ROBOTIC MODULAR AGRICULTURAL EQUIPMENT
FILED OF THE INVENTION
The present invention relates to precision agriculture, in particular relates to a robotic modular agricultural machinery for performing various agricultural applications including weeding, spraying, sowing, towing, crop monitoring and yield prediction through autonomous system for both large scale and small scale farming.
BACKGROUND OF THE INVENTION
Today in agriculture, inter-row crop culture application became one of the expensive process fully dependent on skilled labor to remove weeds, spraying –herbicide / pesticide / fertilizer, sowing, towing etc. With the development of industrialization and urbanization, there arouse a drastic reduction in rural labor force, coupled with the intensification of aging society and the large increase in labor costs. Therefore there exists a urgent requirement for a mechanized cultivation techniques with simple work procedures, low labor costs, and low labor intensity.
Farmland weeds compete directly with crops for nutrition, moisture, and sunlight, affecting crop growth and reducing crop yields. This not only reduces the yield and quality of crops, but also indirectly contributes to the growth and spread of pests and diseases. In order to prevent weeds, various methods have been developed such as manual weeding, chemical weeding, mechanical weeding, biological weeding, and photochemical weeding. Conventionally the work of weeding in the fields is almost always done by manual weeding or chemical weeding. Manual weeding is laborious, time-consuming, labor-intensive and involves a high labor cost.
Chemical weeding i.e the use chemical herbicides is relatively time and labor-saving, and the efficiency of weed control is also relatively high. However, improper use of herbicides leads to settlement of residues in agricultural products, soil and water, severely contaminating the environment and affecting the people. Therefore, the use of chemical herbicides should be minimized to reduce its harm.

Chemical weeding methods usually use mechanical equipment such as sprayers to achieve chemical herbicide application. Sprayers include manual sprayers, motorized sprayers and even aerial sprays. The disadvantage of these methods is that herbicide is evenly sprayed on the ground regardless of whether weeds are on the ground, because the weeds and crops in the farmland are mixed. This may even cause injuries to crops due to excessive amounts of herbicides, resulting in herbicide poisoning. Therefore, while the chemical weeding method saves time and labor, it also causes problems such as biological extinction, changes in weed communities, increased resistance to weeds and broadened resistance spectrum, environmental pollution, and pesticides which does not meet the requirements of modern agriculture.
Alternative method for controlling weeds includes the repeated loosening of soil in rows. Loosening near the protective zone gives an increase in the destruction of weeds due to increased mechanical tillage and soil drying. The loosening provides an increase in the degree of weed destruction due to complete weeding of weeds and drying of the soil in the layer of germination of their main mass and the formation of crops. Loosening also ensures alignment of the soil surface and creation of a fine-clad structure, which reduces the evaporation of moisture from the lower soil layers. The disadvantage of this method is that repeated loosening of soil in rows results in damage to a part of the grown crops and does not ensure the complete destruction of weed vegetation, especially in the case of precise sowing or sowing with small norms. Application of this method at low rates or accurate seeding will lead to a significant decrease in plant density and yield. In order to overcome the harm caused by chemical weeding and to get rid of the heavy labor of weeding as well as to protect the ecological environment, the need for intelligent weeding and mechanization is increasing and have begun to receive more and more attention.
For weed control between crop lines and between plants, related mechanical products are already available, such as finger-type weeding devices, brush-type weeding devices, eight-claw cyclophytic weeding system, gap disk harrow, gear weeding device, rotary disc harrow weeding device, octopus type weeding device etc. These weeding implements are difficult to effectively control weeds in inter-plant areas, they also have no control over weeds in an area 18 mm wide around the crop. It can cause damage to crops, and it is

more affected by the soil, because larger soil blocks can not be avoided to damage the crop. Although the above weeding implements have some experimental reports, they all require high precision for traction tractors to follow the crops. They generally need to be installed on agricultural machinery with navigation functions or on intelligent robots, and the prices are relatively expensive which consumes significant portion of operating cost and precise to above application are still very difficult, thus increase farm input cost and reduce yield of crop. And there is still no mature interplant weeding apparatus.
In modern agricultural industries, accuracy is essential. Accurate record keeping, automated mapping, and precision farming techniques have all become crucial factors in the challenge to improve overall crop yield and comply with the ever increasing number of environmental regulations. The accurate application of herbicides, pesticides and fertilizers is an essential component of modern precision farming methodologies. Currently Using GPS systems, accurate and highly reliable satellite-based positioning information, which typically achieves meter-level accuracy by utilizing differential GPS (DGPS) position corrections transmitted from fixed base stations, is provided to operators, for example though moving map displays. Such information allows for navigation and guidance of farm implements and systems utilizing DGPS technology have been used to assist in the aerial and terrestrial application of fertilizers, herbicides and pesticides, etc. However, such systems have generally been limited in their capabilities. Moreover, even though these limited precision agricultural methodologies have become popular with the commercialization of GPS systems, to date such methodologies have not included the use of vision assisted real time kinematic (RTK) GPS equipment which allows for centimeter-level accuracy.
US patent 6941225 provides an ultra precise seed planter apparatus and method for generating a centimetre accuracy map of the location of seeds or vegetation as they are planted from an agricultural planting machine. The apparatus is fitted with a GPS receiver feeding a data logger, and optical sensors that are placed adjacent seed or vegetation dispenser. The data logger monitors GPS time and UTM coordinates, as well as the optical sensors. Ground speed and azimuth are also monitored. The seeds or vegetation are time-

tagged as they are dispensed, and software is used to process the dispensing time and GPS
location data and estimate the exact coordinates of each seed or plant and its distance from adjacent seeds or plants. As a result, a precise planting map is generated. The invention may also be used to determine the location to dispense seeds or vegetation, and activating the dispenser when that location is reached.
US patent 9582002 discloses a robotic platform and method for performing multiple functions in agricultural systems comprising of an autonomous vehicle platform and system for selectively performing an in-season management task in an agricultural field while self-navigating between rows of planted crops, the autonomous vehicle platform having a vehicle base with a width so dimensioned as to be insertable through the space between two rows of planted crops, the vehicle base having an in-season task management structure configured to perform various tasks, including selectively applying fertilizer, mapping growth zones and seeding cover crop within an agricultural field.
Chinese patent application 20141760992 provides a multifunctional agricultural implement includes a car frame, an anti-skid walking wheel, an electric motor, a rechargeable battery, a handlebar, a controller and a speed-regulating handle are arranged on the handlebar, and an earth loosening device, a sowing device, a ditching device or a pesticide spraying device are arranged on the car frame. The multifunctional agricultural implement combines cultivation, weeding, sowing, fertilizing, pesticide spraying, ditching and other various operations.
US patent 6199000 relates to methods and apparatus for precision agriculture operations utilizing real time kinematic global positioning system providing highly accurate seeding, cultivating, planting and/or harvesting operations. RTK GPS systems are used to control fully or semi-autonomous vehicles in these operations and may allow for precision planting of seeds and/or precision weed removal coupled with crop specific fertilizer/pesticide application through the use of centimetre-level accurate positioning techniques.

Chinese patent application 103918636 provides an intelligent spraying method based on image processing and a spraying robot. Through the method, the spraying robot can correctly distinguish specific crops and weeds and carry out targeted spraying according to the distribution condition of the crops and the weeds needing to be sprayed, that is, the spraying robot sprays weed killer on the weeds and sprays corresponding disinfectant and other pesticides on the crops, and consequently intelligent spraying without human interference is achieved. Meanwhile, a wireless video transmission mode is additionally adopted, and a worker can monitor and control the spraying robot by holding a monitor in hand.
All of the cited prior-art documents and the state of the art technologies deals with various issues like mechanized weeding, row to row weeding using precision agriculture, using GPS, RTK GPS systems in precision agriculture, multifunctional agricultural equipment etc., but none of the cited prior-art documents addresses the problems associated with intra-row precision crop culture application for small farm holder. The present invention provides a precision intra as well as inter row crop culture application for small farm holder through autonomous robotic system for various agricultural application including weed removal, spraying – herbicide / pesticide / fertilizer, crop monitoring / yield prediction, sowing cum fertilizing, towing etc. The said robotic system is configurable in three different operation modes (manual, semi-auto & auto) coupled with solar energy battery charging designed and developed to suit both large scale and small scale farming scenario. Further the present invention of autonomous robotic modular equipment will also address other issues including improved farm yield and eliminating the human intervention in farm field as well as displaying yield data which are useful for applications like variable rate fertilization and yield monitoring.
OBJECTIVES OF THE INVENTION
The main objective of the present invention is to provide a robotic modular agricultural machinery for performing various agricultural applications including weeding, spraying, sowing, towing, crop monitoring and yield prediction through an autonomous precision system.

Another objective of the present invention is to provide an inter row crop culture application for small farm holder through the said autonomous robotic modular agricultural machinery.
Still another objective of the present invention is to provide a precision intra as well as inter row crop culture application for both large scale and small scale farming.
Yet another objective of the present invention is to provide a robotic modular agricultural machinery guided by RTK-GNSS / Vision system for performing various precision agricultural applications including weeding, spraying, sowing, towing, crop monitoring & yield prediction.
Additional objective of the present invention is to provides a robotic modular agricultural machinery configurable in three different operation modes, namely manual, semi-automatic and automatic, coupled with solar energy battery charging system.
Yet another additional objective of the present invention is to provide a robotic modular agricultural machinery with auto-weeding which performs both mechanical and chemical weeding simultaneously.
Still another additional objective of the present invention is to provide a robotic modular agricultural machinery with simple and highly efficient weed removal with high accuracy crop/weed recognition system.
Final objective of the present invention is to provide an autonomous robotic modular machinery with autonomous precision system for improving the farm yield and eliminating the human intervention in farm field as well as displaying the yield data.
SUMMARY OF THE INVENTION
The present invention provides a robotic modular agricultural equipment (141) for performing various agricultural applications through an autonomous precision system, comprising of: a base support structure (142); atleast a pair of wheels (147); implement attaching means (148), positioned at the rear end (146) of the said support structure; a control lever (149), positioned at the rear end (146) of the said support structure; a solar

panel (150), positioned in front of the said control level (149); a drive motor (151), positioned within the said support structure (142); a power source (152), positioned within the said support structure (142); an electronic control unit (ECU) (153), placed adjacent to the said power source (152) positioned within the said support structure (142); a plurality of sensors, wherein said plurality of sensors are in communication with the said ECU (153); and an accommodating means (154), provided at the top surface (143) of the said support structure (142), wherein said accommodating means (154) is structured to receive supplies for various precision agricultural applications. The said robotic modular agricultural equipment (141) performs precision agricultural applications including weeding, spraying, sowing, towing, crop monitoring and yield prediction through the use of real time kinetics -global navigation satellite system (RTK- GNSS), vision system and/or a combination thereof, for precise route path and farm applications which enables the robotic modular system to perform precision agriculture applications without human intervention. Further the said robotic modular agricultural equipment (141) is also configured to receive crop growth variability result from UAV/satellite data for effective weeding and sowing with the variable rate application of spraying.
In an embodiment of the present invention, the robotic modular agricultural machinery enables both intra as well as inter row precision crop culture applications through a real time kinetics - global navigation satellite system (RTK- GNSS) guided vision system and/or a combination thereof. Further the present invention is configurable into three different operation modes, namely manual, semi-automatic and fully automatic, coupled with solar energy battery charging system. The robotic modular agricultural machinery performs precision agricultural applications including pesticide spraying, fertilizer spraying, weeding, herbicide spraying, sowing, seeding, based on data provided by the RTK/GNSS guided vision system and UAV/satellite data including, crop health monitoring data, route prediction, obstacle prediction, precise positioning, sowing pattern, soil surface moisture, climate prediction, crop growth variability, weed prediction, and/or combination thereof.

BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 depicts the autonomous robotic modular agricultural equipment according to the present invention.
Figure 2 shows the autonomous robotic modular agricultural equipment according to the present invention performing towing operation.
Figure 3 represents the autonomous robotic modular agricultural equipment according to the present invention performing seeding operation.
Figure 4 shows the rear view of autonomous robotic modular agricultural equipment according to the present invention performing weeding operation, both mechanical and chemical weeding simultaneously.
While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
DETAILED DESCRIPTION OF THE DRAWINGS
The present invention as embodied by an "Robotic modular agricultural equipment" succinctly fulfils the above-mentioned need(s) in the art. The present invention has objective(s) arising as a result of the above-mentioned need(s), said objective(s) being enumerated below. In as much as the objective(s) of the present invention are enumerated, it will be obvious to a person skilled in the art that, the enumerated objective(s) are not exhaustive of the present invention in its entirety, and are enclosed solely for the purpose of illustration. Further, the present invention encloses within its scope and purview, any structural alternative(s) and/or any functional equivalent(s) even though, such structural alternative(s) and/or any functional equivalent(s) are not mentioned explicitly herein or elsewhere, in the present disclosure. The present invention therefore

encompasses also, any improvisation(s)/modification(s) applied to the structural alternative(s)/functional alternative(s) within its scope and purview. The present invention may be embodied in other specific form(s) without departing from the spirit or essential attributes thereof.
Throughout this specification, the use of the word "comprise" and variations such as "comprises" and "comprising" may imply the inclusion of an element or elements not specifically recited.
The present invention provides a robotic modular agricultural equipment (141) for performing various agricultural applications through an autonomous precision system, comprising of: a base support structure (142), having a top surface (143) and a bottom surface (144), wherein said support structure having a front end (145) and a rear end (146); atleast a pair of wheels (147), attached to the said bottom surface (144) of the support structure; implement attaching means (148), positioned at the said rear end (146) of the said support structure, wherein said implement attaching means (148) enables the fitting of a suitable implement for agricultural operations, wherein said implement attaching means (148) enables the operative movement of the attached implement; a control lever (149), positioned at the rear end (146) of the said support structure, wherein said control lever (149) is disposed at an inclined angle to the top of the said implement attaching means (148); a solar panel (150), positioned in front of the said control level (149), wherein said solar panel (150) is positioned at the rear end (146) of the said support structure; a drive motor (151), positioned within the said support structure (142), wherein said drive motor (151) enables the driving of atleast a pair of the said wheels (147); a power source (152), positioned within the said support structure (142), wherein said power source (152) enables storage of power generated from the said solar panel (150); an electronic control unit (ECU) (153), placed adjacent to the said power source (152) positioned within the said support structure (142), wherein said ECU (153) controls the various precision agricultural operations performed by the said robotic modular system; a plurality of sensors, wherein said plurality of sensors are in communication with the said ECU (153); and an accommodating means (154), provided at the top surface (143) of the said support

structure (142), wherein said accommodating means (154) is structured to receive supplies for various precision agricultural applications.
The autonomous robotic agricultural system (141) with modular structure of the present invention, caters to perform multiple tasks in the farm field including weed removal, spraying herbicide, sowing and fertilizing, crop monitoring , yield prediction and towing etc.
In the preferred embodiment of the present invention, wherein said robotic modular agricultural equipment (141) performs precision agricultural applications such as weeding, spraying, sowing, towing, crop monitoring and yield prediction through the use of real time kinetics - global navigation satellite system (RTK- GNSS), vision system and/or a combination thereof, for precise route path and farm applications which enables the robotic modular system to perform precision agriculture applications without human intervention. The said robotic modular agricultural equipment (141) is also configured to receive crop growth variability result from UAV/satellite data for effective weeding and sowing with the variable rate application of spraying.
In the preferred embodiment of the present invention, wherein said robotic modular agricultural equipment (141) is used for both inter row crop culture and intra row crop culture, more preferably used in inter row crop culture.
In the preferred embodiment of the present invention, wherein said robotic modular agricultural equipment (141) is configured to perform its multitasking agricultural operations based on three operating modes including, manual operation mode, wherein the agricultural operations are performed by operator manually by means of operation of the said control lever (149); semi automatic mode, wherein the said robotic modular system is guided by the operator by means of wireless communication system using a plurality of sensors, transmitters and a electronic control unit, wherein said robotic modular system in semi auto mode is operable by way of signal transmitting operator devices including joy stick, remote control etc; fully automatic mode of operation, wherein the said robotic system follows crop culture and is guided based on RTK-GNSS, Vision system and/or combination of both to perform precise routing and positioning during agricultural operations including weeding, spraying, sowing, towing without human intervention in the

farm field. Wherein said vision system further detects the obstacles present in the farm routing and the said RTK-GNSS system guides geo reference for autonomous operation. The said robotic modular agricultural equipment (141) is also configured to receive crop growth variability result from UAV/satellite data for effective weeding and sowing with the variable rate application of spraying operation. wherein said auto mode is operable with devices embedded with operating systems including computers, laptops, tablets, mobile devices, smart watches, smart television system etc.,
In the preferred embodiment of the present invention, wherein said vision system is encoded with a plurality of user defined crop images, the said vision system identifies the user defined crops (162) in the target field and segregates all the other vegetations in the target field except the user defined crops as weeds (163), the segregated weeds are then targeted for weed removal. Wherein said weed removal is performed simultaneously by a combination of both mechanical and chemical method of weed removal. Wherein said mechanical weeding is performed in inter row crop culture (161) i.e., between row to row crop space, and chemical weeding such as herbicide spray (164) is performed under the crop canopy and intra row crop culture i.e., plant to plant space simultaneously. Thus the autonomous precise robotic modular agricultural equipment (141) of the present invention enables complete weed removal by addressing both inter row crop culture and intra row crop culture by simultaneously performing both mechanical and chemical weed removal method.
In an embodiment of the present invention, wherein said accommodating means (154) includes a tank (155), wherein said tank is connected to a plurality of sprayers (156) via a pumping system (157), wherein said tank (155) is supplied with weed control agent such as herbicide, Wherein said implement attaching means (148) is fitted with suitable weeding implement, wherein said weeding implement is a tiller (158). In the preferred embodiment of the present invention as embodied in figure 1, the autonomous robotic modular weeder will simultaneously perform both mechanical uprooting and chemical weedicide by identifying the selected crop in target field and removing all remaining vegetation as a weed which covers complete removal of weeds on row / column side of crops with defined spacing between crop grid. Wherein the said robotic weeder system performs the said

operation by using the RTK-GNSS guided vision system. Primarily the weeding operation involves uprooting the row side weeds by mechanical implement such as tiller (158) which is attached on rear side of the implement attaching means (148), and column side weeds are removed through chemical herbicide spraying system (156) which are mounted on the said accommodating means (154) of supporting structure. Thus the auto weeder function of the said robotic modular system enables the complete weed removal around the crop by simultaneously performing both the mechanical weeding between row to row crop space and herbicide spray under the crop canopy and plant to plant.
In an embodiment of the present invention, wherein said accommodating means (154) includes a tank (155), wherein said tank (155) is connected to a plurality of sprayers (156) via a pumping system (157), wherein said tank is supplied with agricultural supplies including pesticides, fertilizers, herbicides, weedicides and/or combinations thereof. Wherein said robotic modular system performs the spraying operation based on the crop health monitoring data obtained by using the RTK-GNSS guided vision system. The said robotic modular agricultural equipment (141) is also configured to receive crop growth variability result from UAV/satellite data for the variable rate application of spraying operation. Primarily the spraying operation involves the spraying of pesticides, fertilizers, herbicides, weedicides and/or combinations based on the crop health data, wherein said spraying is performed by the plurality of sprayers (156) coupled to the tank (155) via a pumping system (157). The interchangeable high efficiency pump and/or nozzles are selected to suit different spraying applications with position adjustable according to crop sizing and spacing.
In an embodiment of the present invention, Wherein said implement attaching means (148) is fitted with suitable agricultural implement, wherein said implement includes a tiller, towing implement, seeding implement. The autonomous robotic modular system of present invention will perform mechanical operations such as towing, seeding, tilting based on the nature of the implement attached to the robotic system, wherein precise positioning of the implement are performed based on the information received from the RTK-GNSS guided vision system. In the preferred embodiment of the present invention, as embodied in figure 2, wherein said implement attaching means is fitted with a trailer towing implement (159),

wherein said towing implement is a load carrying structure, wherein said load carrying structure will assist the farmer/operator during the crop management cycle.
In an embodiment of the present invention, wherein said accommodating means (154) includes a tank (155), wherein said tank is supplied with an agricultural supply such as seeds, Wherein said implement attaching means is fitted with suitable agricultural implement, wherein said implement is a seeding dispenser (160). In the preferred embodiment of the present invention as embodied by the figure 3, the autonomous robotic modular sowing system will perform seeding cum fertilizer application with different crop sowing pattern with low surface moisture soil. Fertilizer application is performed based on crop health monitoring and yield data provided from RTK-GNSS guided vision system, the system also receives crop growth variability result from UAV/satellite data for effective variable rate spraying of fertilizers.
In an embodiment of the present invention, wherein said robotic modular system is provided with a plurality of sensors and transmitters to receive the crop growth variability results from UAV /Satellite data for effective agricultural operations such as weeding and sowing with the variable rate application including spraying, fertilizing etc.,
The present invention also provides a method of operation of the robotic modular agricultural equipment for performing various agricultural applications through an autonomous precision system, comprising steps of:
a) supplying of suitable agricultural supplies to the tank (155) positioned on the said accommodating means (154) of the said robotic modular system;
b) fitting of a suitable agricultural implement to the said implement attaching means (148) of the said robotic modular system;
c) receiving appropriate signals from RTK-GNSS system, vision system and/or in combination and interpretation of the received signals; and
d) operating the said robotic modular system (141) by the said electronic control unit (ECU) (153), based on the data interpretation of the received signals.

In the preferred embodiment of the present invention, wherein the said method of operation applies to robotic modular agricultural equipment for performing various agricultural applications in the farm field including weed removal, spraying herbicide, sowing and fertilizing, crop monitoring , yield prediction and towing etc.
EXAMPLE 1
According to an exemplary embodiment of the present invention, method of operation of auto weeding system involves the following steps. First the said accommodating means including a tank (155) is supplied with suitable agricultural supply in this case it is herbicide for weed removal. The tank (155) containing the supply is connected to a plurality of herbicide sprayers (156) via a pumping system (157). Next step involves fitting a suitable implement to the said implement attaching means (148), wherein in this case weeding implement is a tiller (158) used for mechanical weed removal. The RTK/GNSS guided vision system will provide the necessary data regarding the identified weeds, their location and position. Based on the received data the ECU (153) operates the autonomous robotic modular weeder system, the system will simultaneously perform both mechanical uprooting and chemical weedicide based on the data supplied by the RTK/GNSS guided vision system by identifying the selected crop in target field and removing all remaining vegetation as a weed. Primarily the weeding operation involves uprooting the row side weeds by mechanical implement such as tiller (158) which is attached on rear side of the implement attaching means (148), and column side weeds are removed simultaneously through chemical herbicide spraying system which are mounted on the said accommodating means (154) of supporting structure. Thus the auto weeder function of the said robotic modular system enables the complete weed removal around the crop by performing simultaneously both mechanical weeding between row to row defined spacing between crop grid (inter row crop culture) and chemical weeding by herbicide spray under the crop canopy and defined spacing between plant to plant (intra row crop culture).
EXAMPLE 2
According to an exemplary embodiment of the present invention, method of operation of auto spraying system involves the following steps. First the said accommodating means

including a tank (155) is supplied with suitable agricultural supply including pesticides, fertilizers, herbicides, weedicides and/or combinations thereof, wherein in this embodiment it is pesticides for spraying application. The tank (155) containing the supply is connected to a plurality of sprayers (156) with appropriate nozzles via a pumping system (157). The RTK/GNSS guided vision system will provide the necessary data regarding the crop health, the system also identifies the location and position which requires pesticide spraying. Based on the received crop health data and crop growth variability data the ECU (153) operates the autonomous robotic modular spraying system, the system will perform auto spraying by the plurality of sprayers (156) and nozzles coupled to the tank (155) via a pumping system (157). Primarily the spraying operation involves the spraying of pesticides, fertilizers, herbicides, weedicides and/or combinations based on the crop health monitoring data and crop growth variability data. The interchangeable high efficiency pump and/or nozzles are selected to suit different spraying applications with position adjustable according to crop sizing and spacing.
EXAMPLE 3
According to an exemplary embodiment of the present invention, method of operation of auto towing system involves the following steps. First the said implement attaching means (148) is fitted with a suitable agricultural implement, wherein said implement includes a tiller, towing implement, seedling implement, in this embodiment it is towing (159) implement. The RTK/GNSS guided vision system will provide the necessary data regarding the route and presence of obstacles in the path, the system also identifies the target location, position and route of the towing implement. Based on the received data the ECU operates the autonomous robotic modular towing system, wherein said towing implement (159) is a load carrying structure, wherein said load carrying structure will assist the farmer/operator during the crop management cycle. The autonomous robotic modular system of present invention will perform mechanical operations such as towing, seeding, tilting based on the nature of the implement attached to the robotic system, wherein precise positioning of the implement are performed based on the information received from the RTK-GNSS guided vision system.

EXAMPLE 4
According to an exemplary embodiment of the present invention, method of operation of auto sowing system involves the following steps. First step is the accommodating means including a tank is supplied with seeds. Next the said implement attaching means is fitted with a suitable agricultural implement, in this case it is a seeding dispenser. The RTK/GNSS guided vision system will provide the necessary data regarding the crop sowing pattern and soil surface moisture. Based on the received data the ECU operates the autonomous robotic modular sowing system, the seeding operation is performed on the precise location and position based on the received data, wherein the fertilizer application is performed based on crop health monitoring, crop growth variability data and yield data provided from the RTK/GNSS guided vision system.
It will be apparent to a person skilled in the art that the above description is for illustrative purposes only and should not be considered as limiting. Various modifications, additions, alterations, and improvements without deviating from the spirit and the scope of the invention may be made by a person skilled in the art.

LIST OF REFERENCE NUMERALS
141 - Robotic modular agricultural equipment
142 - Base support structure
143 - Top surface of the support structure
144 - Bottom surface of the support structure
145 - Front end of the support structure
146 - Rear end of the support structure
147 - Pair of wheels
148 - Implement attaching means
149 - Control lever 150- Solar panel

151 - Drive motor
152 - Power source
153 - Electronic control unit (ECU)
154 - Accommodating means
155 - Tank
156 - Plurality of sprayers
157 - Pumping system
158 - Tiller
159 - Trailer towing implement
160 - Seeding dispenser
161 - Inter row crop culture
162 - Crops
163 - Weeds
164 - Herbicide spray

We claim:
1. A robotic modular agricultural equipment (141) for performing various agricultural applications through an autonomous precision system, comprising of: a base support structure (142), having a top surface (143) and a bottom surface (144), wherein said support structure having a front end (145) and a rear end (146); atleast a pair of wheels (147), attached to the said bottom surface (144) of the support structure; implement attaching means (148), positioned at the said rear end (146) of the said support structure, wherein said implement attaching means (148) enables the fitting of a suitable implement for agricultural operations, wherein said implement attaching means (148) enables the operative movement of the attached implement; a control lever (149), positioned at the rear end (146) of the said support structure, wherein said control lever (149) is disposed at an inclined angle to the said implement attaching means (148); a solar panel (150), positioned in front of the said control level (149), wherein said solar panel (150) is positioned at the rear end (146) of the said support structure; a drive motor (151), positioned within the said support structure (142), wherein said drive motor (151) enables the driving of atleast a pair of the said wheels (147); a power source (152), positioned within the said support structure (142), wherein said power source (152) enables storage of power generated from the said solar panel (150); an electronic control unit (ECU) (153), placed adjacent to the said power source (152) positioned within the said support structure (142), wherein said ECU (153) controls the various precision agricultural operations performed by the said robotic modular system; a plurality of sensors, wherein said plurality of sensors are in communication with the said ECU (153); and an accommodating means (154), provided at the top surface (143) of the said support structure (142), wherein said accommodating means (154) is structured to receive supplies for various precision agricultural applications.
2. A robotic modular agricultural equipment (141), as claimed in claim 1, wherein said system performs precision agricultural applications such as weeding, spraying,

sowing, towing, crop monitoring and yield prediction through the use of real time kinetics - global navigation satellite system (RTK- GNSS), vision system and/or a combination thereof.
3. A robotic modular agricultural equipment (141), as claimed in claim 1, performs
both inter row crop culture and intra row crop culture, more preferably performs
inter row crop culture agricultural applications.
4. A robotic modular agricultural equipment (141), as claimed in claim 1, Wherein said robotic modular agricultural equipment (141) is configured to receive crop growth variability result from UAV/satellite data.
5. A robotic modular agricultural equipment (141), as claimed in claim 1, is configured to operate in three operating modes including, manual operation mode, wherein the agricultural operations are performed by operator manually by means of operation of the said control lever (149); semi automatic mode, wherein said robotic modular system (141) is guided by the operator by means of wireless communication system using a plurality of sensors, transmitters and a electronic control unit; and fully automatic mode of operation, wherein said robotic system is guided based on RTK-GNSS, vision system and/or in combination.
6. A robotic modular agricultural equipment (141), wherein said auto mode is operable with devices embedded with operating systems including but are not limited to computers, laptops, tablets, mobile devices, smart watches and smart television system.
7. A robotic modular agricultural equipment (141), as claimed in claim 1, wherein said accommodating means (154) includes a tank (155), wherein said tank (155) is connected to a plurality of sprayers (156) via a pumping system (157).

8. A robotic modular agricultural equipment (141), as claimed in claim 1 & claim 6, wherein said tank (155) is supplied with agricultural supplies includes but are not limited to pesticides, seeds, fertilizers, herbicides, weedicides and/or combinations thereof.
9. A robotic modular agricultural equipment (141), as claimed in claim 1, Wherein said implement attaching means (148) is fitted with an agricultural implement.
10. A robotic modular agricultural equipment (141), as claimed in claim 1 & claim 8, wherein said implement includes but are not limited to a tiller, towing implement, seeding implement.
11. A robotic modular agricultural equipment (141), as claimed in claim 1, performs mechanical operations including towing, seeding, tilting based on the nature of the implement attached to the said implement attaching means (148), wherein precise positioning of the implement is performed based on the information received from the RTK-GNSS guided vision system.
12. A robotic modular agricultural equipment (141), as claimed in claim 1 & claim 2, wherein said RTK-GNSS guided vision system is encoded with a plurality of user defined crop images, said vision system identifies the user defined crops in the target field and segregates all the other vegetations in the target field except the user defined crops as weeds, which are targeted for weed removal.
13. A robotic modular agricultural equipment (141), as claimed in claim 1, performs simultaneously both mechanical and chemical method of weed removal.
14. A robotic modular agricultural equipment (141), as claimed in claim 1 &
12,wherein said mechanical weeding is performed by uprooting the row side
weeds by a suitable mechanical implement fitted to the implement attaching
means (148).

15. A robotic modular agricultural equipment (141), as claimed in claim 1, claim & 13,
wherein said mechanical implement is tiller.
16. A robotic modular agricultural equipment (141), as claimed in claim 1 & 12, wherein said chemical weeding is performed by herbicide spraying under the crop canopy and defined spacing between crop to crop space.
17. A robotic modular agricultural equipment (141), as claimed in claim 1 & 15, , wherein said chemical weeding is performed by herbicide spraying system mounted on the said accommodating means (154) of supporting structure, wherein said accommodating means (154) includes a tank (155), wherein said tank (155) is connected to a plurality of sprayers (156) via a pumping system (157).
18. A robotic modular agricultural equipment (141), as claimed in claim 1, performs precision agricultural applications including pesticide spraying, fertilizer spraying, weeding, herbicide spraying, sowing, seeding, based on data provided by the RTK/GNSS guided vision system and UAV/satellite data including, crop health monitoring data, route prediction, obstacle prediction, precise positioning, sowing pattern, soil surface moisture, climate prediction, crop growth variability, weed prediction, and/or combination thereof.
19. A method of operation of the robotic modular agricultural equipment (141) for performing various agricultural applications through an autonomous precision system, comprising steps of:

e) supplying of suitable agricultural supplies to the tank (155) positioned on the said accommodating means (154) of the said robotic modular system;
f) fitting of a suitable agricultural implement to the said implement attaching means (148) of the said robotic modular system;

g) receiving appropriate signals from RTK-GNSS system, vision system,
UAV/satellite data, and/or in combination and interpretation of the received
signals; and
h) operating the said robotic modular system (141) by the said electronic
control unit (ECU) (153), based on the data interpretation of the received
signals.
20. A method of operation of the robotic modular agricultural equipment (141), as claimed in claim 18, wherein said tank (155) is connected to a plurality of sprayers (156) via a pumping system (157).
21. A method of operation of the robotic modular agricultural equipment (141), as claimed in claim 18, wherein said tank (155) is supplied with agricultural supplies including but are not limited to pesticides, seeds, fertilizers, herbicides, weedicides and/or combinations thereof.
22. A method of operation of the robotic modular agricultural equipment (141), as claimed in claim 18, wherein said implement includes but are not limited to a tiller, towing implement, seeding implement.