2017 International Conference on Intelligent Computing and Control (I2C2)
Automated Coconut Tree Climber
Dr.S.Maheswaran S.Sathesh
Assistant Professor/SLG Assistant Professor
Department of ECE Department of ECE
Kongu Engineering College Kongu Engineering College
Perundurai Perundurai
Erode-638060 Erode-638060
mmaheswaran_eie@rediffmail.com sathesh808@gmail.com
Abstract— Agriculture, the prime sector is the backbone of India.
Last few decades has witnessed a rapid development in robotic
technology. Different kind of intelligent machines which facilitate
various tasks in industry environment are becoming popular. India's
contribution in coconut production in worldwide third place. All
conventional techniques used for harvesting of coconuts was done
manually and even if they developed any device it also required a
human labor. Safety of the worker and the increased labor charges are
the primary concerns of the coconut farm owners now. The factors
such as height and coconut tree being branch less increased the
difficult of climbing the tress. Only a professional climber having
proper training could only be able to climb coconut tree. The risk
involved in coconut tree climbing has reduced the people’s count
who come forward to climb the trees. The lack of professional
climbers also stands as a reason for over charging by the existing
professionals from the owner and as the educational background of
Indian youth has increased the people now are hesitating to come into
this type of profession. Today living in 21st century, still we have
only manual coconut harvesting machines in handy. This in turn
increases man power, cost of operation and time consumption for
production. Thus, to overcome cons of manual harvesting process
and to empower the agriculture in this domain an attempt has been
made in designing a prototype of automated coconut harvesting
machine. Considering this scenario, it will be very much helpful for
the people if there is device which will help the user to climb a
coconut tree. These kinds of devices will encourage more people to
come forward into the agricultural sector.
This project focuses in the design of a tree climbing robot which is
automated, and thus this it does not require any human labor except
to control it from the ground using a remote control. The device is a
circular with a movable all sides and consists of four wheels. Four
springs that are fixed to the wheel helps in adjusting to the variation
in the tree’s diameter. All the fixed wheels are having a DC motor
geared with high torque for driving it. The four motors are driven in
the bidirectional way using the four L293D drivers which are placed
on the device’s frame. The control signs for the driver is provided
using a RF transmitter/receiver unit. A 12V 3000mah battery pack
which is rechargeable is used. An arm with a rotary blade at its end is
fixed to the track which is placed on the rim setup of this device so
that arm can rotate on the rim in all direction for the coconuts harvest.
Keywords— Coconut, Arm setup, Microcontroller,
I. INTRODUCTION
Coconut plantation is one of the agricultural activities in the
southern part of India. Crops like coconut were made viable
economically for planters because of sociocultural
G.Saran Vivek. B
Department of ECE Assistant Professor
Kongu Engineering College Department of ECE
Perundurai Kongu Engineering College
Erode-638060 Perundurai
saran.24g@gmail.com Erode-638060
vivekerode2005@gmail.com
compulsions. Specialized labors are required for pesticide
spraying and continuous plucking of coconuts manually [1].
These above activities are performed by socio-economically
backward community members traditionally and these men are
well-trained in climbing trees rapidly and plucking the
coconuts or spraying pesticides. These communities are
distributed wherever coconut trees are cultivated in large
number as coconut plantations.
The scaling of tress are done with the continuous upward hops
in the tree trunk along the vertical face. The required
movements for climbing a coconut tree which is grown
vertically are flexion at interphalangeal and
metatarsophalangeal joints, for flexion, abduction, extension
and the lateral rotation of the hip, flexion and extension of the
knees, plantar and dorsiflexion at the ankle, and inversion at
the subtalar joint. The arms flex, medially rotate and hold the
tree trunk, while the body elevates is shown in Figure 1. A
loop made of coir is worn by the climbers between the palms
or else around the waist in order to provide an assistance for
leverage. A same kind of loop that is wounded across ankles
prevented the splaying of the feet and kept them approximated
to the trunk surface at all times of ascent or descent. A strain
is induced on the tibiotalar and intratarsal joints for all the
professional workers who work for about 4 hours one day and
continuously climbs 25-30 trees [2].
Fig 1 Manual Climbing and Plucking of Coconuts
India is now undergoing a transitional state in terms of
economic profile. Thus a research approach is needed to
balance between health risk and modern industrial exposures
of traditional sectors. Studies where not done to rate the
occupational dangers that occur to traditional coconut climbers
belonging to southern part of India. Thus, the realm of the
above study was mostly attempted to provide an overview of
their health status and medical emergencies required by the
 2017 International Conference on Intelligent Computing and Control (I2C2)

traditional climbers, to understand the impact of this particular

occupational adaptation better.
The professional climbers of coconut tree in the rural southern
India are facing disabilities and the fatalities which are very
severe [3]. Four people who climbed coconut tress had fallen
from trees died and two were disabled with paraplegia from
the area of survey, according to the local daily newspapers.
Even the very experienced climbers were subjected to
accidental falls and fatalities. Colles, vertebral and maxillary
fractures and tendocalcaneus lesions were few injuries that
resulted due to fall from the coconut trees. The above injuries
are the most serious occupational hazard when compared to
the onboard falls and slips of climbers which are preceded by
back pain. The climbers following the method of gripping
trees with two hands and feet and thus climbing higher by Fig 2 Manual Coconut Tree Climbing Device
pushing up the body, results in discontinuous pressure over the
forearm, skin, palms and the soles. The friction thus created In this situation our society needs a robot for plucking
increases the epidermal turnover, which again lays thickened coconut. A coconut plucking robot is a device consisting of a
vertically oriented collagen bundles in the papillary dermis. camera fitted in the cutting section, a robotic arm, a display
The climbers of coconut tree have some occupational marks and a remote held in the hand. A friction between tree and
which is an evidence for irritant or allergic contact dermatitis. device is provided by the bottom portion during upward and
downward motion. The observation of happenings in the top
of tree is performed by the camera and display. Commands
A. Manual tree climber from TNAU
can be given by the people with the remote in the hand to
Coconut is an important cash crop in the Tamil Nadu and it is control the system. The coconut harvestings is performed with
being cultivated in an area of about 1, 12,734 ha. Coconut better efficiency and 100% safety by the robot used for
cultivation and associated activities provide livelihood coconut plucking.
security to the people. For coconut harvesting, removing the Using coconut tree plucking robot a person can easily pick
dried wastage and for spraying and applying insecticides on coconuts without climbing on the tree. There is a candid need
the crown, skilled labors have to manually climb the tree. to develop a device in response of above need. As an attempt
Though those process looks easy it is a dangerous and to develop the climbing device for coconut trees the following
laborious task in reality [4]. It requires skilled climbers for goals has to be meet: i) it will be controlled from the ground.
coconut tree. Scarce amount of skilled coconut tree climbers ii) Easy to control and monitor the climber for coconut which
are available and harvesting coconut has become difficult for is capable of harvesting faster than present methods.
farmers. To make people feel convenient, TNAU developed Hence a robot was designed which can climb the tree with the
the coconut tree climber. This device guarantees 100% safety reception of command from ground. The output of keypad is
to the tree climber given to the microcontroller. The operator on the ground
The best part of the coconut-climber is that even non- views it and can select the coconuts to be harvested by the
professional climbers can operate it, making it a boon for help of commands given to the system through a remote.
farmers. Mild steel square frame is used for the tree climbers. According to these commands the robot performs the specific
It consists two frames. The superior frame can be operated task assigned. It will save the human life easily and efficiently.
with both the hands and the inferior frame can be operated by
one foot. The two frames are connected to each other by
adjustable belts. The superior frame also consists of a seating
arrangement for the climber to sit and the inferior frame has a II. METHODOLOGY
endowment for holding the feet. The whole unit is fitted in the
coconut tree with the superior frame above the inferior frame. A. Block diagram for proposed climbing system
By standing on the inferior frame, the sliding up of superior
frame up or down the tree is possible. Similarly, by sitting on Using coconut tree plucking robot a person can easily pick
the superior frame, the sliding of inferior frame up or down is coconuts without climbing on the tree. The command is given
possible [5]. The operator can go up or down the tree by from the ground by the operator to the climbing unit by help
operating the superior and the inferior frames alternately. The of hand-held input keypad. As per user input command,
weight of device is about 9 kg. microcontroller transfer command signal (data) to RF
The tree climber is held against the tree by the superior frame transceiver module of the hand-held device [6].
safely and there is practically no risk of falling down. Farmers
itself safely climb and harvest the coconut within 10 minutes
in a tree is shown in Figure 2. The device can be operated by
the effort of one person. But, it’s not given 100% safety for
the people.
 2017 International Conference on Intelligent Computing and Control (I2C2)

RF
Transceiver RF Camera
Receiver
RF Camera
Transmitter RF
Transceiver

DC Power
9V
Window Motor
Soft Key Battery
PIC 16F877A &
Control
Micro Assembly for
(Climbing & Graphical PIC 16F877A
Controller Display/Video Downward
Plucking) Rotary & Micro
Display Arm Control
Movement
Controller
Unit

Battery (12V),
Power Supply
& Regulator Battery (12V) DC Power
Mode Selection Unit & Power Window Motor
Supply and Control Unit
Regulator (Upward
Movement)
Unit

Fig 4 Block Diagram for Tree Climber

Fig 3 Block Diagram for Handheld Device
B. Field Testing I
A RF module transfer data to another RF Module (climbing
device). An overall block diagram of handheld device is The device has an outer ring, suspension system, four motors
shown Figure 3. After receiving the signal, it gives a signal as used to drive the wheels. The field test one was performed
input to microcontroller. As per stored program, it transfer with four wheels being used to climb the tree. The wheel was
signal to the motor driver control unit. It will controls dc directly connected to the shaft of the motor. Each wheel driven
power window motor action according to their command by motor was assisted by a suspension system. The spring
signal status. tension was 15lbf/in. The torque of the motors used is 30 kg.
The dc power window motor gives rear and forward The power supply for the four motors was a 12V-7Amps
acceleration to mechanical cam and follower and climber sealed lead acid battery [7]. The total weight of device was
moves upward direction. After climbing, the expose system 10.5 kg. This was enough to lift the frame. But the stability
helps in examining the top of the tree with the help of display was not good since only four wheels were mounted in the
system in ground station. middle of the frame. The motion was not even and the device
Based on maturity level of the coconut, a signal will be given started to wobble. Figure 5 shows the four wheel setup of the
to rotary cutter and it rotates continuously for cutting the proposed system.
coconuts. With the help of position adjustment system, user
can place the rotary cutter accurately. At the same time, also
easily remove the dry wastage on the tree. After completion of
plucking, user will press the down switch, the dc power
window motor moves downward direction. The block diagram
of tree climber is shown in Figure 4 and a 12V DC supply is
used for plucking and climbing. Wireless Camera is used for
capturing video and sending live video stream to the ground
station and portable monitor is used for displaying video from
climbing module.
Fig 5 Four Wheel Setup
 2017 International Conference on Intelligent Computing and Control (I2C2)

C. Field Testing II controlled by the RF remote [10]. Figure 8 describes the RF

This device also has an outer ring, suspension system, eight circuit of the proposed system.
motors that are used to drive the wheels. The spring tension
was. The torque of the motors used is 30 kg. The power The camera fixed to the arm helps in viewing the coconut
supply for the eight motors was two 12V-7Amps sealed lead bunch at the top of the tree. The coconut bunch cutting motor
acid battery. The total weight of device was 15 kg. The ring is triggered through RF remote after viewing the coconut
acts as the base to hold the eight motors by which the wheels bunch through the display. The operator may select whether
are driven to climb the tree. The ring was mounted on the they want to cut the tender coconut or the mature coconut
either side with four wheels. The eight motors are attached to bunch viewing through the display. The flowchart 9 shows the
a suspension system attached to each separate motor used for complete description of the system.
adjusting the climbing device wheel tension according to the
tree’s diameter. The eight motors are helpful in maintaining
the device’s stability [8]. The eight wheels hold the tree firmly
and enhance the friction of the wheels with the help of
suspension system and this intern enhances the device’s
stability. The wobbling effect was greatly reduced. Figure 6
shows the eight wheel setup of the proposed system.

Fig 8 RF Circuit

AFFIX THE DEVICE TO THE TREE

SEND CLIMB UP SIGNAL

Fig 6 Eight Wheel Setup
UPWARD MOVEMENT OF THE
The arm functions with three motors. Two Johnson motors DEVICE
and one mini dc motor coordinate the cutting process. One
Johnson motor is mounted at bottom and it facilitates the 180
degree rotation of the cutting arm [9]. The other Johnson SWITCH ON THE CAMERA
motor placed at the rod extended from the Johnson motor
mounted at bottom facilitates the ascending and descending
movement of the cutting arm. Thus the three motors together VIEW THE SIGNAL FROM THE
perform the cutting process. Figure 7 shows the arm setup of CAMERA
the proposed system.

ADJUST THE ARM TO THE POSITION

OF THE COCONUT BUNCH

CUT THE COCONUT BUNCH

SWITCH OFF THE CAMERA

Fig 7 Arm setup DOWNWARD MOVEMENT OF THE

DEVICE
D. RF Module
The device is being controlled wirelessly through the RF
module. The control is used for ascending movement of the DETACH THE DEVICE FROM THE
device, the descending movement of the device and the arm TREE
movement. The device climbs the tree when the button is
pressed up in the RF remote and climbs down when the button
is pressed down in the RF remote. The arm movement is also Fig 9 Flow Chat for device
 2017 International Conference on Intelligent Computing and Control (I2C2)

III. RESULTS AND DISCUSSION
This device is thus safer to handle than the manual bulky
machines. The device needs a single person to operate and
hence reduces the labor cost. The device climbs the tree in a
diminutive span of time and hence it is also time saving [11].
This device eliminates the vulnerability of tree climbers to
accidents saving the life of many people who lose their life
while climbing the tree.
A. Photosnap of the hardware
This screenshot shows an operator giving command from the
ground to the system with the help of the remote from his
hand-held device. According to these commands, the robot
moves upward/downward direction and perform their tasks
accurately. The Figure 10 shows an output of proposed tree
climber.
Fig 10 Field Testing I
This was enough to lift the frame. But the stability was not
good since only four wheels were mounted in the middle of
the frame. The motion was not even and the device started to
wobble. The device has an outer ring, suspension system, four
motors that drives the wheels [12] [13]. The field test one was
performed with four wheels being used to climb the tree. The
wheel was directly connected to the shaft of the motor. It is
helpful in deciding when to move the hand and triggers the
cutter. The various types of battery are used in general day to
day life. Such type of battery usage and backup are shown in
Table 1.
The test was first performed with the alkaline batteries. The
time taken for charging the battery was between two to four
hours and the discharge rate was very high and was in the
range of 5 to 40 percentages and voltage capacity per cell is
1.15 to 3.7 V. The time taken for climbing is 3.5 to 6 hours.
The battery drained after climbing 3 trees each of 25metre
height. Then the Nickel Cadmium battery was used and it’s
charging time was 2.5 to 4 hours the discharge rate was lesser
than the alkaline battery and is 20 percentages [14] [15]. The
voltage capacity per cell is 1.2 V. The battery drained after
climbing 3 to 4 trees and the time needed for climbing of the
tree was about 3.5 to 5.5 minutes. Finally the sealed lead acid
battery was used. The Battery’s charging time was less than 2
hours whereas the rate of discharge is about 3 to 4 percent.
The voltage capacity per cell is 2.1 V. The battery lasts till
climbing 8 to 9 trees and the climbing time was 3 to 4
minutes. Thus the battery made of lead acid takes less time for
charging and its rate of discharge is also low. It also lasts till
climbing 8 to 9 trees and takes less time of 3 to 4minutes.
Thus the battery made of lead acid is better than other
batteries. Figure 11 describes the output of the eight wheel
proposed setup.
The ring acts as the base to hold the eight motors to drive
the wheels to climb the tree. The ring on the either side was
mounted with four wheels. The eight motors are attached to a
suspension system attached to each separate motor which is
helpful in adjusting the climbing device wheel tension
according to the tree’s diameter. The eight motors maintains
the device’s stability [16]. The eight wheels hold the tree
firmly and enhance the wheel’s friction with the suspension
system and this intern enhances the device’s stability. The
wobbling effect was greatly reduced. The device has a ring on
the outer side, suspension system, eight motors that are used to
drive the wheels. In figure 11, it shows an operator on the
ground giving instructions to climbing unit by help of
handheld input keypads. As per user input command,
microcontroller transfer command signal (data) to RF
transceiver module (Handheld Device). A RF module transfer
data to another RF Module (Climbing Device).
After receiving the signal, it gives to the signal as input of
their microcontroller. As per stored program, it transfer signal
to the motor driver unit. The motor driver controls dc geared
motor action according to their command signal status [17].
The dc geared motor gives rear and forward acceleration to
mechanical cam and follower and climber moves upward
direction.

Battery
Battery Self- Voltage Ampere Time to Climbing
Types Backup
Charging time discharge/Month Capacity/Cell hour Rating (upto 25m)
(upto 25m)
Sealed Lead Acid Less than 2
3-4% 2.1v 8-9 trees 7.5Ah (3-4)Mins
Batteries hours
Nickel-Cadmium More than 2.5-
20% 1.2v 3-4 trees 7.5Ah (3.5-5.5)Mins
Batteries 4hours
Between 2- Less than 3
Others 5-40% 1.15-3.7v 7.5Ah (3.5-6)Mins
5hours trees
Table 1 Comparison of Battery Usage and Back-up Time
 2017 International Conference on Intelligent Computing and Control (I2C2)
Fig 11 Field Testing II
IV. CONCLUSION
Coconut plucking is very laborious and difficult job. A lack of
tree climber’s results in agriculturists not being able to sell
their nuts in time. In present existing method of problems are
overcome gradually and remote control method with
automatic climbing is to be the best among all methods. The
automatic climbing is much easily controlled and operated,
which has to be wireless even upto the ground station as
compare to other methods. This method which is proposed is
comparatively faster, as it is manually controlled and will be
adjusted to be apt for the structure of each tree. The working
model has assembled and taken into user’s environment.
Future work for this project includes altering a plucking unit
and climbing unit for improving climbing and plucking. Also
design compact multi-axis robotic arm/rotary blade for
plucking the coconuts.
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