ARECANUT TREE CLIMBER AND PESTICIDE SPRAYER · 2017-08-28 · ARECANUT TREE CLIMBER AND PESTICIDE SPRAYER Jnanesh Bekal Jnanasagar Kamath Manjunath K Nixon D’Souza DEPARTMENT OF

ARECANUT TREE CLIMBER AND

PESTICIDE SPRAYER

A Project Report

Submitted in partial fulfillment of the requirements for the degree of

Bachelor of Engineering in

ELECTRICAL & ELECTRONICS ENGINEERING

By

Jnanesh Bekal USN: 4SO13EE026

M Jnanasagar Kamath USN: 4SO13EE028

Manjunath K USN: 4SO13EE029

Nixon D’Souza USN: 4SO13EE031

Under the guidance of

Mrs. Divya K Pai Assistant Professor

Department of Electrical & Electronics Engineering (Accredited by National Board of Accreditation)

St. Joseph Engineering College

Vamanjoor - 575 028, India May 2017.

St. Joseph Engineering College (Affiliated to VISVESVARAYA TECHNOLOGICAL UNIVERSITY, BELAGAVI)

Vamanjoor Mangaluru -575 028, India

Department of Electrical & Electronics Engineering

CERTIFICATE

Certified that the project work entitled “Arecanut Tree Climber and Pesticide Sprayer”

carried out by

Jnanesh Bekal USN: 4SO13EE026

M Jnanasagar Kamath USN: 4SO13EE028

Manjunath K USN: 4SO13EE029

Nixon D’Souza USN: 4 SO13EE031

are bonafide students of VIII semester, Electrical & Electronics Engineering Department of

St. Joseph Engineering College Vamanjoor, Mangaluru 575028, in partial fulfillment for the

award of Bachelor of Electrical & Electronics Engineering of the Visvesvaraya Technological

University, Belagavi during the year 2016-17. It is certified that all corrections/suggestions

indicated for Internal Assessment have been incorporated in the Report deposited in the

departmental library. The project report has been approved as it satisfies the academic

requirements in respect of Project Work prescribed for the said degree.

Guide:

Mrs. Divya K Pai Dr. Sheryl Grace Colaco Dr. Joseph Gonsalvis

Signature: Professor and Head Principal

Date: Department of E&E Engineering.

External Viva

Name of the Examiner Signature with date

1.

2.

i

ACKNOWLEDGEMENT

Achievements whether big or small tend to have constant encouragement, advice originating

from noble minds and overhauling efforts as a catalyst. The satisfaction that accompanies the

successful completion of any task would be incomplete without mentioning those names which

made it possible, as success is the result of hard work, concentration and dedication.

We are grateful to Dr. Sheryl Grace Colaco, Head of Department of Electrical and

Electronics Engineering and Project-Coordinator Mrs. Bharti Rao, Assistant Professor,

Department of Electrical and Electronics Engineering for their timely encouragement and paving

the way for providing adequate facilities in carrying out this project.

We wish to express our sincere gratitude to project guide Mrs. Divya K Pai, Assistant

Professor, Department of Electrical and Electronics Engineering for her support and valuable

guidance.

We are indebted to the management of this institution, our beloved Director Rev.Fr. Joseph

J Lobo, Assistant Director Rev. Fr. Rohith D’Costa, Principal Dr. Joseph Gonsalvis and Vice

Principal Dr. Rio D’Souza for providing an environment with all the infrastructure and lab

facilities that helped us to complete our project.

Our special thanks to Mr. Maxim D’Souza, Foreman, Mr. Joyson Loyed Gomes, Lab

Instructor, Mr. Melvin Miranda, Lab Assistant, Department of Electrical and Electronics, Mr.

Minin A D’Souza, Fabricator and Mr. Tharun Kumar, Carpenter for their help and support in

the timely completion of the project.

We are extremely thankful to Krishi Vigyan Kendra, Brahmavar for their valuable

suggestion regarding the project and to SELCO Foundation, Bangalore and KSCST for

sponsoring the project.

We are bound to convey our sincere thanks to all teaching and non-teaching staff of our

department for their kind advice and valuable suggestions given from time to time and all those

who have directly or indirectly helped us in the completion of our project.

ii

ABSTRACT

This project was suggested to us by Krishi Vigyan Kendra, Brahmavar based on their research.

The objective of this project is to design and develop a robot which can climb the Arecanut tree

and spray pesticide, thereby reducing time and labour required for the same job.

In recent years, labour scarcity has emerged as one of the foremost challenges in farming. One of

the crop that has been most affected by this is the arecanut. It is mandatory to climb the tree a

minimum of five times a year for a successful harvest i.e., twice for the preventive spray against

fungal disease, and thrice to harvest the arecanut. Only skilled labourers can carry out this task.

The robot consists of an ‘X’ frame. At the bottom of the robot two rollers are placed which are

conical in shape and are connected to two DC motors. These motors are operated by a remote

control to move up and down the tree. The model is placed around the tree and springs are used to

attach it firmly to the tree. Two nozzles are placed on either side at the top of the machine with

motor arrangement so that it can rotate at a 360-degree angle. Electric pumps are used to lift the

pesticide towards the nozzle and spray it to the arecanut. Arduino Uno is used for programming

the motors to rotate in clockwise and anticlockwise direction.

The robot has been tested for its climbability and it is portable. This robot reduces the time and

also dependence on labour. The sprayer sprays pesticide to the adjacent trees with good level of

accuracy. The flow of pesticide is remotely controlled. The user interface is easy.

The future improvements for this project are as follows: -

I. Adding a nut cutter.

II. Lowering the weight.

III. Computer vision can be added to identify the healthy arecanut.

IV. The process of spraying pesticide can also be made fully automatic using image

processing sensor.

V. Wheels with better frictional co-efficient can be designed.

iii

CONTENTS

ACKNOWLEDGEMENT ............................................................................................................. i

ABSTRACT ................................................................................................................................... ii

CONTENTS.................................................................................................................................. iii

LIST OF TABLES ........................................................................................................................ v

LIST OF FIGURES ..................................................................................................................... vi

NOMENCLATURE .................................................................................................................... vii

CHAPTER 1 .................................................................................................................................. 1

INTRODUCTION......................................................................................................................... 1

1.1 GENERAL ............................................................................................................................ 1

1.2 LITERATURE SURVEY ..................................................................................................... 1

1.3 STATEMENT OF PROBLEM ............................................................................................. 2

1.4 TRADITIONAL METHODS AND COMPARISON .......................................................... 2

1.5 ORGANIZATION OF THESIS ........................................................................................... 3

CHAPTER 2 .................................................................................................................................. 4

THEORETICAL BACKGROUND ............................................................................................ 4

2.1 GENERAL ............................................................................................................................ 4

2.2 DC MOTOR.......................................................................................................................... 4

2.2 DC MOTOR TYPES ............................................................................................................ 6

2.3 PERMANENT MAGNET DC MOTOR .............................................................................. 6

2.4 BATTERY ............................................................................................................................ 8

2.5 COMPONENTS DESCRIPTION ........................................................................................ 9

CHAPTER 3 ................................................................................................................................ 12

BLOCK DIAGRAM ................................................................................................................... 12

CHAPTER 4 ................................................................................................................................ 15

iv

MECHANICAL FABRICATION ............................................................................................. 15

4.1 FRAME ............................................................................................................................... 15

4.2 ROLLERS ........................................................................................................................... 16

4.3 CALCULATIONS .............................................................................................................. 17

4.4 CLIMBING MECHANISM AND WORKING ................................................................. 18

CHAPTER 5 ................................................................................................................................ 19

CONTROLLER CIRCUIT ........................................................................................................ 19

5.1 ARDUINO .......................................................................................................................... 19

5.2 L293D MOTOR DRIVER IC ............................................................................................. 21

5.3 ULN2803 RELAY DRIVER IC: - ...................................................................................... 22

5.4 SOLENOID VALVE .......................................................................................................... 24

CHAPTER 6 ................................................................................................................................ 27

AUTOMATIC BATTERY CHARGING CIRCUIT ............................................................... 27

6.1 COMPONENTS USED ...................................................................................................... 28

6.2 WORKING ......................................................................................................................... 28

6.3 IC DESCRIPTION.............................................................................................................. 29

CHAPTER 7 ................................................................................................................................ 31

RESULTS AND DISCUSSION ................................................................................................. 31

7.1 RESULTS ........................................................................................................................... 31

7.2 ADVANTAGES ................................................................................................................. 32

CHAPTER 8 ................................................................................................................................ 33

CONCLUSION AND FUTURE SCOPE .................................................................................. 33

8.1 CONCLUSION ................................................................................................................... 33

8.2 FUTURE SCOPE................................................................................................................ 33

REFERENCES ............................................................................................................................ 34

v

LIST OF TABLES

TABLE 5.1 PIN DESCRIPTION OF L293D 21

TABLE 5.2 PIN DESCRIPTION OF ULN2803 23

vi

LIST OF FIGURES

FIGURE 2.1 DC MOTOR 5

FIGURE 2.2 POWER WINDOW MOTOR 5

FIGURE 2.3 BATTERY 8

FIGURE 2.4 RELAYS 10

FIGURE 2.5 RF TRANSMITTER AND RECEIVER 11

FIGURE 3.1 BLOCK DIAGRAM OF TRANSMITTER 12

FIGURE 3.2 BLOCK DIAGRAM OF RECEIVER 13

FIGURE 4.1 ASSEMBLED VIEW OF THE ROBOT 15

FIGURE 4.2 PICTURE OF THE ROBOT 15

FIGURE 4.3 WOODEN ROLLERS 16

FIGURE 4.4 ROLLER COVERED WITH RUBBER 16

FIGURE 5.1 ARDUINO UNO PROGRAMMER 19

FIGURE 5.2 PIN DIAGRAM OF ATMEGA328 20

FIGURE 5.3 L293D PIN DIAGRAM 21

FIGURE 5.4 ULN2803 PIN DIAGRAM 22

FIGURE 5.5 AN ‘NPN’ DARLINGTON PAIR 24

FIGURE 5.6 SOLENOID VALVE 25

FIGURE 5.7 TP122 TRANSISTOR 25

FIGURE 6.1 AUTOMATIC BATTERY CHARGING CIRCUIT DIAGRAM 27

FIGURE 6.2 LM317 PIN DIAGRAM 29

FIGURE 7.1 ROBOT CLIMBING THE TREE 31

vii

NOMENCLATURE

AC- Alternating current

DC- Direct current

IC- Integrated circuit

LED- Light emitting diode

V- Voltage

I- Current

R- Resistance

RF- Radio Frequency

P- Power

KΩ- kilo Ohm

F - Force

N - Newton

W - Watt

MHz - Mega Hertz

Ah - Ampere- Hour

RPM - Revolutions Per Minute

IR - Infrared

Nm - Newton-meter

ARECANUT TREE CLIMBER AND PESTICIDE SPRAYER

Jnanesh Bekal Jnanasagar Kamath Manjunath K Nixon D’Souza

DEPARTMENT OF ELECTRICAL AND ELECTRONICS

ST. JOSEPH ENGINEERING COLLEGE 1

CHAPTER 1

INTRODUCTION

1.1 GENERAL

Areca nut (Areca catechu) a tropical crop, is popularly known as betel nut in India. It is one of the

most important commercial crop in South-East Asia in general and India in particular. As per FAO

statistics for 2013, India is the largest producer of areca nut accounting for 49.74% of the world

output. In India, as of 2013-2014 Karnataka is the largest producer of Areca nut in India resulting

in 62.69 percent of the country’s output. The plant grows in well drained, deep clay loamy soil;

laterite, red loam and alluvial soils are considered most suitable. Areca nut farming, to achieve

good yield, needs large application of organic manures and chemical fertilizers. The gestation

period for the areca nut tree to yield fruits varies from four to eight years. Its life span is up to 60

years and in some cases even 100 years. The Arecanut tree grows to a height of 60 feet to 70 feet

and measures 15 cm in diameter.

1.2 LITERATURE SURVEY

The details about design, fabrication and calculation is obtained from [1], [2] & [3]. [4] and [5]

gives details about the production and plantation of arecanut crop in India & market share of

various states in India together with the various diseases affecting the crop and the different

measures to be taken to prevent these diseases. [6] presents the cultural and social significance of

arecanut crop in India. The information about the battery is obtained from [7]. The details

regarding the motor is obtained from [8].

The production of arecanut in India during the year 2013-14 and the area used for arecanut in

obtained from [9]. The Indian and global scenario of arecanut and the details about the various

existing technologies on arecanut harvesting is obtained from [10]. The information on various

hybrids on arecanut is obtained from [11].





1.3 STATEMENT OF PROBLEM

In recent years, non- availability of labors has emerged as one of the biggest challenges in farming.

One crop that has been most affected by this is the areca nut. Arecanut trees attain a height of about

60-70 feet. It is mandatory to climb the trees a minimum of five times a year for a successful

harvest - twice for the preventive spray against fungal disease, and thrice to harvest the areca nut.

Koleroga is another such disease prevalent in high rainfall regions. This disease assumes intensity

during south- west monsoon causing heavy damage to the crop. Bud- rot, food- rot, stem breaking,

inflorescence die- back, stem bleeding are other diseases which affect areca yield and cause

damage in varying degrees. Yellow leaf disease has been causing much damage to areca nut. This

disease is categorized by the yellowing of leaves of leaves. As a result, there is reduction in the

size of leaves and nuts, tapering of the stem and mature nutfall occurs. It is estimated that about

35- 40 % of areca plantation in Kerala has been affected by this disease.

In addition to the diseases mentioned above areca nut are also affected by many pests and insects.

Therefore, in order to prevent the above-mentioned problems pesticides are sprayed frequently to

the Arecanut. This also solves labor problem. Also, it reduces the wastage of pesticides. The

farmers are exposed to the toxicity of pesticides and suffer from pesticide poisoning which range

from skin irritation to coma or even death.

1.4 TRADITIONAL METHODS AND COMPARISON

In olden days’ farmers used to manually climb the trees till the top and spray pesticide to the areca

nut bush. After spraying pesticides to the Arecanut they would jump to the adjacent tree. This is a

very risky job as the tree climbers could slip and fall down and meet with serious injuries.

Moreover, the tree climbers also do not have any kind of medical insurance, this only worsens the

problem.

In modern days’ farmers use mechanical pump or electric pump to spray pesticide to the Arecanut.

First the farmer has to climb the tree halfway and then use a nozzle to spray pesticide to the

Arecanut. This method is less risky than the previous one. But this method consumes a lot of time

and lot of pesticide is wasted as all the pesticide does not reach the Arecanut.





Therefore, a prototype electric robot is developed which climbs the tree for the required height

and spray pesticides more quickly and efficiently without wasting pesticide.

1.5 ORGANIZATION OF THESIS

Chapter 1 talks about how arecanut plantation is carried out across India. The plantation of arecanut

in various states of India. The various problems faced by farmers and the diseases that hit the

arecanut are also mentioned. The history of the arecanut and traditional methods of spraying are

briefed along with the statement of the problem and they are compared with the modern-day

techniques.

The theoretical background of the components used in the project is explained in chapter 2. It

includes DC motor, PMDC motor, battery and brief description about various components used.

Chapter 3 includes the block diagram and methodology of the project work.

Chapter 4 gives details about the mechanical fabrication, rollers and calculations.

Chapter 5 deals with the details about Arduino, pin diagrams, and various IC’s used to drive the

motor and the relay and solenoid valve used to control the flow of water.

Chapter 6 deals with the working of battery charger circuit and the components used.

Chapter 7 presents the practical results of the project work carried out and also the advantages of

the robot over traditional methods of spraying.

Chapter 8 is the conclusion to the project and its scope for the future.





CHAPTER 2

THEORETICAL BACKGROUND

2.1 GENERAL

This chapter deals with DC motor, its types along with construction and working principle. We

have used power window motor which is a Permanent Magnet DC Motor (PMDC) as it has many

advantages over other types of DC motors.

2.2 DC MOTOR

Most common electrical appliances work on AC power, however there are some situations in

which DC power is preferable. For instance, small electrical motors work very well on AC supply,

but very large electrical motors generally work much better on DC supply.

A DC motor is of a class of electrical machines that converts direct current electrical power into

mechanical power. The most common types rely on the forces produced by magnetic fields. Nearly

all types of DC motors have some internal mechanism to periodically change the direction of

current flow in part of the motor. Most types produce rotary motion; a linear motor directly

produces force and motion in a straight line.

A DC motor's speed can be controlled over a wide range, using either a variable supply voltage

or by changing the strength of current in its field windings. Small DC motors are used in tools,

toys, and appliances. The universal motor can operate on direct current but is a lightweight motor

used for portable power tools and appliances. Larger DC motors are used in propulsion of electric

vehicles, elevator and hoists, or in drives for steel rolling mills.

https://en.wikipedia.org/wiki/Universal_motor





Figure 0.1 DC Motor Figure 2.2 Power Window Motor

PRINCIPLE AND CONSTRUCTION:

A coil of wire with a current running through it generates an electromagnetic field aligned with

the center of the coil. The direction and magnitude of the magnetic field produced by the coil can

be changed with the direction and magnitude of the current flowing through it.

A simple DC motor has a stationary set of magnets in the stator and an armature with one or more

windings of insulated wire wrapped around a soft iron core that concentrates the magnetic field

and in large motors there can be several parallel current paths with more turns. The ends of the

winding are connected to a commutator which allows each armature coil to be energized in turn

and connects the rotating coils with the external power supply through brushes. (Brushless DC

motors have electronics that switch the DC current to each coil on and off and have no brushes.)

The total amount of current sent to the coil, the coil's size and what it's wrapped around dictate the

strength of the electromagnetic field created.

The sequence of turning a particular coil on or off dictates what direction the effective

electromagnetic fields are pointed. By turning on and off coils in sequence a rotating magnetic

field can be created. These rotating magnetic fields interact with the magnetic fields of the magnets

(permanent or electromagnets) in the stationary part of the motor (stator) to create a force on the

armature which causes it to rotate.

https://en.wikipedia.org/wiki/Electromagnetic

https://en.wikipedia.org/wiki/Stator

https://en.wikipedia.org/wiki/Armature_(electrical_engineering)

https://en.wikipedia.org/wiki/Commutator_(electric)

https://en.wikipedia.org/wiki/Electromagnet





2.2 DC MOTOR TYPES

2.2.1 SHUNT DC MOTOR

A shunt DC motor connects the armature and field windings in parallel or shunt with a common

D.C. power source. This type of motor has good speed regulation even as the load varies, but does

not have the starting torque of a series DC motor. It is typically used for industrial, adjustable

speed applications, such as machine tools and winding/unwinding machines.

2.3.2 SEPARATELY EXCITED MOTOR

The supply is given separately to the field and armature windings which gives a degree of freedom

for controlling the motor over the shunt. The armature current does not flow through the field

windings, as the field winding is energized from a separate external source of dc current.

2.2.3 SERIES MOTOR

The stator and rotor windings are connected in series. Thus, the torque is proportional to current

so it gives the highest torque per current ratio over all other dc motors. It is therefore used in starter

motors of cars and elevator motors.

2.2.4 PERMANENT MAGNET (PMDC) MOTORS

The stator is a permanent magnet, so the motor is smaller in size.

2.2.5 COMPOUNED MOTOR

The stator is connected to the rotor through a compound of shunt and series windings, if the shunt

and series windings add up together, the motor is called cumulatively compounded. If they subtract

from each other, then a differentially compounded motor results, which is unsuitable for any

application.

2.3 PERMANENT MAGNET DC MOTOR

In a PMDC motor, permanent magnets (located in stator) provide magnetic field, instead of stator

winding. Radially magnetized permanent magnets are mounted on the inner periphery of

http://www.electrical4u.com/electric-current-and-theory-of-electricity/






the stator core to produce the field flux. The stator is usually made from steel in cylindrical form.

Permanent magnets are usually made from rare earth materials or neodymium.

When a current carrying conductor comes inside a magnetic field, a mechanical force will be

experienced by the conductor and the direction of this force is governed by Fleming’s left hand

rule. As in a permanent magnet dc motor, the armature is placed inside the magnetic field of

permanent magnet; the armature rotates in the direction of the generated force which is given by

F = B.I.L Newton

where B=magnetic field strength in Tesla (weber / m2)

I=current in Ampere flowing through that conductor and

L= length of the conductor in meter comes under the magnetic field.

Each conductor of the armature experiences a force and the compilation of those forces produces

a torque, which tends to rotate the armature.

. The torque equation of dc motor suggests Tg = Ka φ Ia. Here φ is always constant, as permanent

magnets of required flux density are chosen at the time of construction and can’t be changed

thereafter. For a permanent magnet dc motor Tg = Ka1Ia.

Where Ka1 = Ka.φ which is another constant. In this case, the torque of DC Motor can only be

changed by controlling armature supply.

Rotor is made from layers of laminated silicon steel to reduce eddy current losses. Ends

of armature winding are connected to commutator segments on which the brushes rest.

Commutator is made from copper and brushes are usually made from carbon or graphite. DC

supply is applied across these brushes. The commutator is in segmented form to achieve

unidirectional torque. The reversal of direction can be easily achieved by reversing polarity of the

applied voltage.

As the magnetic field strength of a permanent magnet is fixed it cannot be controlled externally,

field control of this type of dc motor cannot be possible. Thus, permanent magnet dc motor is used

http://www.electrical4u.com/what-is-magnetic-field/

http://www.electrical4u.com/fleming-left-hand-rule-and-fleming-right-hand-rule/

http://www.electrical4u.com/fleming-left-hand-rule-and-fleming-right-hand-rule/





http://www.electrical4u.com/torque-equation-of-dc-motor/

http://www.electrical4u.com/permanent-magnet-dc-motor-or-pmdc-motor/

http://www.electrical4u.com/torque-equation-of-dc-motor/

http://www.electricaleasy.com/2014/01/losses-in-dc-machine.html

http://www.electricaleasy.com/2012/12/armature-winding-of-dc-machine.html






where there is no need of speed control of motor by means of controlling its field.

Advantages:

1. For smaller ratings, use of permanent magnets reduces manufacturing cost.

2. No need of field excitation winding, hence construction is simpler.

3. No need of electrical supply for field excitation, hence PMDC motor is relatively more

efficient.

4. Relatively smaller in size.

5. Cheap in cost.

Disadvantages:

1. Since the stator in PMDC motor consists of permanent magnets, it is not possible to add extra

ampere-turns to reduce armature reaction. Thus, armature reaction is more in PMDC motors.

2. Stator side field control, for controlling speed of the motor, is not possible in permanent

magnet dc motors.

2.4 BATTERY

Figure 0.3 Battery

The storage battery or secondary battery stores electrical energy as chemical energy and this

chemical energy is then converted to electrical energy as and when required. The conversion of

http://www.electricaleasy.com/2013/01/armature-reaction-in-dc-machines.html

http://www.electricaleasy.com/2014/01/speed-control-methods-of-dc-motor.html

http://www.electrical4u.com/battery-history-and-working-principle-of-batteries/






electrical energy into chemical energy by applying external electrical source is known as charging

of battery whereas conversion of chemical energy into electrical energy for supplying the external

load is known as discharging of the secondary battery . During charging of battery ,

current is passed through it causing chemical changes inside the battery which absorb energy

during their formation. When the battery is connected to the external load, these changes take place

in reverse direction, during which the absorbed energy is released as electrical energy and supplied

to the load.

The lead–acid battery is the oldest type of rechargeable battery. Despite having a very low

energy-to-weight ratio and a low energy-to-volume ratio, its ability to supply high surge

currents means that the cells have a relatively large power-to-weight ratio. These features, along

with their low cost, makes it attractive for use in motor vehicles to provide the high current required

by automobile starter motors.

Large-format lead–acid designs are widely used for storage in backup power supplies in cell

phone towers, high-availability settings like hospitals, and stand-alone power systems. For these

roles, modified versions of the standard cell may be used to improve storage times and reduce

maintenance requirements. Gel-cells and absorbed glass-mat batteries are common in these roles,

collectively known as VRLA (valve-regulated lead–acid) batteries.

2.5 COMPONENTS DESCRIPTION

2.5.1 TRANSISTOR

A transistor is a semiconductor device used to amplify or switch electronic signals and electrical

power. It is composed of semiconductor material with emitter, base and collector terminals for

connection to an external circuit. Today, some transistors are packaged individually, but many

more are found embedded in integrated circuits.

The BC548 is a general-purpose NPN bipolar junction transistor .The BC548 is low in cost and

widely available.







https://en.wikipedia.org/wiki/Rechargeable_battery

https://en.wikipedia.org/wiki/Surge_current

https://en.wikipedia.org/wiki/Surge_current

https://en.wikipedia.org/wiki/Power-to-weight_ratio

https://en.wikipedia.org/wiki/Automobile_self_starter

https://en.wikipedia.org/wiki/Cell_phone

https://en.wikipedia.org/wiki/Cell_phone

https://en.wikipedia.org/wiki/Stand-alone_power_system

https://en.wikipedia.org/wiki/VRLA_battery

https://en.wikipedia.org/wiki/Semiconductor_device

https://en.wikipedia.org/wiki/Electronic_amplifier

https://en.wikipedia.org/wiki/Switch

https://en.wikipedia.org/wiki/Electronics

https://en.wikipedia.org/wiki/Electrical_power

https://en.wikipedia.org/wiki/Electrical_power

https://en.wikipedia.org/wiki/Semiconductor

https://en.wikipedia.org/wiki/Integrated_circuit

https://en.wikipedia.org/wiki/NPN_transistor

https://en.wikipedia.org/wiki/Bipolar_junction_transistor





Because a transistor’s collector current is proportionally limited by its base current, it can be used

as a current-controlled switch in either ‘on’ state or ‘off’ state. A relatively small flow of electrons

sent through the base of the transistor has the ability to exert control over a much larger flow of

electrons through the collector. They are used for high-power applications such as switched-mode

power supplies and for low-power applications such as logic gates.

2.5.2 RELAY

Figure 0.4 Relays

A relay is an electrically operated switch which uses an electromagnet to mechanical operation.

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.

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".

Magnetic latching relays require one pulse of coil power to move their contacts in one direction,

and another, redirected pulse to move them back. Repeated pulses from the same input have no

effect. Magnetic latching relays are useful in applications where interrupted power should not be

able to transition the contacts.

https://en.wikipedia.org/wiki/Switched-mode_power_supply

https://en.wikipedia.org/wiki/Switched-mode_power_supply

https://en.wikipedia.org/wiki/Logic_gates

https://en.wikipedia.org/wiki/Electric

https://en.wikipedia.org/wiki/Switch

https://en.wikipedia.org/wiki/Electromagnet

https://en.wikipedia.org/wiki/Protective_relay





2.5.3 RF TRANSMITTER AND RECEIVER

Figure 2.5 RF transmitter and Receiver

Description:

The RF module, as the name suggests, operates at Radio Frequency. In this RF system, the digital

data is represented as variations in the amplitude of carrier wave. This kind of modulation is known

as Amplitude Shift Keying (ASK).

Transmission through RF is better than IR (infrared) because of many reasons. Firstly, signals

through RF can travel through larger distances making it suitable for long range applications. RF

signals can travel even when there is an obstruction between transmitter & receiver. Next, RF

transmission is more strong and reliable than IR transmission. RF communication uses a specific

frequency unlike IR signals which are affected by other IR emitting sources.

This RF module comprises of an RF Transmitter and an RF Receiver. The transmitter/receiver

(Tx/Rx) pair operates at a frequency of 434 MHz An RF transmitter receives serial data and

transmits it wirelessly through RF through its antenna connected at pin4. The transmission occurs

at the rate of 1Kbps - 10Kbps.The transmitted data is received by an RF receiver operating at the

same frequency as that of the transmitter.





CHAPTER 3

BLOCK DIAGRAM

Figure 0.1 Block Diagram of Transmitter

Battery:

A 9V battery is used to supply power to the controller.

Controller:

The controller is Arduino Uno ATmega328PU processor.

User Interface:

It consists of push buttons to control the movement of robot and sprayer.

Transmitter:

A 433 MHz transmitter sends the signal to the receiver through an antenna.





Figure 0.2 Block Diagram of Receiver

Battery:

The battery used is 12V 42 AH which supplies power to the control circuit and to the motors.

Receiver:

It receives the signals from the transmitter circuit.

Control Unit:

It consists of Arduino Uno ATmega328PU which is used to control the motors for climbing

the trees and to move the stepper motor attached to the nozzle for spraying.

Motor Driving Unit:

It consists of ULN2803 IC and 12 V relays connected in H-Bridge fashion to drive the DC motors

in clockwise and anti-clockwise direction.

Movable Arm:

The Movable arm consists of two 12V 100 RPM DC motors attached with the nozzle to spray





pesticide to the Arecanut.

Motor:

A 12V High Torque DC motor with gears which is attached to the rollers and used to climb the

tree.

Sprayer:

The sprayer sprays the pesticide in fine droplets with high speed at the Arecanut branch.

Climbing wheel:

The wheels are conical in shape and are in contact with the tree. For better grip, it is covered with

rubber.





CHAPTER 4

MECHANICAL FABRICATION

4.1 FRAME

The robot consists of an ‘X’ frame. At bottom of the robot two conical rollers are placed which is

connected to two motors. The material used is stainless steel and the robot weighs 8 Kgs.

Figure 4.1 Assembled View of robot Figure 4.2 Picture of robot





4.2 ROLLERS

This is the part of the robot which will be in direct contact with the tree. The wooden rollers are

connected to the shaft of the DC motors and are rotated by supplying powers these motors. The

robot ascends to the required height to perform the required job. By rotating the rollers in opposite

direction, the robot is made to descend. The diameter of the rollers is 9 cm and length is 20 cm.

To create friction between the rollers and the tree, the rollers are covered with rubber. Generally,

for gripping purpose natural rubber is used. For special purpose and working in very hot

temperatures Nitryle rubber is used. The rubber used for rollers are made from natural rubber. The

Natural Rubber is having high carbon contents which will give the rollers tight bonding nature and

having the ability of high resistance to wear and tear.

Figure 4.3 Wooden Rollers Figure 4.4 Roller covered with rubber





4.3 CALCULATIONS

4.3.1 FORCE CALCULATION

Weight of the machine, W = 8 kgs

W = 8 x 9.81

W = 78.48 N

Assuming Co-efficient of friction between tree and rubber

grip, µ = 0.3

Actual Force to be lifted, F=W/µ

F= 78.48/0.3

F = 261.6 N

4.3.2 TORQUE CALCULATION

Calculating motor torque,

Torque [Nm] = Mass [Kg] × g × Radius [m]

Torque = 8 × 9.81 × 0.045

= 3.5316 Nm.

= (3.5316 × 100) / 9.81

= 36 kg cm.

4.3.3 POWER CALCULATION

Power= (F×v)

where, v = (π×D×N)/60

= (πx0.09x75)/60

= 0.353m/s.

= 261.6 x 0.353

= 92.345 W





4.4 CLIMBING MECHANISM AND WORKING

The Arecanut tree climber and pesticide sprayer works on the basic principle of friction. The robot

consists of an ‘X’ frame with two rollers at the bottom. One face of the frame is open and is placed

around the tree. Springs are used to grip the robot to the tree as the size of the tree varies. The robot

is supplied power through a 12V, 42Ah battery. A remote is used to control the motor. When the

power is switched ON, the motor rotates the rollers. Due to the friction between the rollers and

tree, the robot ascends along the length of the tree without causing any damage to the tree. When

the robot reaches the required height, it stays there without slipping. The tension of the spring

retains the robot at the required height. Once the robot reaches the required height the motors are

stopped by the remote control. The movable arm is capable of rotating at an angle of 360 degrees.

The nozzle mounted on the movable arm sprays pesticide to the arecanut branch of the tree which

it has climbed and also to the adjacent trees. A solenoid valve is used to remotely stop or resume

the flow of pesticide. After spraying pesticide is completed the robot descends down the by rotating

the rollers in opposite direction. After the robot reaches the ground, it is removed from that tree

and attached to another tree for spraying.





CHAPTER 5

CONTROLLER CIRCUIT

5.1 ARDUINO

Arduino UNO has USB interface. The chip on the board plugs straight into your USB port and

registers on your computer as a virtual serial port. This allows you to interface with it as through

it were a serial device. The benefit of this setup is that serial communication is an extremely easy

(and time-tested) protocol, and USB makes connecting it to modern computers really convenient.

Figure 5.1 Arduino UNO Programmer

Very convenient power management and built-in voltage regulation. It is possible to connect an

external power source of up to 12v and it will regulate it to both 5v and 3.3v. It also can be powered

directly off of a USB port without any external power. It has countless number of nice hardware

features like timers, PWM pins, external and internal interrupts, and multiple sleep modes.

A 16 MHz clock. This makes it not the speediest microcontroller around, but fast enough for most

applications.32 KB of flash memory for storing your code. 13digital pins and 6 analog pins.





These pins allow the user to connect external hardware to the Microcontroller. These pins are

key for extending the computing capability of the Microcontroller into the real world. Simply

plug the devices and sensors into the sockets that correspond to each of these pins.

Figure 5.1 Pin Diagram of Atmega328

The high-performance, low-power Atmel 8-bit AVR RISC-based microcontroller combines 16KB

ISP flash memory, 1KB SRAM, 512B EEPROM, an 8-channel/10-bit A/D converter (TQFP and

QFN/MLF), and debug WIRE for on-chip debugging. The device supports a throughput of 20

MIPS at 20 MHz and operates between 2.7-5.5 volts.

By executing powerful instructions in a single clock cycle, the device achieves throughputs

approaching 1 MIPS per MHz, balancing power consumption and processing speed.





5.2 L293D MOTOR DRIVER IC

Figure 5.2 L293D pin diagram

5.2.2 L293D PIN DESCRIPTION: -

Table 5.1 Pin description of L293D IC





5.2.3 WORKING: -

L293D is a typical Motor Driver IC which allows DC motor to drive on either direction. L293D is

a 16-pin IC which can control a set of two DC motors simultaneously in any direction. It means

that you can control two DC motor with a single L293D IC.

There are 4 input pins for l293d, pin 2,7 on the left and pin 15 ,10 on the right as shown on the pin

diagram. Left input pins will regulate the rotation of motor connected across left side and right

input for motor on the right-hand side. The motors are rotated on the basis of the inputs provided

across the input pins as LOGIC 0 or LOGIC 1.

5.3 ULN2803 RELAY DRIVER IC: -

Figure 5.4 Pin Diagram of ULN 2803 IC

http://www.rakeshmondal.info/High-Torque-Motor-Low-RPM-Motor





5.3.1 PIN DESCRIPTION: -

Pin No

Function Name

1 Input for 1st channel Input 1

2 Input for 2nd channel Input 2

3 Input for 3rd channel Input 3

4 Input for 4th channel Input 4




8 Ground (0V) Ground

9 Common freewheeling diodes Common

10 Output for 7th channel Output 7




14 Output for 3rd channel Output 3

15 Output for 2nd channel Output 2

16 Output for 1st channel Output 1

Table 5.2 Pin Description of ULN2803 IC

5.3.2 DESCRIPTION: -

The ULN2803A device is a 50 V, 500 mA Darlington transistor array. The device consists of eight

NPN Darlington pairs that feature high-voltage outputs with common-cathode clamp diodes for

switching inductive loads. The collector-current rating of each Darlington pair is 500 mA. The

Darlington pairs may be connected in parallel for higher current capability. Applications include

relay drivers, hammer drivers, lamp drivers, display drivers (LED and gas discharge), line drivers,

and logic buffers. The ULN2803A device has a 2.7-kΩ series base resistor for each Darlington

pair for operation directly with TTL or 5-V CMOS devices.

5.3.3 WORKING: -

The ULN2803 IC consists of eight NPN Darlington pair which provides the proper current

amplification required by the loads. We all know that the transistors are used to amplify the current

but here Darlington transistor pairs are used inside the IC to make the required amplification.





Figure 5.5 An ‘NPN’ Darlington Pair

A Darlington pair is two transistors that act as a single transistor providing high current gain. In

this pair, the current amplified by the first transistor is further amplified by the next transistor

providing high current to the output terminal.

When no base voltage is applied that when is no signal is given to the input pins of the IC, there

will be no base current and transistor remains in off state. When high logic is fed to the input both

the transistors begin to conduct providing a path to ground for the external load that the output is

connected. Thus, when an input is applied corresponding output pin drops down to zero there by

enabling the load connected to complete its path.

5.4 SOLENOID VALVE

A solenoid valve is an electromechanical controlled valve. The valve features a solenoid, which is

an electric coil with a movable ferromagnetic core in its centre. This core is called the plunger. In

rest position, the plunger closes off a small orifice. An electric current through the coil creates a

magnetic field. The magnetic field exerts a force on the plunger. As a result, the plunger is pulled

toward the centre of the coil so that the orifice opens. This is the basic principle that is used to

open and close solenoid valves.

Solenoid valves are amongst the most used components in gas and liquid circuits. The number of

applications is almost endless. Some examples of the use of solenoid valves include heating

https://tameson.com/central-heating.html

http://gadgetronicx.com/wp-content/uploads/2014/09/03108.png





systems, compressed air technology, industrial automation, swimming pools, sprinkler systems,

washing machines, dental equipment, car wash systems and irrigation systems.

Figure 5.6 Solenoid Valve

5.5 TIP122 TRANSISTOR

Figure 5.7 TIP122 transistor

https://tameson.com/central-heating.html

https://tameson.com/compressed-air-valves.html

https://tameson.com/car-wash.html

https://tameson.com/irrigation.html





5.5.1 WORKING: -

A Darlington pair behaves like a single transistor with a high current gain (approximately the

product of the gains of the two transistors]). In fact, integrated devices have three leads (B, C, and

E), broadly analogous to those of a standard transistor.

A general relation between the compound current gain and the individual gains is given by:

βDarlington = β1 . β2 + β1

If β1 and β2 are high enough (hundreds), this relation can be approximated with:

βDarlington = β1 . β2





CHAPTER 6

AUTOMATIC BATTERY CHARGING CIRCUIT

Figure 6.1 Automatic battery charging circuit diagram

The above circuit mainly involves two sections – power supply section and load comparison

section. The main supply voltage 230V, 50Hz is connected to the primary winding of the centre

tapped transformer to step down the voltage to 15-0-15V.The output of the transformer is

connected to the Diodes D1, D2. Here diodes D1, D2 are used to convert low AC voltage to

pulsating DC voltage. This process is also called as rectification. The pulsating DC voltage is

applied to the 470uF capacitor to remove the AC ripples. Thus, the output of the capacitor is

unregulated DC voltage. This unregulated DC voltage is now applied to the LM317 variable

voltage regulator to provide regulated DC voltage.

The output voltage of this voltage regulator is variable from 1.2V to 37V and the maximum output

current from this IC is 1.5A. The output voltage of this voltage regulator is varied by varying the

pot 10k which is connected to the adjust pin of LM317.





LM317 voltage regulator output is applied to the battery through the diode D5 and resistor R5.

Here diode D5 is used to avoid the discharge of battery when main supply fails. When battery

charges fully, the Zener diode D6 which connected in reverse bias conducts. Now base of BD139

NPN transistor gets the current through the Zener so that the total current is grounded. In this

circuit, green LED is used for indicating the charge of the battery. Resistor R3 is used to protect

the green LED from high voltages.

6.1 COMPONENTS USED

1. IC LM317

2. Transistor BD 139

3. Diode (6A4 x3 ,1N4007)

4. Zener diode (11.0V)

5. LED (Red, Green)

6. Capacitor (470F,25V)

7. Resistor (1K x 2, 100 , 2.2K , 240 )

8. 10KPotentiometer

9. Relay 12V,10A

6.2 WORKING

• If the battery voltage is below 12V, then the current from LM317 IC flows through the

resistor R5 and diode D5 to the battery. At this time, Zener diode D6 will not conduct

because battery takes all the current for charging.

• When the battery voltage rises to 13.5V, the current flow to the battery stops and Zener

diode gets the sufficient breakdown voltage and it allows the current through it.

• Now the base of the transistor gets the sufficient current to turn on so that the output current

from LM317 voltage regulator is grounded through the transistor Q1. As a result, Red LED

indicates the full of charge.





6.3 IC DESCRIPTION

Figure 6.2 LM317 pin diagram

The LM317 Voltage Regulator is a 3-terminal adjustable voltage regulator which can supply an

output voltage adjustable from 1.2V to 37V. It requires only two external resistors to set the output

voltage. The device features a typical line regulation of 0.01% and typical load regulation of 0.1%.

It includes current limiting, thermal overload protection, and safe operating area protection.

Overload protection remains functional even if the ADJUST terminal is disconnected. It can

supply more than 1.5A of load current to a load.

Pin 1 (Adjustable):

The Adjustable pin (Adj) is the pin which allows for adjustable voltage output. To adjust output,

we rotate the knob of the potentiometer which creates adjustable voltages.

Pin 2 (Vout):

Vout is the pin which outputs the regulated voltage. For example, the LM317 may receive 12V as

the input and output a constant 10V as output.

Pin 3 (Vin):

http://www.learningaboutelectronics.com/Articles/What-is-an-adjustable-voltage-regulator





Vin is the pin which receives the incoming voltage which is to be regulated down to a specified

voltage. For example, the input voltage pin can be fed 12V, which the regulator will regulate down

to10V.





CHAPTER 7

RESULTS AND DISCUSSION

7.1 RESULTS

This is the most suitable robot for spraying pesticide to the arecanut. The robot is attached and

removed from the tree easily. After the robot has been attached, springs are used to fix the robot

firmly to the tree. The robot operates on 12V 42 Ah battery and climbs the required height very

quickly. Once the robot reaches the required height it stays there without slipping. The sprayer

covers a wide angle and sprays pesticide to the arecanut bunch on the nearby tree up to a radius of

15 to 20 metres. After spraying is done it smoothly descends the tree. This robot reduces the time

and also dependence on labour. A solenoid valve is used to stop or resume the flow of pesticide.

All the above functions of the robot are controlled by remote.

Figure 7.1 Robot climbing the tree





7.2 ADVANTAGES

1. This project aims at replacing conventional methods of spraying, which are dependent on

labourers, with a more cost effective and environment friendly system, dependent on

electricity.

2. The robot is compact.

3. The robot is user friendly and a person with little technical knowledge can assemble it in

an ordinary workshop.

4. It reduces time and dependence on labour.

5. This is the most suitable machine without man climbing on the tree.

6. This robot is attached and removed easily to the tree.

7. This robot is operated from a safe distance without exposing the farmer to the harmful

effects of pesticide.





CHAPTER 8

CONCLUSION AND FUTURE SCOPE

8.1 CONCLUSION

I. Arecanut tree climber and pesticide sprayer is a unique model which serves as a great help

and boon to arecanut farmers.

II. The arecanut tree climber and pesticide sprayer has been tested on an arecanut tree with

satisfactory results.

III. The innovative component of the developed robot is the ‘X’ frame with two conical rollers

at the bottom and the ability of the sprayer to spray pesticide with a good level of accuracy

without wasting pesticide solution.

IV. Arduino Uno is used for programming which is a cost-effective device.

V. A farmer with little or no technical knowledge can easily operate the robot from the ground

with a remote control.

VI. The project concludes that the arecanut tree climber and pesticide sprayer is a safe, reliable,

efficient robot and reduces the risk involved in manual climbing and spraying to a great

extent.

8.2 FUTURE SCOPE

The future improvements for this project is as follows: -

I. Adding a nut cutter.

II. Lowering the weight.

III. Computer vision can be added to identify the healthy arecanut.

IV. The process of spraying pesticide can also be made fully automatic using image

processing sensor.

V. Wheels with better frictional co-efficient can be designed.





REFERENCES

[1] Design and Fabrication of Arecanut Tree Climbing and Spraying Machine, Mr. M Tony, St.

Joseph Engineering College, Vamanjoor.

[2] Remote Controlled Tree Climbing Machine for Arecanut Tree, Mr. Chandrakanth Shenoy K,

Canara Engineering College, Bantwal

[3] Arecanut Tree Climber, Mr. Akshay Kumar

[4] https://en.wikipedia.org/wiki/Areca_nut_production_in_India.

[5] https://en.wikipedia.org/wiki/Areca_nut.

[6] Commodity: Areca Nut". crnindia.com

[7] K. R. Sullivan, 12-volt Lead Acid Battery basics.

[8] S. o. L.-V. Ltd, "PERMANENT MAGNET DC MOTOR," in RENEWABLE ENERGY, Canada,

Lab-Volt Ltd, 2011.

[9] Arecanut Area, production and productivity in India". Directorate of Arecanut and Spices

Development.

[10] http://www.krishisewa.com/articles/production-technology/61-arecanut.html

[11] http://srinidhifarm.com/tips_arecanut.php

https://en.wikipedia.org/wiki/Areca_nut_production_in_India

https://en.wikipedia.org/wiki/Areca_nut

http://crnindia.com/commodity/arecanut.html

http://dasd.gov.in/index.php/statistics.html

http://www.krishisewa.com/articles/production-technology/61-arecanut.html

Documents

ARECANUT TREE CLIMBER AND PESTICIDE SPRAYER · 2017-08-28 · ARECANUT TREE CLIMBER AND PESTICIDE SPRAYER Jnanesh Bekal Jnanasagar Kamath Manjunath K Nixon D’Souza DEPARTMENT OF