Fig 1.
Component level diagram of the overall system.
Fig 2.
Developed rover bot including all units.
Fig 3.
6 DOF robotic arm (a) prototype:(physical) image (b) 3D-diagram.
Table 1.
Joint specifications.
Table 2.
Robot arm motor specifications.
Fig 4.
Kinematics types based on Joint & Cartesian space variable transformation [11].
Fig 5.
Horizontal plane movement illustration (Cartesian axes along the manipulator).
Fig 6.
Vertical plane movement illustration.
Fig 7.
(a) Image for training set, (b) image for validation, (c) image for testing.
Fig 8.
YOLO V5 model architecture [21].
Fig 9.
Confusion matrix.
Fig 10.
Plots of the training epochs for the training and validation set for box loss, objectless loss, classification loss, precision, recall, and mean average precision (mAP).
Fig 11.
Workflow diagram of image processing.
Fig 12.
Ripe (0) and unripe (1) tomato detection based on IOU threshold values (0 to 1).
Fig 13.
Harvesting process (a) before harvesting ripe tomato, (b) after harvesting ripe tomato.
Table 3.
Rating chart for soil test data [21].
Fig 14.
(a) NPK sensor and Serial Monitor (Before dipping in the soil, (b) NPK sensor and Serial Monitor (After dipping in the soil) (c) Aqualink soil analysis data and (d) Aqualink soil analysis data close-up.
Table 4.
Collected data from NPK sensor and marketed NPK device.