PluckPro
An Arduino Based Fruit Picking Robot
Group No.: 09 (D2)
Course Title: Peripherals LAB
Course Code: CSE 316
Date of Submission: 29 October, 2024
Department of Computer Science and Engineering
University of Asia Pacific
Project Team Members
Mumtaheena Binte Ahmed (21201198)
Azlina Arabi Hossain (21201192)
Submitted To
Tahmid Taki Rahman
Lecturer, Department of CSE,
University of Asia Pacific
Description
2
PluckPro, an Arduino Uno-based autonomous robot, can efficiently harvest the fruits after they are ripe.
This project proposes the development of an intelligent robotic system that is capable of color sensor-
based fruit ripeness detection, mechanical gripper-based fruit plucking, and also storing the fruit in a
box attached to the robot. It relies on a PIR motion sensor for obstacle avoidance and deploys a motion-
controlled gripper system to pick and store the fruits with immense care to avoid any sort of damage.
Minimizing the level of human labor in fruit selection, this project tries to achieve improved efficiency in
agriculture and yield by picking only the ripe ones with precision. This will solve the problem of
inadequacy and inconsistencies of labor in usual methods of fruit picking by developing an automated
approach toward repetitive and labor-intensive tasks.
The designed system has a servo motor-driven arm for the actuation of the gripper, while Arduino runs an
algorithm for determining the state of fruits concerning color input. A storage unit linked in will
automatically collect fruits that are to be plucked, while this robot can be taken through orchards with the
help of motion sensors and wheel-based locomotion. The whole system is powered with a rechargeable
battery pack to make it mobile in large areas of fields.
Major Functionalities and Outcomes of PluckPro
The smart fruit-picking robot delivers a range of outcomes aimed at automating the fruit-harvesting
process. Using sensor technologies and mechanical components, the robot efficiently identifies, picks, and
stores ripe fruits while navigating the field. Below are the key outputs of the project.
● Ripe Fruit Detection: This robot classifies fruits based on predefined parameters as ripe or
unripe, using the Color Sensor TC3200.
● Autonomous Fruit Picking: The robotic arm fitted with a mechanical gripper/claw will pluck
the fruit from the tree and then put it in the storage box automatically, provided the fruit has been
identified as ripe.
● Obstacle Avoidance: The robot uses PIR motion sensors and an Ultrasonic sensor HC-SR04 to
detect obstacles in a robot's path moving up and down the fields.
● Fruit Storage Mechanism: A connected storage box collects the plucked fruits, minimizing
manual intervention during the harvest.
● Motion Control: The robot can rotate and move along dynamic paths to reach fruit-bearing trees,
using a combination of Servo Motors SG90, wheels, and motor drivers.
Required Components and Features
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The smart fruit-picking robot incorporates several advanced features to ensure precise fruit-picking and
effective field operation. From sensory input systems to motor-driven mechanisms, the following
components are highlighted with the robot’s technical capabilities.
● Arduino Uno Microcontroller: The robot’s control system is powered by an Arduino Uno,
featuring a 16 MHz clock speed and multiple GPIO pins for sensor integration.
● Color Sensor for Ripe Fruit Detection: A TC3200 color sensor is utilized to differentiate
between ripe and unripe fruits, enhancing precision.
● Servo Motor for Controlling the Arm: We are using Servo Motor SG90 and an Arm with Claw
for proper gripping of the fruits.
● Obstacle Avoidance Using PIR Sensor and Ultrasonic Sensor: The robot incorporates a PIR
motion sensor and an Ultrasonic Sensor HC-SR04 for obstacle detection, ensuring smooth
navigation in the field for basic motion sensing.
● Motor System for Motion: A DC motor with an L293D Motor Driver is needed to drive the
wheels, providing the necessary mobility to navigate uneven paths.
● Fruit Storage Unit: An attached compartment stores fruits after they are picked, making it
capable of holding multiple fruits.
● Rechargeable Battery Pack: A 12V 18650 Li-Ion battery powers the robot, providing enough
energy for use in the field.
● Remote Operation: The robot’s onboard program enables it to operate remotely with a web
interface, improving efficiency in the operations. We are using Wi-Fi Module ESP8266 in this
case.
