Android Phone Controlled Agriculture Spray

Platform.

Abstract:
Agriculture is one of the main occupation in India. About 60-70% of Indian population is directly
or indirectly involved in agriculture. With the advancement in technology sector, agriculture technology
has also gained momentum. So many technology derived agricultural products and process are coming
into the market every year. Yet there is a lot of scope and need for the development of technology in the
agriculture sector.

The role of technology in agriculture starts right from seed sowing and ends at processing. In
between of this there are lot of stages wherein technology plays an important role. Taking the agriculture
to another level we in this project are designing a prototype that can be used for agriculture spraying
purpose.

From the time of seed sowing and cultivation there are many stages wherein a farmer needs to
spray the crop, for protecting it from various diseases, and also for increasing the overall yield. There are
various methods of spraying the crop. The most common is manual spray. The other one is using a tractor.
But both of these comes with its own disadvantages.

Manual spraying consumes more time. Whereas every farmer cannot afford a tractor. Also one
cannot use a tractor for all kind of crops. It requires to maintain a decent distance between the two rows of
the crop in order to move the tractor. And more importantly a tractor requires fuel to run hence it’s a more
costly option, in addition to that it also releases harmful gases in the atmosphere. This also leads to
environmental concerns.

So in this project we are designing a robotic platform that is powered by solar energy, and can be
used for agriculture spraying purpose. This robotic platform is smaller than a tractor, making it suitable to
move in between two rows of crop with comparatively narrow width. Also we are employing mechanism
that can be used to adjust the height of the spraying system. This will help in using this platform for plants
of various heights.

Implementing solar means the operating cost of this platform is very less in comparison with a
tractor or other vehicle. Also it does not releases any harmful gases in the atmosphere.
Introduction:
Microcontroller:

A microcontroller (sometimes abbreviated µC, uC or MCU) is a small computer on a

single integrated containing a processor core, memory, and programmable input/output peripherals.
Program memory in the form of NOR flash or OTP ROM is also often included on chip, as well as a
typically small amount of RAM. Microcontrollers are designed for embedded applications, in contrast to
the microprocessors used in personal computers or other general purpose applications.

Microcontrollers are used in automatically controlled products and devices, such as automobile
engine control systems, implantable medical devices, remote controls, office machines, appliances, power
tools, and toys. By reducing the size and cost compared to a design that uses a separate microprocessor,
memory, and input/output devices, microcontrollers make it economical to digitally control even more
devices and processes. Mixed signal microcontrollers are common, integrating analog components needed
to control non-digital electronic systems.

Some microcontrollers may use four-bit words and operate at clock rate frequencies as low as
4 kHz, for low power consumption (milliwatts or microwatts). They will generally have the ability to
retain functionality while waiting for an event such as a button press or other interrupt; power
consumption while sleeping (CPU clock and most peripherals off) may be just nanowatts, making many
of them well suited for long lasting battery applications. Other microcontrollers may serve performance-
critical roles, where they may need to act more like a digital signal processor (DSP), with higher clock
speeds and power consumption.

Arduino UNO: The Arduino Uno is a microcontroller board based on the ATmega328. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator,
a USB connection, a power jack, an ICSP header, and a reset button. It contains everything needed to
support the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-
DC adapter or battery to get started.

The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial driver chip.
Instead, it features the Atmega16U2 (Atmega8U2 up to version R2) programmed as a USB-to-serial
converter.
Revision 2 of the Uno board has a resistor pulling the 8U2 HWB line to ground, making it easier to put
into DFU mode.

Revision 3 of the board has the following new features:

 1.0 pinout: added SDA and SCL pins that are near to the AREF pin and two other new pins placed
near to the RESET pin, the IOREF that allow the shields to adapt to the voltage provided from the
board. In future, shields will be compatible with both the board that uses the AVR, which operates
with 5V and with the Arduino Due that operates with 3.3V. The second one is a not connected
pin,that is reserved for future purposes.
 Stronger RESET circuit.
 Atmega 16U2 replace the 8U2.

"Uno" means one in Italian and is named to mark the upcoming release of Arduino 1.0. The Uno and
version 1.0 will be the reference versions of Arduino, moving forward. The Uno is the latest in a series of
USB Arduino boards, and the reference model for the Arduino platform.

Arduino Microcontroller
Microcontroller ATmega328
Architecture AVR
Operating Voltage 5V
Flash memory 32 KB of which 0.5 KB used by boot-loader
SRAM 2 KB
Clock Speed 16 MHz
Analog I/O Pins 6
EEPROM 1 KB
DC Current per I/O Pins 40 mA on I/O Pins; 50 mA on 3,3 V Pin
General
Input Voltage 7-12 V
Digital I/O Pins 20 (of which 6 provide PWM output)
PWM Output 6
PCB Size 53.4 x 68.6 mm
Weight 25 g
Product Code A000066 (TH); A000073 (SMD)
 RS 232 Converter (MAX 232N): RS-232 was created for one purpose, to interface between Data Terminal
Equipment (DTE) and Data Communications Equipment (DCE) employing serial binary data interchange. So as
stated the DTE is the terminal or computer and the DCE is the modem or other communications device. RS-232
pin-outs for IBM compatible computers are shown below.  There are two configurations that are typically used:
one for a 9-pin connector and the other for a 25-pin connector.

Bluetooth:

Bluetooth is a wireless technology standard for exchanging data over short distances (using short-
wavelength UHF radio waves in the ISM band from 2.4 to 2.485 GHz) from fixed and mobile devices,
and building personal area networks (PANs). Invented by telecom vendor Ericsson in 1994, it was
originally conceived as a wireless alternative to RS-232 data cables. It can connect up to seven devices,
overcoming problems that older technologies had when attempting to connect to each other.

Bluetooth is managed by the Bluetooth Special Interest Group (SIG), which has more than 30,000
member companies in the areas of telecommunication, computing, networking, and consumer electronics.
The IEEE standardized Bluetooth as IEEE 802.15.1, but no longer maintains the standard. The Bluetooth
SIG oversees development of the specification, manages the qualification program, and protects the
trademarks. A manufacturer must meet Bluetooth SIG standards to market it as a Bluetooth device.

Bluetooth operates at frequencies between 2402 and 2480 MHz, or 2400 and 2483.5 MHz
including guard bands 2 MHz wide at the bottom end and 3.5 MHz wide at the top. This is in the globally
unlicensed (but not unregulated) Industrial, Scientific and Medical (ISM) 2.4 GHz short-range radio
frequency band. Bluetooth uses a radio technology called frequency-hopping spread spectrum. Bluetooth
divides transmitted data into packets, and transmits each packet on one of 79 designated Bluetooth
channels. Each channel has a bandwidth of 1 MHz. It usually performs 800 hops per second, with
Adaptive Frequency-Hopping (AFH) enabled. Bluetooth low energy uses 2 MHz spacing, which
accommodates 40 channels.

Originally, Gaussian frequency-shift keying (GFSK) modulation was the only modulation scheme
available. Since the introduction of Bluetooth 2.0+EDR, π/4-DQPSK (Differential Quadrature Phase Shift
Keying) and 8DPSK modulation may also be used between compatible devices. Devices functioning with
GFSK are said to be operating in basic rate (BR) mode where an instantaneous data rate of 1 Mbit/s is
possible. The term Enhanced Data Rate (EDR) is used to describe π/4-DPSK and 8DPSK schemes, each
giving 2 and 3 Mbit/s respectively. The combination of these (BR and EDR) modes in Bluetooth radio
technology is classified as a "BR/EDR radio".

Bluetooth is a packet-based protocol with a master-slave structure. One master may communicate
with up to seven slaves in a piconet. All devices share the master's clock. Packet exchange is based on the
basic clock, defined by the master, which ticks at 312.5 µs intervals. Two clock ticks make up a slot of
625 µs, and two slots make up a slot pair of 1250 µs. In the simple case of single-slot packets the master
transmits in even slots and receives in odd slots. The slave, conversely, receives in even slots and
transmits in odd slots. Packets may be 1, 3 or 5 slots long, but in all cases the master's transmission begins
in even slots and the slave's in odd slots.

H-Bridge:
An H bridge is an electronic circuit that enables a voltage to be applied across a load in either
direction. These circuits are often used in robotics and other applications to allow DC motors to run
forwards and backwards. H bridges are available as integrated circuits, or can be built from discrete
components. The H-bridge arrangement is generally used to reverse the polarity of the motor, but can also
be used to 'brake' the motor, where the motor comes to a sudden stop, as the motor's terminals are shorted,
or to let the motor 'free run' to a stop, as the motor is effectively disconnected from the circuit.

Geared DC Motor:

Gear motor" refers to a combination of a motor plus a reduction gear train. These are often
conveniently packaged together in one unit. The gear reduction (gear train) reduces the speed of the
motor, with a corresponding increase in torque. Gear ratios range from just a few (e.g. 3) to huge (e.g.
500). A small ratio can be accomplished with a single gear pair, while a large ratio requires a series of
gear reduction steps and thus more gears. There are a lot of different kinds of gear reduction.

In the case of a small transmission ratio N, the unit may be back drivable, meaning you can turn the
output shaft, perhaps by hand, at angular velocity w and cause the motor to rotate at angular velocity Nw.
A larger transmission ratio N may make the unit non-back drivable. Each has advantages for different
circumstances. Back drivability depends not just on N, but on many other factors.
For large N, often the maximum output torque is limited by the strength of the final gears, rather than by
N times the motor's torque.

Relay Driver:

A relay is an electrically operated switch. Many relays use an electromagnet to mechanically

operate a switch, but other operating principles are also used, such as solid-state relays. Relays are used
where it is necessary to control a circuit by a low-power signal (with complete electrical isolation between
control and controlled circuits), or where several circuits must be controlled by one signal. The first relays
were used in long distance telegraph circuits as amplifiers: they repeated the signal coming in from one
circuit and re-transmitted it on another circuit. Relays were used extensively in telephone exchanges and
early computers to perform logical operations.

A type of relay that can handle the high power required to directly control an electric motor or
other loads is called a contactor. Solid-state relays control power circuits with no moving parts, instead
using a semiconductor device to perform switching. Relays with calibrated operating characteristics and
sometimes multiple operating coils are used to protect electrical circuits from overload or faults; in
modern electric power systems these functions are performed by digital instruments still called "protective
relays".

A simple electromagnetic relay consists of a coil of wire wrapped around a soft iron core, an iron
yoke which provides a low reluctance path for magnetic flux, a movable iron armature, and one or more
sets of contacts (there are two in the relay pictured). The armature is hinged to the yoke and mechanically
linked to one or more sets of moving contacts. It is held in place by a spring so that when the relay is de-
energized there is an air gap in the magnetic circuit. In this condition, one of the two sets of contacts in
the relay pictured is closed, and the other set is open. Other relays may have more or fewer sets of
contacts depending on their function. The relay in the picture also has a wire connecting the armature to
the yoke. This ensures continuity of the circuit between the moving contacts on the armature, and the
circuit track on the printed circuit board (PCB) via the yoke, which is soldered to the PCB.

When an electric current is passed through the coil it generates a magnetic field that activates the
armature, and the consequent movement of the movable contact(s) either makes or breaks (depending
upon construction) a connection with a fixed contact. If the set of contacts was closed when the relay was
de-energized, then the movement opens the contacts and breaks the connection, and vice versa if the
contacts were open. When the current to the coil is switched off, the armature is returned by a force,
approximately half as strong as the magnetic force, to its relaxed position. Usually this force is provided
by a spring, but gravity is also used commonly in industrial motor starters. Most relays are manufactured
to operate quickly. In a low-voltage application this reduces noise; in a high voltage or current application
it reduces arcing.

When the coil is energized with direct current, a diode is often placed across the coil to dissipate
the energy from the collapsing magnetic field at deactivation, which would otherwise generate a voltage
spike dangerous to semiconductor circuit components. Such diodes were not widely used before the
application of transistors as relay drivers, but soon became ubiquitous as early germanium transistors
were easily destroyed by this surge. Some automotive relays include a diode inside the relay case.

If the relay is driving a large, or especially a reactive load, there may be a similar problem of surge
currents around the relay output contacts. In this case a snubber circuit (a capacitor and resistor in series)
across the contacts may absorb the surge. Suitably rated capacitors and the associated resistor are sold as a
single packaged component for this commonplace use.

If the coil is designed to be energized with alternating current (AC), some method is used to split
the flux into two out-of-phase components which add together, increasing the minimum pull on the
armature during the AC cycle. Typically this is done with a small copper "shading ring" crimped around a
portion of the core that creates the delayed, out-of-phase component, which holds the contacts during the
zero crossings of the control voltage.

12 V DC Battery:

A 12 V DC battery is used to store the charge or power that is generated by the Solar Cell Panel.
This stored energy will be further used to power the irrigation system. The same stored energy is also
used to control the entire system implemented in this project. That means the same stored energy will be
used to power up the Microcontroller unit that is used to control the entire system. Also the same energy
is used to move the Solar Cell Panel according to the position of the sun.

Working Principle:
The aim of this project is to design a robotic platform that can be used for agriculture spraying
purpose. Here we are designing a robotic platform that is suitable to hover and move in an agriculture
field. This includes all terrain capabilities. So here we are designing an all-wheel robotic platform with
independent suspension system. This will help the robot to move in almost any kind of terrain. Also we
are using high torque geared DC motors that are fitted at all the wheels, which will make the robot to
produce enough torque in order to move along with the weight of spray liquid easily. The control system
discussed over here is a wireless one. So to carry this job we are using the Bluetooth technology.
Combined all together we will be able to make the robot to work as our desired purpose.

The project will be consisting of two parts. The first is the control part or the control end. The
second is the robot end. The control end we are going to use here is an Android Mobile Phone. In order to
send the commands through the mobile phone we are designing an Android Application. This application
is designed using an application maker named MIT App Inventor. This is a Web based designer and also
an open source. Using the Application maker we are going to design the application such that whenever a
particular button over the application is touched then it will send a particular alphabet. We are going to
club the application along with the Bluetooth of the mobile phone. So that the application will use the
Bluetooth in order to send the commands.

Now we have another Bluetooth device connected to the robot end. This Bluetooth device is
connected to the Arduino Uno Microcontroller. This Bluetooth device will receive the signal sent from the
control end and feed this signal to the microcontroller. The microcontroller will receive the signal and
compare the command with some pre-programmed commands. Thus the microcontroller will generate an
appropriate signal to operate the robot with respect to the received signal/command.

The control end is also equipped with some more button/switches in order to make the spray
ON/OFF and also to adjust the height of the spray nozzle. H-Bridge or Relay driver will be used for
switching the motors and the spray pump.

Hardware Used:

 Arduino Uno.
 Height Adjusting Mechanism.
 Robot Platform.
 DC Water Pump.
 12 V DC Battery.
  10W Solar Panel.
 L239d H-Bridge Motor Driver.
 12V DC Geared Motor.
 Push Button Switches.
 Bluetooth.

Software Used:

 Arduino IDE.
 Embedded C.

Applications:

 Agriculture Spraying.
 Lawn Spraying.
 Gardening.

Advantages:

 Remote Operation.
 Real-time control.
 Easy to operate.
 Clean and free Energy.
 No Pollution Levels.
 Low Cost.
 Consumes Less Space.
 Low Operational Cost.
  Easy maintenance.
 Complete Automated System.

Disadvantages:

 Battery has to be Charged for effective use.

Block Diagram:

Control End:
 Android Mobile
Phone

Robotic Platform End:

 DC Motor
L293D H-Bridge Connected to
Motor Driver Robotic

MICROCONTROLLER
Platform

FILTER REGULATOR

Height
SPDT Relay Adjusting
Motors
CRYSTAL
16 MHz

RX

Spray Motor SPDT Relay MAX

Bluetooth
232
TX