printing devices. Models may be created automatically or manually. The manual modeling process of preparing geometric data for 3D computer graphics is similar to plastic arts such as sculpting. 3D modeling software is a class of 3D computer graphics software used to produce 3D models. Individual programs of this class are called modeling applications or modelers. In our project the model have been design in Fushion 360 software in that we have designed the final output prototype.

Fig 5.1 3D Model

5.3 WORKING

5.3.1 Working of Blynk application

According to the requirements the Blynk application is set up by choosing the hardware board. Using the Widget Box an application is built within Blynk platform. For this project we need four

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Gauges and five LED’s to display the data read by the sensors present in our physical model. Input pins should be assigned for each and every Widgets according to the code dumped onto the microcontroller board. The mobile should be connected to the same Wi-Fi network that the controller is connected to. For live video streaming, another project will be set up on blynk by choosing ESP32 hardware board and using Video Streaming Widgets.

Data acquisition:

The various sensors which are placed on the physical model of the rover are:

Temperature and humidity sensor (DHT11)

Soil moisture sensor (YL-69)

Ultrasonic sensor (HC-SR04)

Temperature and humidity sensor interfaced with ESP8266MOD:

The input voltage required to switch on DHT11 is 3.3v that is taken from ESP8266MOD. The ground pin in DHT11 is connected to any ground terminal of the microcontroller and finally the DATA pin is connected to any digital pins of the controller, say D4. As soon as ESP8266MOD is powered even the DHT11 sensors is turned on. By measuring the electrical resistance between two electrodes relative humidity is calculated. The moisture is held in the substrate in the humidity sensing component. When the substrate absorb the water vapour ions are released which relatively increases the conductivity between the electrodes. Due to increase in conductivity the resistivity between the electrodes decreases. This change in resistance is proportional to the relative humidity. If the relative humidity is higher then the resistance between the electrodes decreases and vice versa.

The sensor will convert the resistance value to relative humidity on a chip that is mounted at the back of its unit and transmits this humidity and temperature data directly to the digital pin of ESP8266MOD.

Interfacing soil moisture sensor with ESP8266MOD:

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The input voltage required to switch on soil moisture sensor is also 3.3v so it is directly powered from ESP8266MOD. Analog pin on the sensor is connected to the analog pin (A0) on the microcontroller. The moisture value can be measured using the two conducting probes based on the change in the resistance between the two conducting plates. The resistance between these plates varies inversely with the moisture contain present in the soil.

ADC is used to process the analog output of the soil moisture sensor. This ADC values ranges from 0 to 1023 and this values can be represented in terms of percentage by the formula given below:

Analog output = ADC value/1023.

Moisture in % = 100 – (Analog output * 100).

The maximum value of 10-bit ADC is displayed for zero moisture level.

Interfacing ultrasonic sensor with ESP8266MOD:

The ultrasonic sensor used in the project is HC-SR04. This sensor cannot be directly powered on by ESP8266MOD since the output voltage in this microcontroller is limited to 3.3v, so Raspberry pi 5v output will be used to turn on the sensor. The echo and trigger pins will be connected to the digital pins of ESP8266MOD, say D0 AND D1 respectively.

The ultrasonic sensor generally sends the sound waves at any specific frequency and applies voltage to the echo pin and waits for the sound wave to bounce back. Once the wave bounces back the voltage will be removed from the echo pin. By recording the time between the sound waves being generated and waves being bouncing back, the distance between sensor and the object can be calculated. A pulse will be generated on the basis of distance in the sensor that is used to send data to ESP8266MOD. On base of the distance between the sensor and the obstacle the starting pulse generated is about 10us and the pulse width modulated signal ranges between 150us-25us. A pulse with a time period of 38us is generated to transmit to ESP8266MOD if there is no obstacle detected.

D = ½ * T * C

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D is the distance between the obstacle and the sensor.

T is the time taken between transmitting the sound waves and receiving it.

C is the sonic speed which is approximately equal to 343.2 m/s.

The value obtained is divided by ½ since T is the time taken by the wave to transmit and bounce back.

Fig 5.2 Circuit Diagram

Live Video Streaming:

This is an embedded module used to stream video data by developing a local server. Arduino IDE can be used to program this module. ESP32-CAM video streaming is accessed using the IP address through the local area network. Any third party service that can be used to access which will route ESP32-CAM IP address from the local area network, due to which it can be accessible anywhere over the internet.

The steps involved in setting up ESP32-CAM for live video streaming:

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1. Installing IDE and add-on’s:

The latest version of Arduino IDE should be the installed as well ESP32 add-on should be available in the IDE.

2. Giving proper Wi-Fi credentials and Blynk Authentication token:

The video streaming code must be uploaded in the IDE, but before that proper network credentials should be assigned. Network credential includes Wi-Fi name and password. Along with this Blynk authentication token should be given.

3. Selecting board and COM ports in IDE:

To upload the code GPI0 0 as to be connected to ground terminal and then in tools ESP32 Wrover board has to be selected and select the COM port to which ESP32 module is been connected.

4. To get IP address

After uploading the code GPIO 0 pin should be disconnected from the ground terminal of ESP8266MOD. Now the serial monitor should be opened at the baud rate of 115200. Later press the reset button of ESP32-CAM board. Finally the IP address of the board will be print in the serial monitor.

5. Customizing Blynk application:

A new project as to be created on Blynk application selecting the hardware type to be ESP32 and the connection type should be Wi-Fi. The authentication token received should have been used in the code. Video streaming widget should be used and the IP address of the ESP32 board as to be entered in address URL. ESP32-CAM is ready for streaming live video on Blynk application.

Wireless Rover Controlling Section:

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Our project is mainly focused on controlling the rover wirelessly using a joystick that is customized according to our project needs. The following are the various sections controlled by the using a joystick.

1. Differential drive.

2. Pump section.

3. Variable height section.

Transmitter part:

The interfacing ofnRF24L01 with Arduinoto act as Tranmitter. The shield sits on top of your Arduino and turns it into a simple controller. The X-Axis potentiometer of the joystick is connected to A0. The Y-Axis potentiometer is connected to A1. The analog inputs on a microcontroller read values over a range of 0-1023 (for typical 10-bit ADC inputs). The X-Axis and Y-Axis controls should read around 512 (midpoint) when the control is at rest. As the joystick is moved, one or both of the controls will register higher or lower values depending on how the control is being moved. The joystick also has a button ‘K’ which is activated by pressing the joystick down. This button is connected to D8.

Fig 5.3 Transmitter

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There are a total of 6 buttons on the board (not including the one on the joystick) labeled A- F. The 4 large buttons are typically used for up/down/left/right or similar functions. The two smaller buttons are typically used for less commonly used functions such as ‘select’ or ‘start’ since they are less accessible / less likely to be pressed accidentally. All buttons have pull-up resistors and pull to ground when pressed. The I2C SDA and SCL lines are brought out to a separate 4-pin male header along with 5V and Ground. This is in addition to the normal A4/A5 location of these lines. This allows for easy attachment of I2C devices.

Receiver part:

The interfacing of nRF24L01 with Arduino to act as Receiver.The nRF24L01 modules are transceiver modules, meaning each module can both send and receive data but since they are half-duplex they can either send or receive data at a time. The module has the generic nRF24L01 IC from Nordic semi-conductors which is responsible for transmission and reception of data. The IC communicates using the SPI protocol and hence can be easily interfaced with any microcontrollers. It gets a lot easier with Arduino since the libraries are readily available. The circuit diagram for connecting nRF24L01 with Raspberry Pi is also very simple and only the SPI interface is used to connect Raspberry Pi and nRF24l01.

Fig 5.4 Receiver

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Differential Drive:

A differential drive is the most basic drive, which consists of two sets of wheels that can be driven independently as shown in the figure. By using different movements of the right and left wheels it is possible to make the robot move forward, backwards, right, left and even for “zero degree” turns.

Fig 5.5 Differential Drive

A differential wheeled robot is a mobile robot whose movement is based on two separately driven wheels placed on either side of the robot body. It can thus change its direction by varying the relative rate of rotation of its wheels and hence does not require an additional steering motion. The transmitter part present in joystick sends the user-defined data to the raspberry pi that is present on the rover. The drive of the rover is controlled by raspberry pi according to the user-defined data received at the receiver part.

Pump section:

The pump used in our model is DC 12V 36W Submersible pump. The pump capacity is 400 litres per hours over of distance of 10 meters. The input of the pump contains mesh so that dust particles do not enter and the output of the pump is small, less than 4 mm diameter. The pump is about three and a half inches long and its diameter is about one inch wide. The pump will be placed inside the pesticide reservoir and a Y-shaped tube 53

DEPT OF ECE,NHCE Page MULTIPURPOSE AGRICULTURE ROVER connected at its outlet. Two transparent pipes are attached to the Y-shaped tube and these pipes will be connected to the sprinkler outlets.

When the receiver section gets the data, raspberry pi will turn on the pump hence the pesticides will move to the sprinkler outlets through pipes via Y-shaped tube due to the pressure exerted by the pump. Spraying pesticides at constant height will be achieved.

Variable height section:

In our model there are two variable height sections so that in less time large area of the farm will be covered to sprinkle pesticides. This section consists of dc motor, belt, movable part, sprinkler outlet and a rod to support this working. Dc motor controls the movement of the belt. The moveable part will be attached to the belt and this movable part consist the sprinkler outlet.

When the data is received to turn on the dc motor, it will rotate clockwise direction for certain period of time enabling the spraying part to move in downwards direction and when the dc motor rotates in anti-clockwise direction, the spraying part move upward. Hence spraying pesticides at variable height is achieved.

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CHAPTER 6

RESULTS AND SNAPSHOTS

 ONLINE APPLICATION(BLYNK)

Fig 6.1 Sensor Value

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CHAPTER 7

ADVANTAGES AND APPLICATION

7.1 ADVANTAGES

 The rover do not get sick or tired and they do not need the time off.

 It can be made cheaper.

 Simple in design.

 No hardware complexity.

 Easy to control.

 The rover can protect the human workers from the harmful effects such as pesticides.

 It is efficient use of chemicals and pesticides

7.2 APPLICATION

 As the framers where using traditional ways of spraying pesticides i.e. through hand pump by using this method their have been contact with cemicals but using this Rover can reduces the risk.  The plants grown in the multi-farming method will be of different heights, so this design enable spraying pesticides evenly to all the plants due to variable height section.  Drastic change in temperature, soil moisture and humidity levels will effect the health of plants. This model provides real time values of the sensors, so farmer can use these values to take necessary precautions to produce health crops.  This model can be used in nursery and greenhouse plantations.  The reservoirs can be filled with insecticides and other chemicals also such as water,Atrazine, Endosulfan etc.

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CHAPTER 8

CONCLUSION AND FUTURE SCOPE

8.1 CONCLUSION

The farmers have been using traditional ways of spraying pesticides i.e. through hand pump and lately they started using modern method like aerial spraying, though it is an efficient way it turned out to be a disaster. It has many environmental side effects and problems pertaining to human health. The farmers in greenhouses and nursery’s get easily affected due to close contact with the pesticides more ofently. For large areas of land getting labour to spray pesticide is also difficult. There have been many health issues registered due to spraying of pesticide manually.

The Multipurpose Agricultural Rover that has been discussed in this project is one such solution. By using this rover the farmer can spray the pesticide to the plants just by sitting at place and controlling the operations of the rover through the blynk app. This rover also provides additional information like the moisture level of the soil , temperature of the area using the sensors. This would also help the farmers to do specific changes in his crop production when required. The ultrasonic sensors used would indicate the farmer if there is any obstacle on the way.When the led light is on, that means that there is an obstacle very near to the rover.The camera is used to provide live streaming to the farmer. The main thing is the variable height i.e. is the movement of the sprinkler up and down. This makes sure that pesticide is sprayed to each and every part of the plant.If the farmer wants the pesticide to be sprayed only at a certain height even that can done. By all these features a single man alone can spray pesticide for large areas of land. In this proposed work we aimed mainly to reduce the human efforts in spraying pesticide.

Hence our work presented here, the Multipurpose Agriculture Rover can play a major role in agricultural domain and could help thousands of farmers.

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8.2 FUTURE SCOPE

1. Solar panels can be used instead of battery. 2. Seed sowing can also be done using a rod which must be pushed into soil upto certain depth and the seed can be sown. 3. A real time system can be developed which takes the image of the plant and procces to find the damaged part of the plant (leaf, stem etc) and pesticide must be sprayed to only that part of the plant . By doing this wastage of pesticide can also be reduced. 4. Centralized database maintenance of crops according to the atmosphere condition throughout the year. 5. By making necessary design corrections such as high traction wheels the spray mechanism can also be employed in open fields.

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REFERENCES

1. S. R. Nandurkar, V. R. Thool, R. C. Thool, “Design and Development of Pesticides Agricultural System Using Wireless Sensor Network”, IEEE International Conference on Automation,Control, Energy and Systems (ACES), 2014 2. Dr. V .Vidya Devi,G. Meena Kumari, “RealTime Automation and Monitoring System for Modernized Agriculture” ,International Journal of Review and Research in Applied Sciences and Engineering (IJRRASE) Vol3 No.1. PP 7-12,2013 3. Yunseop (James) Kim, Member, IEEE, Robert G. Evans, andWilliam M. Iversen, “Remote Sensing and Control of an Irrigation System Using a Distributed Wireless Sensor Network”, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, Volume 57, Number 7, JULY 2008. 4. Bak, T. and Jakobsen, H. 2004. Agricultural Robotic Platform with Four Wheel Steering for Weed Detection. Biosystems Engineering 87(2), 125–136.Baker, N. ZigBee and bluetooth - Strengths and weaknesses for industrial applications. Comput. Control. Eng. 2005, 16,20-25. 5. Sammons P J, Furukawa T , Bulgin A. Autonomous Pesticide Spraying Robot for Use in A Greenhouse[A]. Australian Conference on Robotics and Automation , Sydney Australian 2008. 6. Bosch, J., et al., Sustainable energy for agricultural applications: Working prototype and possibilities of fuel cell energy sourcing, Proceedings of 73rd International Conference on Agricultural Engineering AgEng 2015. 7. B. Astrand and A. Baerdveldt, A vision based row following system for agricultural field machinery, Mechatronics, vol. 15, no. 2, pp. 251269, 2005. 8. Potts, J. and Sukittanon, S. (2012) Exploting bluetooth on android mobile mobile devices for security application, proceedings of southeastcan, 15-18 March 2012, orlando, florida,USA. 9. F. Tobe. (31 Jan 2017) Views and forecasts about robotics for the ag industry. Available: http://robohub.org/views and-forecasts-about-robotics-for-the-ag-industry.

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