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4GH08ME038 4GH07ME406 4GH07ME055 4GH08ME026
TABLE OF CONTENTS
1. INTRODUCTION....3 2. THE CURRENT STATE OF AGRICULTURAL ROBOTICS...4
2.1. Robots in Agriculture.......................4 2.1.1 Autonomous Lawnmowers 2.1.2 Fruit Picking Robot 2.1.3 Eye Sonic Robot 2.1.4 Field robot "Eye-Maize" 2.1.5 Mushroom Picking Robot 2.1.6 The Oracle Robot 2.1.7 Precision Guidance Systems
3. PROBLEM DEFINATION..6 4. LITERATURE REVIEW................................................................7 5. OBJECTIVES OF THE PROJECT......9 6. METHODOLOGY......10 6.1. Block Diagram of Agrobot..11 7. REFERENCES.......12 8. WORK DONE SO FAR...13 9. WORK TO BE CARRIED OUT.13
1. INTRODUCTION
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Agriculture comes from two Latin words: ager which means a field culturia which means cultivation, the tillage of the soil. The word robot came from the Czech word robota, which means forced labor, or work & the term robot was first coined by Karel Capek. Robot is "A re-programmable, multifunctional mechanical manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks [2]. The idea of robotic agriculture is not a new one. Many engineers have developed driverless tractors in the past but they have not been successful as they did not have the ability to embrace the complexity of the real world. Most of them assumed an industrial style of farming where everything was known before hand and the machines could work entirely in predefined ways much like a production line. The approach is now to develop smarter machines that are intelligent enough to work in an unmodified or semi natural environment. These machines do not have to be intelligent in the way we see people as intelligent but must exhibit sensible behavior in recognized contexts. In this way they should have enough intelligence embedded within them to behave sensibly for long periods of time, unattended, in a semi-natural environment, whilst carrying out a useful task. The approach of treating crop and soil selectively according to their needs by small autonomous machines is the natural next step in the development of Precision Farming (PF) as it reduces the field scale right down to the individual plant. One simple definition of PF is doing the right thing in the right place at the right time with the right amount. Most of the current machinery is very weather dependant. Tractors cannot drive on soil when it is wet, sprayers cannot work in high winds etc. Perhaps it will be possible to develop smaller, less intrusive machinery that can allow more tasks to be carried out in marginal conditions as shown in figure 1.
3. PROBLEM DEFINATION
Seed bed preparation by manually is very risk full. Most of the current machinery is very weather dependant. Tractors cannot drive on soil when it is wet. Manual agriculture depends on man power it may take longer process.
4. LITERATURE REVIEW
Tim Niemueller et al. [1] have developed a short introduction to the basics of robotics in the context of artificial intelligence. It describes the very basics of robotics like sensors and effectors, gives an overview on robotic history, and introduces some basic problems encountered in modern robotics. It describes possible solutions to those problems without going deeply into theory. Blackmore et al. [2] have presented a new method, described that can be used to decompose human controlled agricultural operations into an autonomous tractor. Four main levels of subsumption have been identified: Operation, Task, Optimization and Primitive Actions where each level is subsumed by the level above. Tasks were classified into two distinctive roles, deterministic tasks. The tasks and optimizations can be further decomposed into primitive actions which in turn are converted into the tractor directories. Pedersen et al. [3] have developed an autonomous systems are more flexible than conventional systems and may reduce labor costs and restrictions on the number of daily working hours significantly. In addition, at this stage of development, the initial investments and annual costs for expensive GPS systems are still relatively high but it seems possible to design economically viable robotic systems for grass cutting, crop scouting and autonomous weeding. Simmon [4] has developed agricultural automation is a continual development. The current research technologies give rise to the possibility of developing a completely new mechanization system to support the cropping system based on small smart machines. This system replaces blanket energy over application with intelligently targeted inputs thus reducing the cost of the inputs while increasing the level of care. This can improve the economics of crop production as well as having less environmental impact. Oksanen et al.[5] had found requirements for methods and automated machines needed in automated crop production. During the last few decades technology used in
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crop production has developed noticeably. The work of farmers has decreased and continues decreasing by means of technology and automation. Jinlin et al. [6] have presented the variable Field Of View (FOV) of camera to realize headland turning of an agricultural robot in corn fields. Ryosuke et al. [7] have developed the modified conversion of a commercial crawlertype tractor into a robot tractor that can be navigated autonomously by using RTK-GPS and IMU as navigation sensors. In this the robot could successfully finish the single straight line path & a multiline path. Shrinivas and Zanwar [8] have developed the assembly is developed for cultivating ploughed land automatically i.e. no man power required. The project has consists of two different mechanism. The first mechanism contains making an assembly of vehicle and its motion, where as second mechanism is preparing a seed bed on ploughed land.
Seed placement:
Rather than just record the position of each seed it would be better to be able to control the seed position. This would allow not only allow the spatial variance of seed density to be changed but also have the ability to alter the seeding pattern. The technique of seed boring in ploughed land is in the form of row per column with fixed standard distance depending upon type of crop or type of cultivation.
Soil lapping:
After seed placement the soil is to be overlapped with the help of v- shaped arrangement.
sensing the data and always in the polling mode which poles the i/p. if the data sent from the transmitter is for the action of front movement for the robot the particular binary data is sent in the form of RF waves as when it is interact with receiver further the sane data is available to the controller and it send the signal to the motor driving unit so that motors has to rotate in the forward direction and moves the robot in forward. The motor driving circuit uses relay driving unit which decides the direction of the motor with proper polarities as shown in figure 13. The motors used here is DC type 12V bidirectional. The same action is takes place for remaining function like backward movement, left, right, forward, seeding and ploughing motor rotation stop and start etc. To navigate the direction of the robot the camera is used which capture the image signal. To send the picture info, the AM is used. The transmitting of these signals is at bandwidth of 5.5MHZthrough the antenna at final RF frequency of 400-500MHz. When these RF signal interact with receiver unit which is a remote controlled unit, demodulation will takes place and video data processed in the AV process block. The o/p now can be connected to TV or pc for monitoring purpose. The pc can be used with TV tuner card so that robot can be controlled for its movement and also possible to capture the signals directly on the hard disc.
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7. REFERENCES
[1] Tim Niemueller and Sumedha Widyadharma, Artificial Intelligence An Introduction to Robotics, July 8, 2003, pp.1 14. [2] Blackmore, B. S., Fountas, S., Vougioukas, S., Tang, L., Srensen, C. G., and Jrgensen,R, A method to define agricultural robot behaviors, Mechatronics & Robotics Conference (MECHROB) ,2004, pp.1197-1200.
[3] S. M. Pedersen S. Fountas H. Have B. S. Blackmore, Agricultural robots system analysis and economic feasibility, 27 July 2006, pp. 7:295308 [4] Simon Blackmore, New concepts in agricultural automation, HGCA conference 28 and 29 October 2009. [5] M. Hakojrvi, M. Hautala, J. Ahokas, T. Oksanen, T. Maksimow, Aspiala, A. Visala, Platform for simulation of automated crop production, Agronomy Research 8 (1), pp.797806, 2010 [6] Jinlin Xue , College of Engineering, Nanjing Agricultural University, Nanjing , China and Tony E.Grift, Agricultural Robot Turning in the Headland of Corn Fields,
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International journal of Applied Mechanics and Materials Vols. 63-64, 2011, pp. 780784. [7] Ryosuke TAKAI, Oscar BARAWID Jr., Noboru NOGUCHI, Autonomous Navigation System of Crawler-Type Robot Tractor, 18th IFAC World Congress, August 28 September 2, 2011, pp. 14165 - 14169 [8] Mr. Shrinivas R. Zanwar, Agricultural Robot for Cultivation Process,Vol. I No.1 December-January 2012 ISSN 2249-9032, pp.1-6.
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