FORM 2
THE PATENTS ACT, 1970
(39 OF 1970)
&
THE PATENTS RULE, 2003
COMPLETE SPECIFICATION
(See Section 10, Rule 13)
"Agricultural Robot"
Mr. Kahan Chudasama
"Vraj-villa",
6, Gayakwadi, Nr. Junction Plot,
Rajkot-360001.
Mr. Bhavik Gandecha
"Amrut",
14, Manhar Plot, B/H Life Line Hospital,
Rajkot-360002.

The following specification particularly describes the invention and the manner in which it is to be performed.
Field of Invention
The present invention relates to a field of agriculture, specifically a robot that does the function of spraying/spreading of pesticide/fertilizer in a field which could be controlled with remote as well as it can be moved automatically without the use of remote. A robot can also be made in form of smarter machine with the installation various sensors as per requirement of user. It is a controller based robot specially designed for running in the field. It should be remembered that its design work (i.e. design of body or frame or entire structure) plays an important role.

Background / Prior Art
India is vast country that having population of 1.252 billion (2013) and about more than 50% of it are related to agricultural field and related works. In most of the rural regions, manual working in field or semi automatic machine are still used currently, where farmers prefer to spray/spread pesticide and fertilizer on the field. This type of work is not only too hard to perform in field but even it leads to cause much a burden on them. This somehow affects the production efficiency of crops. Moreover, much harm is caused on the health of farmers due various harmful chemical such as antimicrobial Pesticides, Bleach, Chlorine Dioxide, Ethylene Oxide, Hydrogen Peroxide and Peroxyacetic Acid, Methyl Bromide, Para formaldehyde, Vaporized Hydrogen Peroxide, Chromated Copper Arsenate (CCA) etc. Such pesticides leads to diseases such as cancer, Alzheimer and even pesticides also have the potential to harm the nervous system, the reproductive system, and the endocrine system. Pesticides can even be very harmful to fetuses because the chemicals can pass from the mother during pregnancy or if a woman nurses her child. Although one piece of fruit with pesticides won't kill you, if they build up in your body, they can be potentially detrimental to your health and should be avoided as much as possible.
In market some of the manual spraying/spreading machines are available but they even required men force. But our invention to the field of agriculture would be helpful in plenty of ways. The use of this AGROBOT will be beneficial to farmers as they would require lesser men power for various field related works, it will even lead to increased efficiency in crop production rate, also the time required to do the same work instead done manually would be lesser and more accurate, even it would be beneficial to farmers health as they will not directly come in contact with various harmful pesticides.
In India, if we see from development point of view for technology in the field of agriculture, it is the most time taking and difficult work to harvest the seed. The conventional techniques that is used till date is by using a heavy harvester that uses hazardous fuel or by traditional way of using manpower for harvesting. But as this procedure becomes too much time taking and tedious, replacement for the same can be made by use of the technology. The combined field of robotics and electronics made an extraordinary development for the solution of this

problem by developing a robot stated as "Agricultural Robot". This robot will not only be efficient for spraying/spreading of pesticides/fertilizer but it can also be used for seed harvesting.

Brief Description of the Drawings
Fig. 1 shows the flowchart of working of agricultural robot.
This figure shows the basic concept of working of robot along with its mechanism. The flow control of each and every objects is shown by proper algorithm. It give us idea about the robot, from initialisation of the robot followed by running mechanism as well as two other mechanism that robot contains.
Fig. 2 shows the structure of the agricultural robot.
Basically it is a metal structure made up of several metal frames and joints. It is a specially
designed such that overall load sharing takes place. The trusses makes it possible for the robot
to equalize the load on the frames of robot. The shapes of the frame so chose such that the
mechanism can be hold by the frame itself. Even the container can be placed on the frame
itself.
Fig. 3 shows the structure for spraying/spreading solid fertilizer/pesticides.
The solid spreading mechanism is functioned by the concept of centrifugal force which in
terms will spread the solid fertilizer as well as the pesticide.
Fig. 4 show the structure for spraying/spreading liquid fertilizer/pesticides.
The liquid spraying mechanism is functioned by the concept of suction force which in terms
will spray the liquid fertilizer as well as the pesticide.

Objective of the Invention
The objective of the following agricultural robot is to present the status of current trend and the implementation of this type of robot and an automatically working system and outline the potential for future applications in the field of agriculture. Comparing this robot with conventional developed system -this robot has three main objectives:
(1) Spraying/Spreading of Fertilizer.
(2) Spraying/Spreading of Pesticides.
(3) Harvesting and Seeding.
Also the main focus for the use of this robot will be-potential labour cost savings, reduction in daily working hours, potential environmental impact, no fuel consumption and safety and health issues.

Brief Description
Stepwise description of the process of the invention is mentioned hereby.
1. Structure and Equipment Attached
The structure of robot is made with specially load sharing frames such that the load of high capacity storage frames can be sustained by robot structure. Its wheels are specially designed to make robot run of field. Apart from three mechanisms (liquid and solid spraying/spreading and seed harvesting) robot contains the camera which works as human eye.
2. RF Transmitter & Receiver
We have used transmitter/receiver (Tx/Rx) pair operates at a frequency of 434 MHz that we are using for running of robot and in the mechanisms as well. 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 - lOKbps.The transmitted data is received by an RF receiver operating at the same frequency as that of the transmitter. The RF module, as the name suggests, operates at Radio Frequency. The corresponding frequency range varies between 30 kHz & 300 GHz. 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)
3. Controller
We are using AT mega 2560 for running robot, using its timer initialise the mechanism for spraying/spreading the fertilizer as well as the pesticide, also it used for the autonomous operation for path finding, we have interfaced the camera system with controller for detection of diseases as well as for knowing plant's health.
4. Camera
We have interfaced the camera with AT mega 2560 for detection of plant's disease which would be done with the help of image processing. Also the farmer with the help of display device can not only make the robot run from one particular place but also can check the plants and other associated things. No any special hardware is required for performing image processing, but camera itself does multi task.

5. Robot Running Mechanisms
The robot can run in the field in various ways, but here robot is designed to do the
task of running in three ways,
i) We have interfaced RF module with the controller, with the help of which we
can make our robot run by wireless remote itself. But in this way of robot running mechanism the limitation of range of the RF module comes in to the picture, so we have provided one more mechanism for running robot.
ii) In this mechanism for robot running we are providing a kind of robot running
procedure, in which there would be a wireless device. Now as per the value given by user robot will move accordingly on selective directions.
iii) Another way of driving the robot that we had provided to the user is - running of robot without any remote. No external device will responsible for the running of robot. Robot will be automatically running as per requirement of user with certain direction limitations.
6. Three main functionality of AGROBOT
i) Mechanism for spraying/spreading of Solid Fertilizer/Pesticide
In solid spreading mechanism we had arranged a tank with pesticide/fertilizer pushing mechanism followed by blower and a horn like structure that would be responsible for spreading of the same.
ii) Mechanism for spraying/spreading of Liquid Fertilizer/Pesticide
In liquid spraying mechanism we had provided a tank with enough capacity in which a liquid pesticide/fertilizer will be filled. Further it will be followed by the D.C. suction motor, pipes and nozzle arrangement in particular manner required. The arms of nozzle can be extended with certain modification in mechanism as to cover numbers of lane in the field for faster spraying.
iii) Seeding Harvester
We are providing a slot for extending the robot to function as seed harvester by just attaching a seed harvesting equipment to the robot externally. This is the extra feature of the robot that can be attached to the robot when required or if required.

Claims
We claim,
1. In our agricultural robot we had designed the structure of the frame which is made from the metal, such that force acting on all over the structure of the robot gets divided by the typical design of trusses. The tyres of the wheel are designed especially for running the robot on the soil. The surface of the tyres contain rubber spikes that helps the soil to become porous. This helps to increase the soil and crop fertility.
2. The robot contains the mechanism for spraying liquid pesticides/fertilizer. This entire mechanism works as - it starts with the storage tank from which the outlet leads to extended arm which is connected to suction motor. This motor increases the pressure of fertilizer/pesticides which are then passed to nozzle/sprinkler followed by the pipes.
3. The robot contains the mechanism for spreading of solid pesticides/fertilizer. This entire mechanism works as - it starts with storage tank from which the outlet leads to pipes followed by blower to spread the small particle like structure into the field.
4. Along with the claim two and three the robot is also used for seed harvesting.
5. This entire robot along with mechanisms runs on rechargeable DC batteries.
6. Our agricultural robot is fully remotely operated, which is controlled by wireless remote followed by RF/ZigBee module. It is even possible to run the robot without remote as we are giving attached keypad by which user can input the direction as well as the amount of distance to be covered in that direction. Apart from these robot can even work without any of the external devise.
7. Along with the above mentioned claims this robot has camera that is interfaced to controller. The camera in this robot works as human eye which will help the robot to run without having an eye on robot continuously by the user. Moreover the other function that performed by robot is to check the healthiness as well as diseases in crops using image processing. A display device has to be attached for this functionality.