ENGINEERING DEPARTMENT

Pesticide Spraying Robot using

Bluetooth Technology
1. Naseer Khalid Mohammed AL-AMRI – 22S1930
2. Ismail Salim aamir AL-HADHRAMI- 22S20112
3. Abdul-Rahman Talib Ali AI NADABI - 22J20119
Supervisor: Dr. Vimalakeerthy Devadoss

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 Table of Contents

01 INTRODUCTION 05 WORK
02 GOALS AND COMPLETED
OBJECTIVES 06 WORK TO BE
03 BLOCK DIAGRAM DONE
04 COMPONENTS SURVEY 07 ACTION PLAN

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 INTRODUCTION
 The development of a pesticide spraying robot utilizing Arduino and Bluetooth
technology represents a significant advancement in agricultural automation.
 This project aims to enhance the efficiency and precision of pesticide application in
farming, reducing labor costs and minimizing chemical exposure to humans and the
environment.
 The pesticide spraying robot utilizing Arduino Mega and Bluetooth technology is an
innovative solution designed to enhance agricultural efficiency and precision in
pesticide application.
 By integrating an Arduino Mega microcontroller with a Bluetooth module, the robot
can be remotely controlled via a mobile device, allowing users to monitor and adjust
spraying settings in real-time. 3
 INTRODUCTION
 The robot features a motorized movement system for navigating fields, along with a
spraying mechanism that ensures optimal pesticide distribution while minimizing
waste.
 This automation not only reduces labor costs but also promotes sustainable farming
practices by enabling precise application, thereby decreasing the overall chemical
usage. As a result, this robotic system represents a significant advancement in the
pursuit of modern, efficient, and environmentally friendly agriculture.

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 GOALS AND OBJECTIVES
GOALS:
 Automation of Pesticide Application: To develop a fully automated robot that
efficiently applies pesticides, reducing the need for manual labor and minimizing
human exposure to chemicals.
 Precision in Spraying: To enhance the accuracy of pesticide application, ensuring
optimal coverage of crops while minimizing waste and environmental impact.
 User-Friendly Control: To create an intuitive control system that allows users to
operate the robot remotely via Bluetooth, providing convenience and flexibility in
field management.

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 OBJECTIVES:
 Project plan and components identification: To prepare a project plan to execute the project in phased
manner and to identify the components required.
 Design and Build the Robot: To construct a functional prototype that integrates the Arduino
microcontroller, Bluetooth module, motors, and spraying mechanism.
 Develop Software for Control: To program the Arduino to facilitate seamless communication between the
robot and the user’s mobile device, enabling real-time adjustments and monitoring.
 Implement Navigation and Spraying: To incorporate sensors that allow the robot to navigate using blue
tooth control and ensuring efficient movement throughout the field. Spraying is done by 12 V pump using
relay.
 Test and Optimize Performance: To conduct field tests to evaluate the robot’s spraying efficiency, adjusting
parameters to achieve the best results in various agricultural environments.

 Report and presentation: To prepare a final report and power point presentation to illustrate the
effectiveness of the project. 6
BLOCK DIAGRAM

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 BLOCK DIAGRAM DESCRIPTION
Power Supply: 12V battery is used as the main power source. It will give supply for
Arduino mega (Vin pin), DC motor of robot vehicle and 12 V pump for spray.
• 5V pin of Arduino mega will give supply for US sensor, Relay, motor driver and blue
tooth module.
Micro controller: Arduino mega is the brain of the project.
• It received signal from blue tooth module and controls the robot vehicle.
• It receives pesticide level from US sensor and protect the spray pump if pesticide level
is less.
• It will check for signal from blue tooth to spray the pump or to stop spraying

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 BLOCK DIAGRAM DESCRIPTION
Sensors:
• Ultrasonic sensor: It will check the level of the pesticide and gives signal to Arduino mega.
• Blue tooth module: It will receive signal from android mobile app and send the signal to
Arduino Mega. Arduino mega will receive signal and control the robot movement
(forward, reverse, left and right)
• Spray control signal is also sent from mobile for spraying pesticide
Output devices:
• Buzzer: if spary level is less then buzzer will make sound
• Servo motor: To adjust the position of the spraying mechanism
• Spray Pump: Spraying pesticide from a stored tank
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 COMPONENTS USED & THEIR SIGNIFICANCE
S.No Name Quantity Specifications
1 Arduino Mega 2560 1 -
2 Bluetooth module 1 H06
Robotic car with 4 motor wheel
3 1 4WD
and assembly
4 Battery 1 V 12
5 Two channel relay 1 10 A
6 LCD display with I2C 1 PCA9540B

7 Ultrasonic Sensor 1 HC-SRO4

8 Water Pump 1 V 12
9 DC Motor Driver 1 L298N

10 Buzzer 1 -

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 COMPONENTS SURVEY
Arduino Mega 2560
A microcontroller board based on the ATmega2560 is the
Arduino Mega 2560
It contains 16 analog inputs, 4 UARTs (hardware serial
ports), a 16 MHz crystal oscillator, 54 digital input/output pins
(14 of which can be utilized as PWM outputs), a USB
connector, a power jack, an ICSP header, and a reset button.

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 COMPONENTS SURVEY
Bluetooth module
A PCBA board with integrated Bluetooth functionality is called a
Bluetooth module.
Depending on its intended purpose, Bluetooth modules which are
separated into Bluetooth voice modules and Bluetooth modules can
be utilized for short-range wireless communication .

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 COMPONENTS SURVEY
tic car with 4 motor wheel and assembly
 With its adaptable base for a range of Arduino projects,
the 4WD Robot Smart Car Chassis Kit lets enthusiasts
experiment with a variety of uses and features
 The 4WD Robot Smart Car Chassis Kit can be used to
implement the following Arduino project ideas.

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 COMPONENTS SURVEY
Battery
 Batteries are available in a variety of sizes, forms, and
applications. One of these widely used batteries is the 12V
battery
 One type of battery that is frequently used for a variety of
electrical devices and appliances is the 12-volt battery (Lead
acid type).
They may occasionally be small and light or enormous
and heavy.

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 COMPONENTS SURVEY
Two channel relay
 Two powerful devices can be controlled by your Arduino thanks to the two-
channel relay module.
 Each of its two relays has a maximum current rating of 10A at either 30VDC or
250VAC. There are also modules available with one, four, and eight channels.

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 COMPONENTS SURVEY
Channel display
with I2Cis an I2C-bus-controlled
The PCA9540B 1-of-2 bidirectional
translating multiplexer.
 Two SCx/SDx downstream pairs, or channels, are reached from the
SCL/SDA upstream pair.
 For each SCx/SDx channel, the programmable control register's
contents dictate which channel is selected at any given time.

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 COMPONENTS SURVEY
Ultrasonic sensor
 A pressure wave of sound energy is transmitted by an
ultrasonic sensor at frequencies that are above human hearing,
specifically 25 to 50 KHz.
 Most ultrasonic sensors use pulse waveforms to monitor speed
and identify the presence of vehicles.

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 COMPONENTS SURVEY
Water Pump
 To move, compress, or transfer water from one level to
another, one uses a water pump.
 A water pump's primary functions are to move water between
two locations and to remove extra water.
 In addition to kinetic energy, the positive displacement
principle is the main driving force behind the basic operation of
a water pressure pump.

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 COMPONENTS SURVEY
DC motor driver
 Direct current (DC) powers the electromechanical components
of DC motors.
 They are powered by an electric current that rotates a shaft.
 These motors can rotate in both forward and reverse directions,
which makes their rotating action ideal for a variety of
applications.

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 COMPONENTS SURVEY
Buzzer
 A beeper, buzzer, or other audio signaling device can be
mechanical, piezoelectric, or electromechanical in nature.
 This is mostly used to convert the audio signal to sound.
 It functions by applying a voltage across the two electrodes, which
causes the piezoelectric material to mechanically deform.

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CIRCUIT DIAGARAM

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 CIRCUIT DESCRIPTION

The circuit diagram operation is divided into four taks.

 Power supply operation

 Sensor operation

 Microcontroller operation

 Output device operation

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 Power Supply Operation
 The pesticide spraying robot is operated with a power supply from 12V battery.
This 12V supply is given to the motor driver circuit for operating four 12V DC motors
connected to four wheels of the robotic vehicle.
 This 12V supply is also connected to Vin pin of Arduino Mega. Arduino Mega
internally converts this 12V supply to 5V.
 5V pin of Arduino mega serves as the power supply for blue tooth module,
servo motor, ultrasonic sensor and relay module.
 The Spray pump connected to another 12V supply to maintain pressure for
spraying to longer distance and for longer duration of time.

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 Sensor operation
Blue tooth Module
• The Bluetooth module enables wireless communication between the robot and the
mobile device.
• It allows commands to be sent from the mobile device to the robot, eliminating the
need for physical connections like wires.
• The Bluetooth module receives control signals (e.g., movement directions, spray
activation, speed adjustments, etc.) from the operator's device.
• These signals are processed by the robot’s onboard microcontroller or processor,
which then activates the appropriate motors, actuators, or spray nozzles.

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 Sensor operation
Ultra sonic sensor
• The ultrasonic sensor plays an important role in monitoring the pesticide level in the
robot's tank.
• Ultrasonic sensors work by emitting high-frequency sound waves (ultrasonic waves)
that travel through the air. These waves hit an object or surface, such as the surface
of the pesticide in the tank, and reflect back to the sensor.
• The sensor measures the time it takes for the sound waves to travel to the surface
and back. This time is then converted into a distance using the speed of sound.
• The basic principle is that
distance = (speed of sound) × (time taken for echo to return) / 2
• The ultrasonic sensor is usually mounted at the top of the pesticide tank, facing
downward.
• By subtracting the distance measured by the ultrasonic sensor from the total tank
height, the robot can determine how much pesticide remains in the tank. 25
 Sensor operation
 Motor Driver (L298N or L293D):
• The Arduino Mega cannot directly drive motors due to the high current requirements.
So the motor driver acts as a bridge between the low-power Arduino Mega and the
high-power motors.
• The motor driver takes signals from the Arduino Mega and provides the necessary
power to the motors to make the robot move forward, backward, or turn.

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 Microcontroller Operation
 Arduino mega operation
• In a pesticide spraying robot using a Bluetooth module, the Arduino microcontroller
plays a central role in managing the robot's operations. It acts as the "brain" of the
robot, processing data, executing commands, and controlling various hardware
components based on inputs received from the Bluetooth module via a mobile app.
• Arduino receives commands sent from the mobile device via Bluetooth, typically
through serial communication. The commands might include:
• Movement commands to motor driver (e.g., move forward, turn left, etc.)
• Spraying commands to spray pump and servo motor (e.g., start or stop spraying
pesticide)
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 Output Devices Operation
 Spray Pump with Relay:
• Controls the activation and deactivation of the pesticide pump.
• Relay acts as a switch to turn the pump on or off based on commands from Arduino,
allowing the robot to start or stop spraying pesticide.
 Servo Motor for Adjusting Spray Position:
• Adjusts the angle or position of the spray nozzle.
• Arduino sends PWM signals to the servo motor to adjust the nozzle's angle, allowing
the operator to control the spraying direction and coverage.
 Buzzer for Alerting Pesticide Level:
• Provides an audible alert when the pesticide level in the tank is too low.
• Arduino activates the buzzer when the pesticide level falls below a predefined
threshold, notifying the operator that the tank needs to be refilled.

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 CIRCUIT OPERATION
Step 1: Powering the System
• The power supply of 12V from battery powers the entire robot. The Arduino Mega
is powered by its own voltage regulator (usually 5V), and the motors, servo motor,
relay, and Bluetooth module are powered by the same battery or a separate
regulated power source (depending on the design).
Step 2: Establishing Bluetooth Communication
• Once the robot is powered on, the operator establishes a Bluetooth connection
between the mobile app (or any Bluetooth-enabled control device) and the robot
using the HC-05 Bluetooth module.
• The mobile app sends commands to the Arduino via Bluetooth, and Arduino reads
the incoming data and processes it accordingly.

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 CIRCUIT OPERATION
Step 3: Controlling Movement and Spraying
• Movement Control: The operator sends movement commands (e.g., "forward,"
"backward," "turn left," etc.) from the app. Arduino decodes these commands
and sends appropriate signals to the motor driver, which controls the DC
motors to move the robot.
• Spraying Control: When the operator sends a "start spraying" command,
Arduino sends a signal to the relay to power the spray pump, which starts
spraying pesticide. The spraying can be stopped by sending a "stop spraying"
command from the app.
Step 4: Adjusting Nozzle Position
• If the operator wants to adjust the spray nozzle, they send a command to
change the nozzle angle. Arduino processes this and sends a PWM signal to the
servo motor to adjust the nozzle's position.
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 CIRCUIT OPERATION
Step 5: Monitoring Pesticide Level
• The ultrasonic sensor continuously monitors the pesticide level in the tank by
measuring the distance to the surface of the liquid.
• Arduino compares the measured distance with the tank’s height to calculate the
remaining pesticide level.
• If the level is below a certain threshold, the buzzer is activated to alert the
operator. At the same time, Arduino can send a message to the app via Bluetooth
to inform the operator.
Step 6: Feedback to the Operator (Future Expansion)
• The Bluetooth module sends real-time feedback to the app, such as the current
pesticide level, battery status, motor status, and spraying status, allowing the
operator to make informed decisions.

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 RESULTS AND DISCUSSIONS
 Bluetooth Communication:
• The Bluetooth module successfully allowed the operator to control the robot in
real-time, including commands to move, start or stop spraying, adjust nozzle
positions, and monitor sensor data.
• The Bluetooth communication was stable, with minimal latency, ensuring smooth
control over the robot’s functions. Commands sent from the mobile app (via
Bluetooth) were reliably received by the Arduino, and the corresponding actions
were executed promptly.
• The range of Bluetooth communication was typically about 10 meters, which is
adequate for most field operations.
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 RESULTS AND DISCUSSIONS
 Pesticide Spraying Mechanism:
• The relay module worked as expected, acting as an intermediary between the
Arduino Mega and the high-power spray pump.
• The spray pump was activated correctly when the operator sent a "start spraying"
command via Bluetooth. Similarly, the "stop spraying" command turned off the
spray pump as intended.
• The spray nozzle, controlled by the servo motor, adjusted its position accurately
based on commands to alter the spray angle. This ensured that the pesticide was
directed to the desired areas.
• The spray rate was consistent and controlled through the pump’s power supply,
although there might be slight variations depending on the battery’s charge. 33
 RESULTS AND DISCUSSIONS
 Movement Control:
• The movement commands (e.g., forward, backward, left, right) were executed
correctly. The motor driver (L298N or L293D) reliably controlled the DC motors that
powered the robot’s wheels.
• The robot responded to commands to change speed, with the ability to control the
motor speed using PWM (Pulse Width Modulation) signals.
• The robot was able to navigate small to medium-sized fields, although its
maneuverability could be improved for complex terrains.

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 RESULTS AND DISCUSSIONS
 Pesticide Level Monitoring:
• The ultrasonic sensor accurately detected the pesticide level in the tank by
measuring the distance from the sensor to the surface of the liquid.
• When the pesticide level fell below a predefined threshold, the buzzer activated,
providing an audible alert to notify the operator.
• This helped avoid running the robot dry during spraying operations.

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Results & Discussions
 CONCLUSION
In conclusion, the development of a pesticide spraying robot utilizing a Bluetooth module
represents a significant advancement in the automation of agricultural practices. The
integration of Bluetooth technology allows for wireless control and monitoring of the robot,
enhancing its efficiency and user convenience. This system reduces the need for manual
pesticide application, minimizing human exposure to potentially harmful chemicals and
improving overall safety.
The robot's ability to precisely target specific areas for pesticide spraying helps in optimizing
the usage of chemicals, which not only ensures better crop protection but also contributes
to reducing environmental pollution and wastage. The design of the robot is versatile,
allowing for easy adaptation to various terrains and agricultural needs.

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 CONCLUSION
Overall, this project demonstrates how the application of modern technology, such as
robotics and Bluetooth communication, can revolutionize traditional farming methods.
Future improvements could include adding sensors for real-time data feedback, enhancing
the robot’s autonomous navigation, and expanding its functionality to accommodate
additional agricultural tasks.

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Future Scope
By upgrading the control system from Bluetooth to IoT, the robot can be
managed remotely over the internet. This allows farmers to monitor and
control pesticide application from anywhere, providing real-time data on
spraying operations and field conditions.

Adding solar panels could make the robot energy-efficient and sustainable,
reducing dependence on external power sources.
 REFERENCES
 Pankaj Prajapati, Deepika Ghai, “Smart Agriculture Fertilizer Spraying Robot”, International Research
Journal Of Engineering And Technology (Irjet), Volume: 08 Issue: 05, May 2021
 K.Sushma Priya, R. Praneetha Reddy, Y. Pradeep, “Agricultural Pesticide Spraying Robot”, International
Research Journal Of Modernisation In Engineering Technology And Science, Volume: 4, Issue:07, July-
2022
 Yash Dnyaneshwar Jiwtode, Neema Amish Ukani, Sandeep Sonaskar, Saurabh S. Chakole, “Smart
Pesticide Spraying Robot”, International Research Journal Of Engineering And Technology (Irjet), Volume:
09 Issue: 07, July 2022
 John Smith, Emily Johnson, "Development of an Arduino-Based Autonomous Pesticide Spraying Robot",
IEEE International Conference on Robotics and Automation (ICRA), 2018
 Sarah Lee, Michael Brown, "Design and Implementation of a Microcontroller-Controlled Pesticide
Spraying System", IEEE International Conference on Mechatronics and Automation (ICMA), 2016
 David Wang, Lisa Chen, "Real-Time Control System Design for a Pesticide Spraying Robot Using
Microcontrollers", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
 Ahmed Khan, Jennifer Garcia, "Autonomous Pesticide Spraying Robot with Arduino Microcontroller",
IEEE International Conference on Robotics and Automation (ICRA), 2020
 Faijubhai Malek, “Mechanically Operated Cart For Pesticide Sprayer For Agriculture”, International
Journal Of Innovative Research In Science, Engineering And Technology”, Vol.05, Issn: 2319-8753(2016)
 Sanjay S, “Design And Fabrication Of Mechanical Pest Sprayer”, International Journal Of Innovative
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Research In Science, Engineering And Technology”, Vol.04, Issn: 2319-8753(2015).
Action Plan
Action Plan
Pictures of The Project
Thanks!