A SYSTEM AND A METHOD THEREOF TO CONTROL A
ROBOTIC MACHINE FOR CLIMBING AND HARVESTING
COCONUT TREES USING MOBILE DEVICE
BACKGROUND
Technical Field
[0001] The embodiments herein generally relate to a coconut tree climbing and
harvesting machine. Specifically, the embodiments described herein relate to a system and a method thereof to control a robotic machine for climbing coconut trees and harvesting coconuts using a mobile device.
Description of the Related Art
[0002] Coconut harvesting plays an important role in the economy because of its
domestic, commercial and industrial uses. The productivity of coconuts has been increasing significantly year by year since coconut is formed as the main ingredient in many dishes. Also other parts of the coconut, like coconut husk, are used in the coir industry, kernel is used for making oil and the hard shell is used for making charcoal. Handicraft works can also be carried out using coconut husks and shells. Coconut tree leaves are used to prepare brooms and also people utilize coconut leaves for roofing their homes.
[0003] Commonly, human resources are utilized to climb the coconut trees for
plucking and cutting the coconuts. But, there is a major risk in climbing the tree due to the constant cylindrical structure and single trunk. Traditionally coconut plucking was

carried out by a set of people who had less opportunity for education and economy, but were particularly skilled in this trade. As literacy rates are increasing day-by-day, no one wants to take up this job. So the percentage of population taking up coconut plucking as their means of living is steadily decreasing. Hence, coconut harvesting becomes a huge challenge for the agricultural industry. Moreover, the ratio of coconut trees and persons climbing up the trees is in large variation, and this creates an increasing demand for coconuts with a decreasing percentage of manual cutters.
[0004] In prior arts, attempts have been made to develop coconut climbing
machines which can allow the person to use and carry the machine to climb on the coconut trees. However, the existing coconut climbing machine suffers from requirement of a person to climb on the tree with the help of such machines.
[0005] To solve the problem associated with the known coconut climbing machine,
remote controlled coconut harvesting machines have been developed. These machines are provided with a long retractable arm, which has a cutting device at one end and a twisting device at the other end. Though this machine can be connected to the coconut tree and detached from the coconut tree easily, it also suffers from many drawbacks. A main drawback is that all the parts are made from mechanical joints as well as pneumatic actuators to make the movements, thus it makes it cumbersome as well as reduces the lifetime of the machine. Further, it has been observed that such machines have less accuracy for the arm positioning in order to cut the coconuts.
[0006] Therefore, there exists a need in the prior art to build a wireless, minimum
cost and eco-friendly machine which not only overcomes the problems associated with the prior art machines, but also provides a flexible robotic arm that mimics a human arm

for ease and accuracy of cutting and plucking of coconuts. Further, it should provide a robotic and simple mechanism which can be controlled remotely using a mobile device, to climb on the tree and cut the coconuts and other parts of coconuts trees.
OBJECTS OF THE INVENTION
[0007] Some of the objects of the present disclosure are described herein below:
[0008] A main object of the present invention is to provide a system and a method
thereof to control a robotic machine for climbing coconut trees and harvesting coconuts using a mobile device.
[0009] Another object of the present invention is to provide a system to control the
movement of the robotic machine in one degree of freedom (DOF) using mobile device. [00010] Still another objects of the present invention is to provide a system to control the movement of the robotic machine in two DOF using mobile device. [00011] Yet another object of the present invention is to provide a system to control the movement of the robotic machine in three DOF using mobile device. [00012] Another object of the present invention is to provide a system to control the movement of the robotic machine in fourth DOF using mobile device. [00013] The other objects and advantages of the present invention will be apparent from the following description when read in conjunction with the accompanying drawings, which are incorporated for illustration of preferred embodiments of the present invention and are not intended to limit the scope thereof.
SUMMARY [00014] In view of the foregoing, an embodiment herein provides a system and a method for controlling a robotic machine to climb coconut trees and to harvest coconuts.

The system for controlling a robotic machine to climb coconut trees and to harvest coconuts may include an mobile App interface module provided in a mobile device that includes, a connectivity module configured for connecting the mobile device with a robotic machine unit, plurality of modules to control a robotic machine unit; wherein the robotic machine unit includes a robotic body unit and a robotic arm unit; and a wireless means for connecting the mobile device with a ground station of the robotic machine unit; wherein the mobile App configured to connect the robotic machine unit through the ground station and operable using plurality of modules provided in the interface. [00015] According to an embodiment, the machine unit comprises a robotic arm, a robotic body and a base rod connecting the robotic arm and robotic body. The robotic arm may include plurality of servomotors, a wireless camera, DC motors to operate the servomotors and a cutter. Further, the robotic arm may include an arm unit, a control unit and a processing unit, wherein the arm unit consists of base rod, links, joints, motors, joint detecting sensors, end effecter and cutter, wherein the control unit consists of a microcontroller, motor drivers, actuators, joint detecting sensors, power unit, wireless interface, wherein the processing unit can allow the operator to program and control the actuator accordingly. The robotic body may include a circular body, plurality of wheels, plurality of torsion spring, and a channel for the circular motion of the arm. Further, the robotic machine may include a rechargeable battery or power supply for operating DC motors and servomotors. The wheels are provided inside the circular body to hold and climb the machine unit on the trunk of coconut tree.
[00016] According to an embodiment, the machine unit is controlled from the ground station using a mobile based control. The ground station may include a wireless

module, camera output module and a power management module. The wireless camera
captures video in the vicinity of the cutter and transmits the video to the ground station
for displaying to the operator. Based on the video, the operator at the ground station can
command/operate the machine unit and perfectly position the cutter to cut the coconut.
[00017] According to an embodiment, the plurality of modules to control the
robotic body unit includes, an upward movement module configured for moving the
robotic body unit in upward direction; and a downward movement module configured for
moving the robotic body unit in downward direction. The plurality of modules to control
the robotic body unit further includes, a right side movement module configured for
moving the robotic body unit right side direction; a left side movement module
configured for moving the robotic body unit left side direction; and a stop movement
module configured for stopping the robotic body unit immediately at desired position.
[00018] According to an embodiment, the plurality of modules to control the
robotic arm unit includes, a one degree movement module configured for moving a base of a robotic arm in right and left direction separately at one degree of freedom; a two degrees movement module configured for moving the joint that connects a base and a cutter part of the robotic arm unit both in right and left side direction separately at two degrees of freedom; a three degrees movement module configured for moving the robotic arm unit that is connected to a cutter in right or left direction separately at three degrees of freedom; and a fourth degrees movement module configured for rotating the cutter the robotic arm unit in 180° at fourth degrees of freedom.
[00019] According to an embodiment, the method for controlling a robotic
machine unit for climbing coconut trees and harvesting coconuts using a mobile App
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comprising the step of, scanning for a nearby mobile device for climbing and harvesting the coconut tree; connecting the mobile device for climbing and harvesting the coconut tree; displaying the options for controlling the robotic machine unit in the mobile App interface; checking the selected option; and sending control signals to the machine unit for performing an action according to the option selected. The options includes movement of robotic body unit in upward, downward, right side, left side direction and hold-on position or stop the robotic body unit. The options further includes one degree movement of arm unit in left side direction or in right side direction, two degrees movement of arm unit in left side direction or in right side direction, three degrees movement of arm unit in left side direction or in right side direction and four degrees movement of arm unit in 180° angular rotation.
[00020] These and other aspects of the embodiments herein will be better appreciated and understood when considered in conjunction with the following description and the accompanying drawings. It should be understood, however, that the following descriptions, while indicating preferred embodiments and numerous specific details thereof, are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the embodiments herein without departing from the spirit thereof, and the embodiments herein include all such modifications.
BRIEF DESCRIPTION OF THE DRAWINGS [00021] The detailed description is set forth with reference to the accompanying figures. In the figures, the left-most digit(s) of a reference number identifies the figure in
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which the reference number first appears. The use of the same reference numbers in
different figures indicates similar or identical items.
[00022] Fig. 1.1 illustrates a schematic diagram of a robotic machine for climbing
coconut trees and harvesting coconuts, in accordance with an example embodiment
herein;
[00023] Fig. 1.2 illustrates a schematic diagram of a robotic machine for climbing
coconut trees and harvesting coconuts with an extendible link connecting the robotic arm
and the robotic body, in accordance with an example embodiment herein;
[00024] Fig. 2 illustrates a block diagram for architecture of a robotic machine for
climbing coconut trees and harvesting coconuts using a mobile device, according to an
embodiment herein;
[00025] Fig. 3 illustrates schematic diagram of a mobile App for controlling the
robotic arm, according to an embodiment herein;
[00026] Fig. 4 illustrates mobile App based control method for controlling the
robotic arm, according to an embodiment herein; and
[00027] Fig. 5 illustrates a mobile App interface in a smartphone for controlling the
robotic arm, according to an exemplary embodiment herein.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS [00028] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are
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intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[00029] As mentioned above there is a need to provide a robotic machine for climbing coconut trees and harvesting coconuts that can be controlled by a mobile device. The embodiments herein achieve this by providing a system and a method thereof to control a robotic machine having a flexible robotic arm which can enable an operator to operate the robotic machine for climbing coconut trees and harvesting coconuts. Referring now to the drawings, and more particularly to FIGS. 1 through 5, where similar reference characters denote corresponding features consistently throughout the figures, there are shown preferred embodiments.
[00030] It is to be noted that even though the description of the invention has been explained for a coconut tree, it should, in no manner, be construed to limit the scope of the invention. The robotic machine of the invention can be used with any trees including palm tree, areca nut tree, mango tree, and any tree having slightly straight trunk. [00031] In accordance with an embodiment, the robotic machine may include a machine unit and a ground station, wherein the machine unit comprises a robotic arm, a robotic body and a base rod connecting the robotic arm and robotic body. The robotic arm may include a plurality of servomotors, a wireless camera, and DC motors. Further, the robotic arm may include an arm unit, a control unit and a processing unit, wherein the arm unit consists of base rod, links, joints, motors, joint detecting sensors and end effecter, wherein the control unit consists of a microcontroller, motor drivers, actuators,
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joint detecting sensors, power unit, wireless interface, wherein the processing unit can allow the operator to program and control the actuator accordingly. The robotic body may include a circular body, plurality of wheels, plurality of torsion springs, and a channel for the circular motion of the arm. The wheels are provided inside the circular body to hold and climb the machine unit on the trunk of coconut tree. Further, the robotic machine may include a rechargeable battery or power supply for operating DC motors and servomotors.
[00032] According to an embodiment, the machine unit is controlled from the ground station using at least one of the following control methods, wherein the machine unit includes a joy stick, glove based control, gesture based control, mobile based control and voice control. The camera captures video in the vicinity of cutter, and transmits the video to the ground station for displaying to the operator, and based on the video, the operator at ground station can command/operate the machine unit and perfectly position the cutter to cut the coconut.
[00033] Fig. 1.1 illustrates a schematic diagram 100a of a robotic machine for climbing coconut trees and harvesting coconuts, according to an embodiment. The robotic machine includes a machine unit 100a and a ground station unit, wherein the machine unit 100a comprises a robotic arm unit 102 fixed on a base rod, and a robotic body unit 116 connected to the robotic arm unit using the base rod. The robotic arm unit 102 comprises an arm unit 102a and a control unit, wherein the arm unit consists of base rod, links, joints, motors, actuators, joint detecting sensors and end effecter. The control unit consists of microcontroller, motor drivers, joint detecting sensors, power unit, wireless interface and a processing unit that allows an operator 118 to program the
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machine 100a and control the actuators accordingly. Further, the robotic arm unit 102 includes a wireless camera 101, a DC motor 103, a cutter 104 and servo motors 105,106,107,108. The wireless camera 101 can be attached to the flexible arm unit 102a of a machine which is used to capture the live video of the coconut position and pass the video to the ground station using a transmitter in the wireless camera 101. The cutter 104 can be placed close to the wireless camera 101 to provide a better view of orientation of the coconut to the operator 118 to cut the coconuts and the cutter 104 is driven by high rpm DC motor 103. A contact sensor 119 can be attached to the frame connecting the cutter 104 for sensing the collision of an object such as coconut. The servo motors 105,106,107,108 can be placed at the joints of the arm 102a for the flexible twisting of the robotic arm unit 102.
[00034] According to an embodiment, the robotic body unit 116 includes a plurality of DC motors 109, a plurality of torsion springs 110, plurality of wheels 111, a circular body 112, a battery 113, a space 114 for placing battery and circuits, and a channel 115 for the circular motion of arm. The torsion spring 110 can be a flexible elastic object that can store mechanical energy when it is twisted in order to support the robotic body unit 116 with the trunk of tree for climbing. The wheels 111 provided in the circular body 112 can enable to climb on the coconut tree 117 up and down, wherein the wheels 111 are driven by DC motors 109. The robotic body unit 116 and the robotic arm unit 102 can be connected using a base rod on which the flexible arm unit 102a is placed. The base rod enables the flexible arm unit 102a to rotate about circumference of the coconut tree 117 trunk to chop-off/cut coconuts hanging at any orientation. The channel for circular motion of hand 115 can be used for supporting the robotic body unit 116 in a circular
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motion for climbing on the coconut tree 117. In an embodiment, the power supply for DC motors and servomotors can be from the 230V A/C mains or via a rechargeable battery 113.
[00035] In an example embodiment, the robotic machine100a for climbing coconut trees 117 and harvesting coconuts can also be used for cleaning tree tops as there can be old leafs and/or infected leafs present at the top of the tree can bring hazard at any time by falling down on people below the tree. The operator 118 at the ground station can operate the cutter 104 by viewing the video received in the display from the transmitter of the wireless camera 101 in order to cut the old leafs and/or infected leafs. [00036] In an example embodiment, the robotic machine100a for climbing coconut trees 117 and harvesting coconuts can also be used for spraying pesticides to the infected leafs and/or to all of the leafs for specific seasonal periods. The robotic arm unit 102 can carry the pesticide and the operator 118 at the ground station can operate the machine unit 100a with the help of the video obtained from the wireless camera 101 for spraying pesticides.
[00037] Fig. 1.2 illustrates a schematic diagram 100b of a robotic machine for climbing coconut trees and harvesting coconuts with an extendible link connecting the robotic arm and the robotic body, according to an embodiment. In an embodiment, the robotic machine includes a machine unit 100a and a ground station unit, wherein the machine unit 100a comprises a robotic arm unit 102b and a robotic body unit 110b. An extendible link connects the robotic arm 102b and the robotic body 110b. The robotic arm unit 102b comprises an arm unit and a control unit, wherein the arm unit consists of base rod, links, joints, motors, actuators, joint detecting sensors and end effecter. The
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control unit consists of microcontroller, motor drivers, joint detecting sensors, power unit, wireless interface and a processing unit that allows an operator 118 to program the machine 100a and control the actuators accordingly. Further, the robotic arm unit 102b includes a wireless camera 101b, a DC motor 103b and a cutter 104b. The wireless camera 101b can be attached to the flexible arm unit of a machine which is used to capture the live video of the coconut position and pass the video to the ground station using a transmitter in the wireless camera 101b. A contact sensor 111b can be attached to the frame connecting the cutter 104 for sensing the collision of an object such as a coconut. The cutter 104b can be placed close to the wireless camera 101b to provide a better view of orientation of the coconut to the operator 118 to cut the coconuts and the cutter 104b is driven by high rpm DC motor 103b. The servo motors can be placed at the joints of the robotic arm unit 102b for the flexible twisting of the robotic arm unit 102b. [00038] According to an embodiment, the robotic body unit 110b includes plurality of DC motors 105b, plurality of torsion springs 106b, plurality of wheels 107b, a circular body 108b and a channel 109b for the circular motion of arm. The torsion spring 106b can be a flexible elastic object that can store mechanical energy when it is twisted in order to support the robotic body unit 110b with the trunk of tree for climbing. The wheels 107b provided in the circular body 108b can enable to climb on the coconut tree 117 up and down, wherein the wheels 107b are driven by DC motors 105b. The arm unit 102a can rotate about circumference of the coconut tree 117 trunk to chop-off/cut coconuts hanging at any orientation. The channel for circular motion of hand 109b can be used for supporting the robotic body unit 110b in a circular motion for climbing on the coconut tree 117.
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[00039] In an embodiment, the machine unit 100a is the most important part of the robotic machine for climbing coconut trees and harvesting coconuts as it includes the robotic arm unit 102b, wireless camera 101b and the cutter 104b. The robotic machine 100b supports the weight of all these modules along with its own weight and should be stable when attached to the tree trunk and also while moving up. The robotic body unit 110b can be a circular model for climbing and rising up the tree by means of springs. The channel 109b moves around the body, which allows the free movement of the robotic arm around the tree trunk. The arm is attached to an extendable link connected to the robotic body 110b. The extendable link enables the movement of the arm towards or away from the coconut. So, the operator 118 can be stopped at a safe distance from the tree and the link can be extended from that position to reach the top of the tree. The arm is attached with the cutter 104b and at the other end the wireless camera 101b on one of the links. [00040] According to an embodiment, the robotic arm unit 102b has to reach every nook and corner of the coconut tree, so that the coconuts at all different places can be cut. The degrees of freedom for the arm need to be optimum and the arm can include four degrees of freedom, which is similar to that of human arm. In the place of palm, cutter is attached. The joints of the arm include servomotors which are attached at the joints for motion. The servomotors are controlled wirelessly by means of potentiometers. [00041] In an example embodiment, the control signals for the robotic arm 102b are given from potentiometers which are connected to an operator arm holder, the one operator wears, so that the signals can be taken from the motion of the operator arm itself. The potentiometers as mentioned for the robotic arm 102b were connected to the Arduino
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board with the Xbee transmitter and it is received at the robotic arm 102b and the required motion is replicated there.
[00042] Fig. 2 illustrates a block diagram for architecture 200 of a robotic machine for climbing coconut trees and harvesting coconuts using a mobile device, according to an embodiment. The system for climbing coconut trees and harvesting coconuts using a mobile device includes a machine unit 100a, a ground station 203, a machine unit (MU) wireless module 202, a mobile interface (MI) wireless module 204, a mobile interface 205 and an operator 118. The machine unit comprises of a robotic arm unit, a robotic body unit and a base rod connecting the robotic body unit and arm unit. The robotic arm unit can include a wireless camera to transmit the video of the coconuts to receiver made available at the ground station 203. The received video signals are displayed using the display provided at the ground station 203. With the help of video signals, the operator 118 can move the machine unit upward or downward direction in the coconut trees, and also use the cutter 104 to chop the coconuts perfectly. The ground station 203 can include a power management module and a haptic display unit. The power management module is provided to manage the power for the entire machine. In an example, a power supply can be from the 230v A/C mains or via a battery.
[00043] In an embodiment, the wireless camera 101 can include a transmitter in order to send the video and position of the coconuts to the ground station 203 and a receiver in the display can get the details of video at the ground station 203. An operator camera output is a camera with the operator in the ground station to view the video. Using the video displayed on display unit, the operator 118 can easily operate the machine unit 100b from the ground station 203. Further it can also help the operator 118
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at the ground station 203 to decide as when to move the robotic arm 102 and trigger the cutter 104 to cut the coconuts. The machine unit 100a can be operated from ground station 203 by using any of the control methods including but not limited to using mobile App based control.
[00044] In an embodiment, the MU wireless module 202 comprises a transmitter and a receiver for transmitting operational command to the machine unit 100a to perform climbing coconut trees and cutting the coconuts. The wireless technology in the wireless module can include but not limited to Bluetooth, Zigbee or any other wireless technologies. The MU wireless module 202 can form as the effective communication between the ground station 201 and the machine unit 100a by enhancing the remote functionality of the machine unit 100a. Wireless data transmission and reception can become easier since the ground station 203 can be controlled wirelessily using a mobile device. The MI wireless module 204 allows the operator 118 to control the machine unit 100a through the ground station 203 using a mobile interface 205. The mobile interface 205 is provided with a mobile App 206 to control the movement of the machine unit 100a in four degrees of freedom.
[00045] In an embodiment, a MU wireless module 202 can enable for linking between the machine unit 100b and the ground station 203. The MU wireless module 202 can collect the visual and analog data simultaneously from both the machine unit 100a and ground station 203 to set up a transfer of communication between both ends. Thus the support of the wireless module 206 can carry out the process of robotic machine for climbing coconut trees and harvesting coconuts. The ground station 203 comprises of a processing unit can be used to program the necessary features of the machine unit 100a to
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enhance the operation in a better and faster way. Accordingly, the processing unit can control the actuators in the robotic arm unit 102 to support the operator 118. [00046] In an embodiment, a MI wireless module 204 can enable for linking between the ground station 203 and the operator 118. The MI wireless module 204 can collect the visual and analog data simultaneously from both the machine unit 100a and operator 118 to set up a transfer of communication between both ends. Thus the support of the MI wireless module 204 can carry out the process of robotic machine for climbing coconut trees and harvesting coconuts using a mobile device. The ground station can display the visual position of the coconuts received from the transmitter of the robotic arm unit 102. With the display output, the operator 118 can view the position of the coconuts and decide to chop the coconut by using flexible arm movements supported by control methods. According to the position of the coconut a mobile App 206 provided in the mobile interface 205 can activate the machine unit 100a to control the action. [00047] Fig. 3 illustrates a schematic diagram of a mobile App 300 for controlling the robotic arm, according to an embodiment. In an embodiment, another wireless module can enable further linking between the machine unit 100a and the operator 118 through a mobile device using a mobile App for controlling the machine unit. The mobile App for controlling the robotic machine comprises a mobile App interface 301 that comprises of plurality of modules to control the machine unit 100b and MI wireless means to detect the robotic machine unit 100b. MI wireless means can include but not limited to a Bluetooth, Wi-Fi router connection and so on.
[00048] According to an embodiment, the mobile App interface comprises of a scan for devices module 302, a connectivity module 303, a robotic body unit movement
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module 304 and an arm unit movement module 310. The scan for devices module 302 can be configured for scanning the devices available nearby for controlling the movement of robotic machine. The connectivity module 303 can be configured for connecting or pairing the mobile device with the machine unit to control the robotic machine. [00049] According to an embodiment, the robotic body unit movement module 304 comprises of modules that includes but is not limited to, an upward movement module 305, a downward movement module 306, a right side movement module 307, a left side movement module 308 and a stop movement module 309. The upward movement module 305 can be configured for controlling the movement of the robotic body unit in upward direction. The downward movement module 306 can be configured for controlling the movement of the robotic body unit in downward direction. The right side movement module 307 can be configured for controlling the movement of the robotic body unit in right side direction. The left side movement module 308 can be configured for controlling the movement of the robotic body unit in left side direction. The stop movement module 309 can be configured for stopping the movement of the robotic body unit immediately in position or at desired position.
[00050] According to an embodiment, the arm unit movement module 310 comprises of modules that includes but is not limited to, a one degree movement module 311, a two degrees movement module 312, a three degrees movement module 313, and a fourth degrees movement module 314. The arm unit modules 310 can be configured to move the arm parts both in right and left side direction.
[00051] According to an embodiment, the one degree movement module 311 can be configured for moving the arm both in left and right direction at one degree of freedom
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(DOF). That is, the one degree movement module 311 can be configured for moving the base (servomotor 108) of the arm both in right side and left side direction. According to an embodiment, the two degrees movement module 312 can be configured for moving the arm both in left and right direction at two degree of freedom (DOF). That is, the two degrees movement module 312 can be configured for moving the joint (servomotor 107) that connects the base and the cutter part of the arm both in right and left side direction. [00052] According to an embodiment, the three degrees movement module 313 can be configured for moving the arm both in left and right direction at three degrees of freedom (DOF). That is, the three degrees movement module 313 can be configured for moving the arm (servomotor 106) that is connected to the cutter 104 both in right side and left side direction. According to an embodiment, the fourth degrees movement module 314 can be configured for rotating the cutter in 180° at four degree of freedom (DOF). That is, the fourth degrees movement module 314 can be configured for rotating the cutter part of the arm (servomotor 105) in 180° angle of rotation. The modules are provided as options in the mobile App interface.
[00053] Exemplary mobile App based control methods for controlling the robotic arm are described with reference to Fig 4. The methods are illustrated as a collection of operations in a logical flow graph representing a sequence of operations that can be implemented in hardware, software, firmware, or a combination thereof. The order in which the methods are described is not intended to be construed as a limitation, and any number of the described method blocks can be combined in any order to implement the methods, or alternate methods. Additionally, individual operations may be deleted from the methods without departing from the spirit and scope of the subject matter described
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herein. In the context of software, the operations represent computer instructions that, when executed by one or more processors, perform the recited operations. [00054] Fig. 4 illustrates a mobile App based control method for controlling the robotic machine 400, in accordance with an example embodiment. The mobile App based control method for controlling the robotic arm comprising the step of, scanning for nearby wireless device for climbing and harvesting a coconut tree 401, connecting or pairing the wireless device for climbing and harvesting the coconut tree 402, displaying the options for controlling the machine unit in the mobile App interface 403, checking the selected option 404 and sending control signals to the machine unit for performing action according to the option selected 405. The options may include but not limited to movement of robotic body unit in upward, downward, right side, left side direction and hold-on position or stop the robotic body unit. Further, the option includes one degree movement of arm unit in left side direction or in right side direction, two degrees movement of arm unit in left side direction or in right side direction, three degrees movement of arm unit in left side direction or in right side direction and four degrees movement of arm unit in 180° angular rotation.
[00055] Fig. 5 illustrates a mobile App interface in a smartphone for controlling the robotic arm 500, according to an exemplary embodiment. The mobile App interface for a smartphone comprises of a connect button 501, a disconnect button 502, a robotic body unit upward 503a and downward 503b movement button, a robotic body unit right side 504b and left side 504a movement button, a robotic body unit stop movement button 505, a robotic arm unit one degree left side 506a and right side 506b movement button, a robotic arm unit two degrees left side 507a and right side 507b movement button, a
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robotic arm unit three degrees left side 508a and right side 508b movement button, and a robotic arm unit forth degrees left side 509a and right side 509b movement button. Below the movement control buttons, instructions displayed 510 in the interface device to the user. After the welcome message, this terminal provides the instructions for usage. When a user clicks a button the app generates a respective feedback and displays on the interface device. The feedback might be related to the movement of the body when the body is controlled and details of the servos of the robotic arm if robotic arm is controlled and so on.
[00056] In an exemplary embodiment, according to the selected option the machine unit may perform the action that is for example if the option of robotic body upward movement selected means then the robotic body unit may move towards the upward direction of the coconut tree. In a case, the option of two degrees movement of arm unit in left side direction may be selected then the arm unit may move the joint that connects the base and cutter part of the arm in a left side direction. For example, if the operator wants to hold the machine unit in the desired position immediately, then the operator has to select hold-on position or stop movement option. The option for connect button 701 can establish a connection between the wireless device/smartphone and the machine unit at the ground station 201. Similarly, The option for disconnect button 701 can disable the connection between the wireless device/smartphone and the machine unit at the ground station 201. According to the option selected the mobile App may send a signal to the machine unit to perform the tasks.
EXPERIMENT
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[00057] The robotic arm was built using aluminum plates cut in shape of rectangles and L-angles. The plates are connected at the required positions using 3mm diameter screws. The joints of the arm are replicated using servo motors i.e. three servo motors at the shoulder for the three degrees of freedom; two motors one at elbow and the other in between the elbow joint and shoulder joint to account for the twisting of the elbow. The blade to be attached to the wrist of the arm is a driven by a DC motor of high rpm. Cameras are aligned close to the blade to provide a better view of the orientation of the coconuts. The design of the robotic machine was carried out by designing of the arm and successful testing of the arm in laboratory. The response lag while using Kinect to control the arm was found to be negligible.
[00058] The foregoing description of the specific embodiments will so fully reveal
the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications. Such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the appended claims.
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We Claim:
1. A system to control a robotic machine for climbing and harvesting coconut trees
comprises of a mobile App provided in a mobile device that includes,
a connectivity module (302) configured for connecting the mobile device with a
robotic machine unit (100b),
a plurality of modules to control a robotic machine unit (100b); wherein the robotic
machine unit (100b) includes a robotic body unit (116) and a robotic arm unit (102);
and
a mobile interface (MI) wireless (204) means for connecting the mobile device with a
ground station (203) of the robotic machine unit (100b);
wherein the mobile App (206) configured to connect the robotic machine unit (100b)
through the ground station (203) and operable using plurality of modules provided in
the mobile App (206).
2. The system of claim 1, wherein the plurality of modules to control the robotic body
unit includes,
an upward movement module (305) configured for moving the robotic body unit (116) in upward direction; and
a downward movement module (306) configured for moving the robotic body unit (116) in downward direction.
3. The system of claim 1, wherein the plurality of modules to control the robotic body
unit (116) further includes,
a right side movement module (307) configured for moving the robotic body unit (116) right side direction;
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a left side movement module (308) configured for moving the robotic body unit (116) left side direction; and
a stop movement module (309) configured for stopping the robotic body unit (116) immediately at desired position.
4. The system of claim 1, wherein the plurality of modules to control the robotic arm
unit (116) includes,
a one degree movement module (311) configured for moving a base of a robotic arm
in right and left direction separately at one degree of freedom;
a two degrees movement module (312) configured for moving the joint that connects
a base and a cutter part of the robotic arm unit both in right and left side direction
separately at two degrees of freedom;
a three degrees movement module (313) configured for moving the robotic arm unit
that is connected to a cutter 104 in right or left direction separately at three degrees of
freedom; and
a fourth degrees movement module (314) configured for rotating the cutter the robotic
arm unit in 180° at fourth degrees of freedom.
5. A method for controlling a robotic machine unit for climbing coconut trees and
harvesting coconuts using a mobile App comprising the step of,
scanning for a nearby mobile device for climbing and harvesting the coconut tree;
connecting the mobile device for climbing and harvesting the coconut tree;
displaying the options for controlling the robotic machine unit in the mobile App
interface;
checking the selected option; and
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sending control signals to the machine unit for performing an action according to the option selected.
6. The method of claim 5, wherein the options includes movement of robotic body unit (116) in upward, downward, right side, left side direction and hold-on position or stop the robotic body unit.
7. The method of claim 5, wherein the options further includes one degree movement of arm unit in left side direction or in right side direction, two degrees movement of arm unit in left side direction or in right side direction, three degrees movement of arm unit in left side direction or in right side direction and four degrees movement of arm unit in 180° angular rotation.