Claims:
WE CLAIM

1. A system developed for precision farming by using autonomous robot to improve traditional irrigation methods.

2. Machine Learning Based ROS System for Detecting and Implementing in the main system to provide an overall control for the operation of the robot. It is installed on the Raspberry Pi module on the robot according to claim 1, addresses the issues of field safety in irrigation.

3. Open Loop CNC mechanism for providing better precision in drip irrigation and
spraying herbicide accurately on weeds, a derivative of is designed. This CNC
mechanism is constructed using printer head assemblies of scrap inject printers and 3D
printed rack and pinion mechanisms, according to claim 2, addresses the issues of
monitoring of fields.

4. Router with 300MBPS and a range of 54m is used to establish a secure private network. This allows the command and control center to establish ROS communication protocol and transmit and receive data. The command and control center includes an Ubuntu based computer system configured as ROS Master.

Dated this 06th day of March 2021.

RUBINA AFZAL
AGENT FOR THE APPLICANTS
IN/PA No. 3586

, Description:
FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
The Patent Rules, 2003
COMPLETE SPECIFICATION
[See Section 10 and Rule 13]

1. TITLE OF THE INVENTION

“MECHATRONIC ROBOTIC DEVICE FOR SELF-REGULATING AND PRECISION IRRIGATION USING ROBOTIC OPERATING SYSTEM”

2. APPLICANT

a) Dr. BALAMURUGAN KARNAN,
b) a national of India,
c) of VIGNANS FOUNDATION FOR SCIENCE TECHNOLOGY AND RESEARCH, VADLAMUDI-522213, GUNTUR, ANDHRA PRADESH, INDIA;

a) K. SATYA VENKATESH
b) a national of India,
c) of VIGNANS FOUNDATION FOR SCIENCE TECHNOLOGY AND RESEARCH, VADLAMUDI-522213, ANDHRA PRADESH, INDIA,

a) MUDARAPU NAGENDRA,
b) a national of India,
c) of VIGNANS FOUNDATION FOR SCIENCE TECHNOLOGY AND RESEARCH, VADLAMUDI-522213, GUNTUR, ANDHRA PRADESH, INDIA;

a) VASAMSETTI RISHIKESH,
b) a national of India,
c) of VIGNANS FOUNDATION FOR SCIENCE TECHNOLOGY AND RESEARCH, VADLAMUDI-522213, GUNTUR
ANDHRA PRADESH, INDIA;

a) Dr. T. P. LATCHOUMI,
b) a national of India,
c) of SRM INSTITUTE OF SCIENCE AND TECHNOLOGY, RAMAPURAM, CHENNAI – 600 089, TAMILNADU, INDIA,

a) PRUTHVIRAJU GARIKIPATI,
b) a national of India,
c) of VIGNANS FOUNDATION FOR SCIENCE TECHNOLOGY AND RESEARCH, VADLAMUDI-522213, GUNTUR, ANDHRA PRADESH, INDIA;

a) ARUNKARTHIKEYAN. K,
b) a national of India,
c) of VIGNANS FOUNDATION FOR SCIENCE TECHNOLOGY AND RESEARCH, VADLAMUDI-522213, GUNTUR, ANDHRA PRADESH, INDIA;

a) A. CHINNAMAHAMMAD BHASHA,
b) a national of India,
c) of VIGNANS FOUNDATION FOR SCIENCE TECHNOLOGY AND RESEARCH, VADLAMUDI-522213, GUNTUR, ANDHRA PRADESH, INDIA;

3. PREAMBLE TO THE DESCRIPTION

The following specification particularly describes the invention and the manner in which it is to be performed.

Technical Field of the invention:

The present invention relates to a system where ROBOTIC DEVICE is used for self regulation and PRECISION IRRIGATION using robotic operating system.

Background of the invention:

Agriculture is one of the most important sectors for the growth and development and agricultural products account for about 80 percent of the total export earnings of the country while 21 percent of the total GDP is also dependent on the agriculture sector. The traditional method of flood irrigation is still used in various parts, which causes a number of side effects to the crops along with the accumulation of salinity and water losses. We present an autonomous farming robot that employs various techniques of precision farming to solve the country’s agricultural needs and to improve the existing outdated methods of farming. It specifically focuses on the three aspects: generation of a map of the field for proper crop spacing, accurate weed detection and elimination through herbicides and effective sustainable irrigation through drip irrigation mechanism.

Our whole system consists of the following two main components:
(A) Robot, (B) Command and Control Center.
A) Robot
The Robot can be divided into the following parts: Robot skeleton, CNC mechanisms, weed eliminating spray mechanism, drip irrigation mechanism, health monitoring platform.
B) Command and Control Center
Real-time connection and communication of different components of the system is very crucial for performing tasks, for this purpose, a 300Mbps router with a range of 54m is used to establish a secure private network. This allowed the command and control center to establish ROS communication protocol and transmit and receive data. The command and control center includes an Ubuntu based computer system configured as ROS Master. It communicates with the robot, which is ROS node, through router via Wi-Fi. The robot movement is controlled by differential drive ROS package which implements PID feedback mechanism to ensure minimum deflection from the assigned path, which is dependent on the data from encoder motors. The command and control center is the hub for performing all functionalities of the robot including controlling the movement of robot, CNC and sensors along with performing tasks such as data storage and analysis, and running the weed detection algorithm.

Objective of the Invention:

Some of the objects of the present disclosure, which at least one embodiment herein satisfies, are as follows.
a) It is an object of the present disclosure to ameliorate one or more problems of the prior art or to at least provide a useful alternative.
b) An object of the present disclosure is to provide an robotic system which can self regulate in agriculture fields
c) Another object of the present disclosure is to provide precision irrigation environment by ensuring 24*7 surveillance in all weather conditions.
d) Still another object of the present disclosure is to provide improved safety by
considering inputs from robotic operating system.

Summary of the invention:

The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. This summary is not an extensive overview of the present invention. It is not intended to identify the key/critical elements of the invention or to delineate the scope of the invention. Its sole purpose is to present some concept of the invention in a simplified form as a prelude to a more detailed description of the invention presented later.

? The present invention is generally directed to a system for monitoring safety of Agriculture fields by using robotic operating system which helps in self regulating itself.
? An embodiment of the present invention is command and control center also provides the functionality of visualization and analysis of data.
? Yet embodiment of the invention is for stakeholder’s point of views in realizing the production concerns of irrigation.

Brief description of drawings:
Specific embodiments of the present invention will now be described, by way of example only, and with reference to the accompanying drawings in which:

Figure 1 illustrates the detection that was done on an image. The coordinates of the bounding box made around the object of interest can be seen while the time taken to process the image is also shown. Finally the probability with which the bounding box is formed is also shown, in this particular case the probability is 1.
Figure 2, This implementation of protocol and creation of wireless network, allows data from Pi camera, pH sensor and encoder motors to be transmitted to the central computer where the data is processed, weed detection is performed and also a visual representation of the map is constructed as shown in Fig. 3. For example, in Fig. 3, the color of each block identifies the value measured at the center of that block in the real field. There are a total of 8 blocks vertically, the distance between the centers of two consecutive blocks is 1.6 inches, which makes up a total distance of 12.8 inches vertically. These values are based on the frequency with which the pH value is measured.
Detailed description of the invention:

The following description is of exemplary embodiments only and is not intended to limit the scope, applicability or configuration of the invention in any way. Rather, the following description provides a convenient illustration for implementing exemplary embodiments of the invention. Various changes to the described embodiments may be made in the function and arrangement of the elements described without departing from the scope of the invention.
We utilize ROS beyond its usual boundaries for the implementation of precision farming techniques. ROS has eased the execution of tasks as compared to any other software used previously in agricultural robots. Here, it is implemented in the main system to provide an overall control for the operation of the robot. It serves as the central command responsible for all the operations of the robot as well as the collection of data. It is installed on the Raspberry Pi module on the robot.

The working of “MECHATRONIC ROBOTIC DEVICE FOR SELF-REGULATING AND PRECISION IRRIGATION USING ROBOTIC OPERATING SYSTEM” is as follows:

a) The inputs regarding the irrigation are taken in multiple forms: Raspberry Pi. ROS communication protocol allows real-time communication.
b) This implementation of protocol and creation of wireless network, allows data from Pi camera, pH sensor and encoder motors to be transmitted to the central computer where the data is processed.
c) After the completion of pre-processing techniques, the training of the model took place with tuned hyperparameters.
While considerable emphasis has been placed herein on the specific features of the
preferred embodiment, it will be appreciated that many additional features can be added and that many changes can be made in the preferred embodiment without departing from the principles of the disclosure. These and other changes in the preferred embodiment of the disclosure will be apparent to those skilled in the art from the disclosure herein, whereby it is to be distinctly understood that the foregoing descriptive matter is to be interpreted merely as illustrative of the disclosure and not as a limitation.