Description:[0024] Camera: The camera is a tool for crop monitoring. The robot has two cameras installed one at the front, that faces forward and is used to determine the travel path of the robot in real-time and another on the top that faces sideways which is used for capturing images and live video of the crop for analysis.
[0025] IMU (Inertial Measurement Unit): An Inertial Measurement Unit (IMU) is an electronic device that measures acceleration, orientation, angular rates, and other gravitational forces. It typically consists of a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer. It is used to determine the relative position of the robot in 3D space.

[0026] Environment sensor: The environment sensor gives the air quality index, the concentration of CO2 in the surrounding air, the temperature (°C), the humidity (%), and the pressure (in Pascals, Pa) to the user.

[0027] GPS: The Global Positioning System (GPS) is a satellite-based navigation system that provides location and time information in all weather conditions. The GPS system is used in navigation and surveying.

[0028] Cloud: A cloud database is a database built to run in a public environment to help organize, store, and manage data. Cloud databases can be offered as a managed database-as-a-service (DBaaS) or deployed on a cloud-based virtual machine (VM).

[0029] Reduction Gear box: The robot consists of two gear boxes on both sides for each motor. The gear box is of 5:1 speed reduction gear box, i.e., 5 rotations of motor results in one rotation of output shaft. The Gear box is a planetary gear box, which consists of one sun gear, four planet gears, and one ring gear, and output shaft is the carrier of the planet gears. The output shaft is mounted with two sprockets to hold the roller chains to transfer the motion and torque for both front and back wheels on the respective sides.

[0030] Hardware used in the robot:
- The robot has a Raspberry Pi 4 running as its main computer (single Board Computer).
- Stepper motors are used as main motors for locomotion.
- ESP32 based microcontroller is used for control of sensors, motors.
[0031] Software used in the robot:
- The Raspberry Pi 4 has ubuntu as its OS
- ROS (Robot Operating System) is used for operating robot programs
- A server (NODEJS) is created and running inside the robot to interact with web interface/ mobile app.
- A esp32 based microcontroller reads the data from the sensor and sends it to raspberry pi.
- The motors are also controlled through the microcontroller based on the data received from raspberry pi

[0032] Motors: The robot will run with only two motors, which is a new feature in differential drive mobile robots. The two motors are placed at the center of each side, and the transmission is carried out via roller chains to the front and back wheels. The first motor is responsible for rotating the front and back wheels on the right side, while the second motor is responsible for rotating the front and back wheels on the left side.

[0033] In one aspect, A method for monitoring crops using an agriculture surveillance robot (100) involves capturing one or more images of the crops and their surroundings using a camera (102) as the first step in crop monitoring. It also captures live video of the travel path of robot using front camera (101).

[0034] The agriculture surveillance robot (100) enters the agricultural field and captures images of the crop using its camera (102), then sends them to the cloud or user. This data is used to determine the growth rate of the crops and detect pests. The data is uploaded to the cloud database at regular intervals.

[0035] The agriculture surveillance robot (100) is equipped with an environment sensor that captures temperature, pressure, humidity, air quality and CO2 concentration in surrounding air. It also has a luminosity sensor that captures the intensity of light in the surrounding area, and a GPS for location tracking. The Inertial Measurement Unit (IMU) is an electronic device that measures acceleration, orientation, angular rates, and other gravitational forces. It consists of a 3-axis accelerometer for tracking acceleration of the mounted device in all three directions, a 3-axis gyroscope for tracking orientation of the device in all three directions, and a 3-axis magnetometer for tracking the strength of the magnetic field. IMU is used to determine the relative position of the robot in 3D space. Additionally, computer vision algorithms will be used to analyze the live stream from the side-facing camera.

[0036] The agriculture surveillance robot (100) has a four-wheel vehicle frame body and the ability to travel in the uneven terrain of agricultural land. It is equipped with two motors and are positioned at the center of either side, and the transmission is carried out via roller chains to the front and back wheels. The first motor (112) is placed in between the front-right side wheel (106) and rear-right side wheel (107), and the second motor (111) is placed in between the front-left side wheel (104) and rear-left side wheel (105).

[0037] The agriculture surveillance robot (100) is equipped with two gear boxes, one on each side for each motor. The output shaft from each gear box is mounted with 2 sprockets, which hold the roller chains to transfer the motion and torque to both the front and back wheels of each respective side of the robot.

[0038] The first motor (112) on the right side is connected to the first gear box (120) to rotate front-right side wheel (106) by using a first roller chain (115) and a first sprocket. The first motor (112) on the right side is connected to the first gear box (120) to rotate rear-right side wheel (107) by using a second roller chain (116) and a second sprocket. The second motor (111) on the left side is connected to the second gear box (119) to rotate front-left side wheel (104) by using a third roller chain (113) and a third sprocket. The second motor (111) on the left side is connected to the second gear box (119) to rotate rear-left side wheel (105) by using a fourth roller chain (114) and a fourth sprocket. Using two motors instead of four motors and having an all-four-wheel differential drive makes the robot:

• Work for longer durations of time, as power consumption is reduced.
• Retain the benefits of differential drive and all-wheel drive, allowing it to traverse rough terrains with less power consumption and increased work efficiency.

[0039] The agriculture surveillance robot (100) is equipped with a rover link mechanism. This mechanism can be achieved by connecting the first end of a first Z-shaped frame (118) to top of the first gear box (120) and second end to a center bar (109). Similarly, the first end of a second Z-shaped frame (117) is connected on the top of the second gear box (119) and second end to the same center bar (109). The center bar (109) is connected to the rear end (R) of the robot (100) via nut and bolt mechanism, which enables the robot to travel freely in the agricultural land.

[0040] Example: If the right-side wheel encounters an obstacle and moves upward by up to 5 cm, the first Z-shaped frame (118) moves upwards, while the left-side wheel remains on the ground. Similarly, if the left-side wheel encounters an obstacle and moves upward by up to 5 cm, the second Z-shaped frame (117) moves upwards, while the right-side wheel remains on the ground. This mechanism ensures that the robot and its body remain dynamically stable on all terrain surfaces.

[0041] The robot (100) typically requires thirty minutes to sixty minutes to travel and capture images in one acre of agricultural land, depending on the density of the rows and columns and the height of the crop. The robot (100) is suitable for any crop that is planted with a distance of 2 feet between the rows/columns, such as sugarcane, maize, vegetables, cotton, and chill in thirty minutes. Similarly, the robot (100) is suitable for any crop that is planted with a distance of 1.5 feet between the rows/columns, such as sugarcane, maize, vegetables, cotton, and chilli in sixty minutes. The robot (100) enters the agricultural land, travels through its lanes, and takes the required images of the crop. It enters through one lane, travels to the end, switches lanes, and continues to do so until the last lane or the defined boundary of the agricultural land.

[0042] On a single battery charge, the robot (100) can cover 2 to 2.5 acres, with a battery life of 2 hours. The battery is 50W Super Charge support (2 hours from 0 - 100).

[0043] The agriculture surveillance robot (100) is operated through a cross-platform web application developed for mobile phones. The web application displays live camera feed from the front-facing and side-facing cameras, as well as sensor details. Computer vision algorithms are used to detect clear paths and obstacles from the live stream of the front-facing camera.

[0044] The agriculture surveillance robot (100) is operated through a controller unit which is controlled either remotely or by a programmed self-controlling logic embedded into the robot. The display unit (121) displays live video of the agricultural land and the crop from the front and top cameras, as well as sensor details. Computer image comparison algorithms are stored on the cloud server and are used to compare and analyze the live images captured against the stored images from the previous days Based on the analysis of the compared images the growth of the crop can be assessed daily.
, Claims:1. An agriculture surveillance robot for acquiring crop related data in an agricultural field comprising:
- a front camera, a top camera, a display unit, a cloud server;
- a controller unit to control movement of said robot in said agricultural field; an IMU (Inertial measurement unit), an environment sensor;
- two motors;
- a rover link mechanism;
- two left side wheels, two right side wheels;
- wherein said front camera is used for capturing travel path of the robot in real-time;
- wherein said top camera is used for capturing images and live video of said crop;
- wherein said environment sensor is used for acquiring environmental data such as temperature, humidity and pressure;
- wherein said display unit displays said captured travel path from said front camera, and displays said images and live video captured by said top camera;
- wherein said images are stored on the cloud server and are compared with previously stored images;
- wherein said two motors are arranged on each side of the robot;
- wherein first motor of said two motors is on the right side of the robot, and second motor of said two motors is on the left side of the robot;
- wherein said first motor on the right side of the robot drives a first gear box that includes a first sprocket with a first roller chain, a second sprocket with a second roller chain, connected to said two right side wheels;
- wherein said second motor on the left side of the robot drives a second gear box that includes a third sprocket with a third roller chain, a fourth sprocket with a fourth roller chain, connected to said two left side wheels;
- wherein said two right side wheels include a front-right side wheel and a rear-right side wheel;
- wherein said two left side wheels include a front-left side wheel and a rear-left side wheel.

2. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claim 1, wherein said front-right side wheel is powered by said first sprocket with said first roller chain.

3. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claim 1, wherein said rear-right side wheel is powered by said second sprocket with said second roller chain.

4. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claim 1, wherein said front-left side wheel is powered by said third sprocket with said third roller chain.

5. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claim 1, wherein said rear-left side wheel is powered by said fourth sprocket with said fourth roller chain.

6. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claim 1, wherein said rover link mechanism includes a first end of a first Z-shaped frame connected to top of said first gear box, and a second end of said first Z-shaped frame connected to a center bar.

7. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claim 1, wherein said rover link mechanism includes a first end of a second Z-shaped frame connected to top of said second gear box, and a second end of said second Z-shaped frame connected to said center bar.

8. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claims 6 - 7, wherein said center bar is connected through a nut and bolt connection below the rear end of the robot, wherein said first, second Z-shaped frames, said center bar collectively make a rover link mechanism that helps in balancing said wheels of said robot while moving on irregular surfaces.

9. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claim 1, wherein said controller unit is controlled either remotely or by a programmed self-controlling logic embedded into said robot.

10. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claim 1, wherein said captured images and live video of said crop are monitored real time by a user on said display unit to assess health of said crop, wherein said controller unit is controlled by said user considering said live video of said travel path to navigate said robot.

11. An agriculture surveillance robot for acquiring crop related data in an agricultural field according to claim 1, wherein said captured images and live video of said crop are compared with previously stored images to analyze and assess the growth of said crop.