International Journal on Recent Technologies in Mechanical and Electrical Engineering (IJRMEE) ISSN: 2349-7947

Volume: 2 Issue: 5 001 – 006

_______________________________________________________________________________________________
Automatic Pesticides Mixing and Spraying Robot

Jyotsna Pansare
Tanuja Nale Surabhi Khonde Mrs. S.M. Shaikh
Department of Electrical
Department Department Of Electrical Department of Electrical
Engineering
OfElecticalEngineering Engineering Engineering
AISSMS IOIT, Pune
AISSMS IOIT, Pune AISSMS IOIT, Pune Assistant Professor
jyoppansare94@gmail.com
tanujanale50@gmail.com khondesurabhi35@gmail.com AISSMS IOIT, Pune
saba.mubeen@gmail.com

Abstract:This paper discusses the automatic pesticide mixing and spraying using microcontroller 8051 .In India, 70% of the
population is engaged in farming, hence most of the earning is from farming. Farmers used various types of pesticides for proper
growth of the crop in large scale. And 75-80% of farmers preferred manual method for mixing and spraying those toxic chemicals
which are hazardous for health. This paper provides the solution to this spraying problem; and we have tried to achieve it by
design and construction of an automatic pesticide mixing and spraying robot. Its function is to mix the pesticide with water in pre-
requisite amount and spray it in three directions namely forward, right and left evenly, as per the set dosage.
__________________________________________________*****_________________________________________________

INTRODUCTION
Often, there is a requirement of fungicides and pesticides of pesticide mixing and spraying is taken from automatic
for optimal growing of plant and full life of plant [1]. mixing and spraying of colour using PLC. It has been
Automating tasks within the farm will enable the avoidance observed that the automation of pesticide mixing and spraying
of hazardous human exposure to pesticide and can increase system has improved the productivity, accuracy and speed of
in overall efficiency and productivity of farm.For the work, also more consistent performance, reduced labour cost,
achievement of the desired conditions, the use of achieving higher productivity, main reduce human health
fungicides, pesticides often done by farmers [1]. Also problems and so on. In line with these works,we describe in
temperature of greenhouse is high, and the level of CO2 and this paper the description of automatic pesticides mixing and
humidity is high. Prolonged exposure to these conditions of spraying
greenhouse workers leads an hazardous and uncomfortable
working environment often there are substantial risks. This BLOCK DIAGRAM
project aims at providingan solution to this problem, by
doing semi-automation in handling pesticides mixing and Power
LCD 16*2
spraying operation. supply
µC
OBJECTIVES 89s52 RELAYA1

 To develop a system which is safe, reliable and cost

RELAY2
effective for farmers to spray pesticides
automatically,this is very relevant in highly populated
countries. PC RELAY3
(VB)
 Accordingly, it is an objective of the present innovation
to provide a system which should be fully automated i.e. (V
RELAY4
less manual interfacing. B)
 It should be environment friendly.
DC1
 Develop an ANSI C program and model for automated DC
MOT
two pesticides and water (in proportion) mixing plus
OR DC2
spraying of that mixture in three different directions. DRIV
ER
RELATED WORK
In the exhaustive literature survey we came across the Figure 1: Basic Block Diagram
pesticides which are often used in farming and in what
quantity they are used. Also various data sheets like
microcontroller 89c52, LCD 16*2, MAX 232, diode-1N007,
Relay Driver, LM-7805 (regulator IC).The actual concept

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International Journal on Recent Technologies in Mechanical and Electrical Engineering (IJRMEE)
Volume: 2 Issue: 5
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The basic block diagram, shown above depicts the
arrangement of devices for the project. The power supply
regulator block converts the electricity provided externally
into a usable magnitude for the microcontroller and other
assembly. The water motors and DC motors interfaced to the
microcontroller through an relay circuit.. A display unit and
interfacing unit which actually consists of LCD for displaying
project name and output of different models connected to the
microcontroller can be connected externally to the
microcontroller A personal computer can be interfaced with
the microcontroller for programming and for giving actual
command to model.
Abbreviations and Acronyms
 PIV(Particle Image Velocimetry)
 TUF(Transformer utilization factor)
 MCLR(Master Clear Pin Reset)
V.COMPONENTS
89c52-Microcontroller
The 89c52 is a microcontroller designed by Atmel.The
AT89S52 is a low-power; high-performance CMOS 8-bit
microcontroller with 8K bytes of in-system programmable
Flash memory.This is a powerful and a power efficient device
which can be used for a variety of applications. It has the
ability to execute most of its instructions in one cycle,
therefore improving its speed of operation. This
microcontroller is perfect for implementing C-programmes as
the Atmel Company provides the best compiler and
application support.
Power Supply
Figure2:Power Supply Design
The main part of the system is power supply.The
microcontroller functions on a 5 volt supply, while the entire
unit requires 24 volts to function. The 5 volt supply to the
microcontroller is provided by the 7805 IC which is a voltage
regulator. When we have to design any system, we must
design power supply first. There are two basic steps in
designing of power supply:
IJRMEE | May 2015, Available @ http://www.ijrmee.org
_______________________________________________________________________________________
ISSN: 2349-7947
001 – 006
1) Determination of the total current that system takes from
the supply.
2) Determination of the voltage rating required by the different
components.
When 230v AC supply is applied to the terminals, the bridge
rectifier rectifies that voltage and converts it into the DC
voltage. Still some AC components are present in that voltage,
so the capacitor filter produces an unregulated DC voltage.
That voltage is applied at the I/P of 7805 and constant supply
required to the total circuit is maintained by IC 7805 which is
5V. Also 12V DC supply is required at motor terminals which
are maintained by another power supply.
LIQUID CRYSTAL DISPLAY:
Figure3: LCD interfacing with micrcontroller
16x2 LCD is used i.e. it has 16 columns and 2 rows.
LCD has two main functions:
1) LCD is used to visualize the output of the application. So,
we can write 16 characters in each line. Total 32 characters
can be displayed on 16x2 LCD.
2) LCD can also be used to check the output of different
modules interfaced with the microcontroller. Thus LCD plays
a very important role in a project to see the output and to
debug the system module wise in case of system failure in
order to rectify the problem [6].
•LCD has 2 power sources:
1) VCC and GND- Pin no’s 1 and 2 of LCD. They are used to
drive the LCD. Normally current consumption is 3 mA.
2) VCC and GND- Pin no’s 15 and 16 of LCD. They are used
to drive and adjust the backlight of LCD.100 mA is current
consumption.[6]
•LCD has 8 or 4 data lines and 3 control lines
Pin no. 7 to pin 14 of LCD are the 8 data lines of LCD which
are connected to the port 0 of microcontroller 89s52 i.e.P0.0 –
P0.7.
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International Journal on Recent Technologies in Mechanical and Electrical Engineering (IJRMEE) ISSN: 2349-7947
Volume: 2 Issue: 5 001 – 006
_______________________________________________________________________________________________

The control lines of LCD are RS, R/W, and E. These 3 lines
are connected to the port 1 of the 89S52 microcontroller. i.e. to
the P 1.0 , P 1.1 , P 1.2 respectively. The RS pin of LCD is for
selecting the data or the code register. The R/W is for
choosing between reading and writing on LCD. E is for Figure 5: Internal relay driver circuit.[6]
enabling or disabling the LCD.
Circuit Diagram:
DC Motor
J5 GSM 5V
C12
DC motor is a simple, robust electromechanical device which

4
3
2
1
3 10u 1 U5

converts an electrical input into a physical, rotary output. The 14

C1-

T1OUT
C1+

T1IN
11
C7 R2
LCD2
LM016L-G

13 12

5V
5V R1IN R1OUT 10k
7 10

motor used at the output side is a 30 R.P.M,12 Volt, plastic C10

8

2
T2OUT
R2IN

VS+
T2IN
R2OUT
9
10uF
RP1
RESPACK-8
5V
5V

LED+
VS-

LED-
geared D.C. Motor.2 DC motors are used to drive the buggy in

VDD
VSS

VEE
10u

RW
RS

D0
D1
D2
D3
D4
D5
D6
D7
E
C11 C2- C2+ 12V
10u 5V

9
8
7
6
5
4
3
2

1
2
3

4
5
6

7
8
9
10
11
12
13
14
15
16
5 C9 4 MAX232 R1

various directions. 10uF

J3
1
2
5V
330R

3
U2

Two water motors(water pumps) are used for lifting the 4

5
6
1
2
3
P1.0/T2
P1.1/T2EX
P1.2
VCC
P0.0/AD0
P0.1/AD1
40
39
38
7 4 37
P1.3 P0.2/AD2

pesticides from container. J2 RFID

8
9
10
11
5
6
7
8
P1.4
P1.5
P1.6
P0.3/AD3
P0.4/AD4
P0.5/AD5
36
35
34
33 5V
P1.7 P0.6/AD6
12 9 32

One water pump is used for lifting the water from water RST P0.7/AD7

1
2
3
4
10 31
P3.0/RXD EA
CONN-SIL12 11 30
P3.1/TXD ALE
12 29
P3.2/INT0 PSEN
13 28
P3.3/INT1 P2.7/A15
14 27

container. C5
15
16
17
P3.4/T0
P3.5/T1
P3.6/WR
P3.7/RD
P2.6/A14
P2.5/A13
P2.4/A12
P2.3/A11
26
25
24
18 23
XTAL2 P2.2/A10

And the last water pump is used for lifting the mixed content 33p
C6 X1
CRYSTAL
19
20
XTAL1
GND
AT89C52_S
P2.1/A9
P2.0/A8
22
21
12V 5V
5V

of water and pesticides from the fourth container. 12V

33p

10

12
11
1
2
3
4
5
6
7
8
9
10

12
11
1
2
3
4
5
6
7
8
9

To drive a dc motor, we need a dc motor driver. This is J6

CONN-SIL12
J7

L293D.At a time two DC motors are driven by using this DC CONN-SIL12

12V
5V

D1 U1 7805

motor drive. But, in our system we have to change the 1

VI VO
3

GND
1N4007

D2
direction of rotation of wheels which is done by the changing J8

2
2
1 1N4007
C1 C2 C4
the direction of the DC motors and at that time back EMF is SIL-100-02 D3

1N4007
1000u
100n C3
100n
1000u

D4
generated. To protect the dc motor from a back EMF 1N4007

generated while changing the direction of rotation DC motor

driver is used, it has an internal protection suit. Figure6: Circuit diagram

Relay and Relay Driver Circuit RESET CIRCUIT:

Relay is an electromagnetic switch which has the property to

switch one circuit to another circuit. It consists of 1 common
(COM) terminal, 1 normally closed (NC) terminal, coil and 1
normally open (NO) terminal.

Figure4: Symbol of a relay for circuit [6]

Connections of the relay switch are generally labelled as-
COM, NC and NO:
 COM: Common is always connecting to this terminal and
it is the moving part in the switch.
Figure7: Connections of Reset
 NC: Normally Closed terminal, COM terminal is
connected to this when the relay coil is OFF.
Above circuit shows the connection of an RC circuit to the
 NO: Normally Open terminal, COM terminal is connected
RESET i.e. pin no 9 of controller .The microcontroller 89S52
to this when the relay coil is ON.
has an active high reset pin, due to that we connect an RC
Relays allow the switching of one circuit to another circuit.
circuit. As shown in the fig the capacitor is initially at 5v
during supply ON and capacitor charges from the supply

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IJRMEE | May 2015, Available @ http://www.ijrmee.org
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International Journal on Recent Technologies in Mechanical and Electrical Engineering (IJRMEE) ISSN: 2349-7947
Volume: 2 Issue: 5 001 – 006
_______________________________________________________________________________________________
through a 10 µf capacitor in series with it. When we have to • Power-off Flag
put the microcontroller into a 'known' condition, reset is used. • Fast Programming Time
• Flexible ISP Programming (Byte and Page Mode)
That practically means under certain undesirable conditions  LCD-16*2-
microcontroller can behave rather inaccurately in that situation a) LAMPEX
and to continue its proper functioning it has to be reset. It b) 16*2, BACKLIT FACILITY,
means all registers would be placed in a starting position i.e. at c) 100mAmp CONSUMPTION
their initial location. Another function of reset is when VII. SEQUENCE OF OPERATION OF PESTICIDE MIXING
microcontroller doesn't behave the way we want it to,it can AND SPRAYING ROBOT:
also be used when trying out a device as an interrupt in  Pesticides 1 and 2 are filled in their two containers;
program execution, or to get a microcontroller ready when also water is filled in the 3rd container.
loading a program.  When supply is given circuit is ON, project name is
displayed on LCD.
CRYSTAL CIRCUIT  Microcontroller is automatically reset through reset
circuit.
 Command is given from PC for selecting the proper
combination in 40/60 ratio i.e. Amount of pesticide
should not exceed 40% and amount of water should
be 60% and after that MIX command given.
 When these two actions are done water pumps start
and mixing of two pesticides and water is done in 4th
container.
Figure 8:Connection of Crystal Circuit
 We can also mix only one of the pesticide and water
Microcontroller 89c52 has two Pins: OSC1 & OSC2 for by doing the same action.
connecting a resonant network to form oscillator. Generally  After the mixing operation connector is removed and
the quartz crystal and capacitors are used. The frequencyof container unit is separated from the moving unit.
crystal is the basic internal clock frequency of the  On our PC screen, two or more commands are
microcontroller. Here we are connecting two ceramic available i.e.
capacitors which are basically used for filtering purpose. In  1) PATH SELECTION
other words to give a pure square wave to the microcontroller 2) START
we are connecting the two capacitors. Frequency is 3) STOP (MANUAL)
11.0592MHz  There are three paths available
1. Forward
2. Forward and right
VI. MICROCONTROLLER 89C52 SPECIFICATIONS 3. Forward and left
 After selecting the path from PATH
Features [6] SELECTION,START command is given to the
• Compatible with MCS-51® Products controller which moves the buggy in given direction
• 8K Bytes of In-System Programmable (ISP) Flash Memory with spraying action simultaneously.
– Endurance: 1000 Write/Erase Cycles  When we give STOP command from PC, buggy stops
• 4.0V to 5.5V Operating Range at that place and simultaneously spraying action also
• Its operation is Fully Static : 0 Hz to 33 MHz stops.
• Three-level Program Memory Lock
• 256 x 8-bit Internal RAM
• 32 Programmable I/O Lines
• Three 16-bit Timer/Counters
• Eight Interrupt Sources
• Full Duplex UART Serial Channel
• Low-power Idle and Power-down Modes
• It had facility to Interrupt Recovery from Power-down Mode
• Watchdog Timer
• Dual Data Pointer

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International Journal on Recent Technologies in Mechanical and Electrical Engineering (IJRMEE) ISSN: 2349-7947
Volume: 2 Issue: 5 001 – 006
_______________________________________________________________________________________________

Start
Start

A
Initialize LCD

Is serial N
interrupt Display the
detected? project name

Y
A
B

Is serial N
Wait for N
interrupt
location detected?
command
?

Y
Y
Read the combination from
serial port according to
Is command N proportion
received? B A

If NO
within
Y permissi
ble
Y limit?
Is path 1
selected Choose path Spray YE
1 pesticide S
Turn on the
N respective valve of
motors
Is path Y
Choose path Spray
2selected? Give mix
2 pesticide
command

N
Wait for next
N Is path Y
command from PC
3selected Choose path Spray
2 pesticide
A

Figure 10: Flowchart of Pesticide Spraying

Manual stop

Figure 9: Flowchart of Pesticide Mixing

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International Journal on Recent Technologies in Mechanical and Electrical Engineering (IJRMEE) ISSN: 2349-7947
Volume: 2 Issue: 5 001 – 006
_______________________________________________________________________________________________
VIII. PCB LAYOUT [5] Riley B., Siemsen-Newman L., (2003) “Health Haz-
ards Posed to Pesticide Applicators”, Northwest
Layout basically means placing or arranging things in a Coalition For Alternatives to Pesticides, pp. 17-24.
specific order on the PCB.This placement is made such [6] DATA SHEETS of 89c52,RELAY DRIVER BC-
that the interconnection lengths are optimal .At the same 547,LCD 16*2,LM 7805
time, it also aims at providing accessibility to the [7] “Color making and mixing process using PLC”, S.T.
components for insertion testing and repair. Sanamdikar and Vartak C
When we have to start final artwork, PCB is the main
starting point, it should reflect the concept of final model

Figure 11:PCB layout of circuit

IX. CONCLUSION

In this paper, a system has been successfully designed that

will prove very useful in the field GREENHOUSE farming’.
Based on testing and working of the system we conclude
that the system designed will provide facility for mixing of
different pesticides and water also spraying of that mixture
on crops, which otherwise would have been difficult to do
manually and main disadvantage of manual operation is it is
health hazardous. We learnt to design the model based on
controller programming. The system can be operated semi-
automatically

X. REFERENCES

[1] “Autonomous Pesticide Spraying Robot for use in a

Greenhouse”, Philip J. Sammons, Tomonari Furukawa
and Andrew Bulgin ARC Centre of Excellence for
Autonomous Systems School of Mechanical and
Manufacturing Engineering The University of New
South Wales, Australia t.furukawa@unsw.edu.au
September 9, 2005
[2] Badgery-Parker, J. (1999), Agnote DPI/249, Edition 1,
pp. 1-2.
[3] Van Henten, E.J., Hemming J., Van Tuijl, B.A.J.,
Kornet, J.G., Meuleman, J., Bontsema J., & Van Os,
[4] E.A. (2002), “An Autonomous Robot For harvesting
Cucumbers in Greenhouses”, Autonomous Robots, Vol
13, pp. 241-258.

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