Design & Fabrication of crop spray Drone

FINAL YEAR PROJECT

Authors

Aniq Ahmed 2015-UET-SCET-RYK-MECH-15

Project Supervisor

Engr. Mirza Abu Bakar

DEPARTMENT OF MECHANICAL ENGINEERING

May 2019
 Design and Fabrication of Crop Spray Drone

Author

Aniq Ahmed 2015-UET-SCET-RYK-MECH-15

A Project submitted in partial fulfillment of the requirements for the degree of

B.Sc. Mechanical Engineering

Project Supervisor:

Engr. Mirza Abu Bakar

Project Supervisor Signature: ____________________________

Head of Department Signature: ___________________________

External Examiner Signature: ____________________________

DEPARTMENT OF MECHANICAL ENGINEERING

May 2019

I
 Abstract

Over the last few years we have seen a massive growth in the manufacture and sales of

remote control airborne vehicles known as Drone. These drones can be used in agriculture. In

this project we are using the drones for crop spray. The goal of this project is to build,

modify, the drone which should have low cost and can be operated easily by the untechnical

farmer.

Quadcopter is design to obtain stable flight and is highly balanced while flying it also have

long range and improved battery timings.

The drone also have weight caring capacity and can carry spray far away. The project used a

Quadcopter that included a frame, motors, electronic speed controllers, Arduino development

board, and sensor boards. Batteries, a transmitter, a receiver. Individual components were

tested and verified to work properly. Most of the goals in this project have been achieved,

resulting in a stable and maneuverable Quadcopter

Keywords:

Cost effective agriculture drone

I
 UNDERTAKING

We certify that research work titled “Design And Fabrication Of Crop Spray Drone” is our

own work. The work has not been presented elsewhere for assessment. Where material has

been used from other sources it has been properly acknowledged / referred.

Signature: ________________

Aniq Ahmed

2015-UET-SCET-RYK-Mech-15

Signature: ________________

Rana Ali Manzoor Khan

2015-UET-SCET-RYK-Mech-08

Signature: ________________

Asad Rasheed

2015-UET-SCET-RYK-Mech-13

Signature: ________________

Muhammad Hammad Khan

2015-UET-SCET-RYK-Mech-44

II
 ACKNOWLEDGEMENTS

We are first and foremost Grateful to Almighty Allah who has been with us all along and

giving us the strength to complete this project. We are thankful to ore parents who supported

us at every ups and downs of life.

We would also like to acknowledge our deepest gratitude to our supervisor, Engr. Abu Bakar,

for his guidance, constant attention, valuable suggestion, enthusiastic support and personal

concern during the project. Furthermore, we are also thankful to our head of department

Prof. Engr. Dr. Abdul Shakoor Khan Who gives us his precious time, and give us the

guidance about the project. Special thanks go to faculty of Department of Mechanical

Engineering for their kind co-operation and encouragement which aided us which help us in

completion of this project.

III
 TABLE OF CONTENTS

Abstract …………………………………………………………………………………..…i

Undertaking………………………………………………………………………………...ii

Acknowldgement…………………………………………………………………………..iii

List of Figures……………………………………………………………………………...ix

List of Tables……………………………………………………………………….……...xi

CHAPTER 1: Introduction………………………………………………….........................1

1.1. Introduction…………………………………………………………………………….1

1.1.1. Motivation…………………………………………………………………… ….1

1.1.2. Problems …………………………………………………....……………… …..1

1.1.3. Objective …………………………………………………….....…………...…....2

1.1.4. Project Plan …………………………………………………….....……….……..3

CHAPTER 2: History& Literature Review…..……………………………..……………...4

2.1. History………………………………………………………………...…………….….4

2.1.1. What is drone………………………………………………..……………….........4

2.1.2. Early attempts………………………………………….………………………...5

2.1.2.1. Breguet-Richet Gyroplane (1907)………………………………………….5

2.1.2.2. Oehmichen No.2 (1920) ……………………………………………...........5

2.1.2.3. de Bothezat helicopter (1922)………………………………………...........6

2.1.3. Recent developments………………………………………………………….....6

2.1.4. Agricultural drone……………………..…………………………………….......8

2.2. Literature Review………………………….………………………………………....9

2.2.1. Classification ……………………………………………………………………..9

2.2.2. Durham K. Giles, Ryan C. Billing’s Drone……………………………….10

2.2.3. Paul D Picar Agricultural drone…………………………………………...11

IV
 2.2.4. Freyr drone: Pesticide/fertilizers spraying drone………………………….….12

2.2.5. Jeff DeMaagd, Kemal Talen, and Ross Tenney’ s Drone……………….…….13

CHAPTER 3: Methodology And Working…………………………………………………..15

3.1. Methodology …………………………………………………………………………..15

3.1.1. Parts used………………………………………………………………………….17

3.2. Working ………………………………………………………………………………..18

3.2.1. Flight dynamics……………………………………………………………………18

3.2.2. How quadcopters fly ……………………………………………………………...22

3.2.3. Drag………………………………………………………………………………..22

3.2.4. Thrust ……………………………………………………………………………...23

3.2.5. How Drone Lifts…………………………………………………………………...25

3.2.6. How do quadcopters hover? ................................................................................... 26

3.2.7. Gaining and losing altitude………………………………………………………...27

3.2.8. Roll of drone……………………………………………………………………....28

3.2.9. Pitch……………………………………………………………………………….30

3.2.10. Yaw of drone………………………………………………………………….......32

3.2.11. Controls…………………………………………………………………………...33

CHAPTER 4: Design and Calculations…………………………………………...…………35

4.1. Design………………………………………………………………………………..35

4.1.1. Parts of frame:………………………………………………………………..35

4.1.1.1. Arms Of frame:………………………………………........................35

4.1.1.2. Base of frame:……………………………………………………......36

4.1.1.3. Frame Assembly:…………………………………………………….37

4.1.2. Propellers…………………………………………………………………….38

V
4.2. Calculations:………………………………………………………………………39

4.2.1. Motor Specifications:……………………………………………………..39

4.2.2. Specifications of Propeller:…………………………………………....…..40

4.2.3. Specifications of frame:……………………………………………..…….40

4.2.4. Maximum Thrust For One Motor (1400 Kv):…………………….……….41

4.2.5. Dead Weight & Payload ( in grams)………………………………………41

4.2.3. Drag Force…………………………………………………....……………42

4.2.4. Lift force……………………………………………………..…………….43

CHAPTER 5: Conclusions………………………………………………………………...44

References…………………………………………………………………...…………….45

VI
 LIST OF FIGURES

Fig2.1: Drone…………………………………………………………………………………4

Fig2.2:Breguet-Richet Gyroplane ……………………………………………………………5

Fig2.3:Oehmichen No.2………………………………………………………………………6

Fig 2.4 : Drone for photography ……………………………………………………………..7

Fig2.5 : Delivery drone by amazon ………………………………………………………….7

Fig 2.6: An Agricultural drone……………………………………………………………….8

Fig.2.6: Fixed wing drone ……………………………………………………………………9

Fig.2.7: Durham K. Giles, Ryan C. Billing’s Drone ………………………………………..10

Fig. 2.8: Paul’s Volt Aerial Robotics………………………………………………………...11

Fig. 2.9: FREYR drone ……………………………………………………………………...12

Fig.2.10: Jeff DeMaagd, Kemal Talen, and Ross Tenney’ s Drone ………………………...13

Fig. 3.1: process flow Diagram ……………………………………………………………..16

Fig 3.2 : Flight dynamics of drone ………………………………………………………….18

Fig 3.3: Flying setup of quardcoptor………………………………………………………...19

Fig 3.4: Quard X mode ……………………………………………………………………..19

Fig 3.5: Drag of Quadcopter………………………………………………………………...22

Fig 3.6 : Thrust force of quadcopter ………………………………………………………..23

Fig. 3.7:Lift of drone……………………………………………………………………..... 25

Fig 3.8: Hovering of Quadcopter …………………………………………………………...26

Fig 3.9: Getting and Losing height by drone ……………………………………………….27

Fig 3.10: left Roll Of Quadcopter …………………………………………………………..28

Fig 3.11: Right Roll Of Quadcopter…………………………………………………………29

Fig 3.12: Backward pitch Of Quadcopter……………………………………………………31

Fig 3.13: Yaw Of Quadcopter ………………………………………………………………32

VII
Fig 3.14: Remote control System …………………………………………………………...33

Fig. 4.1: Arms of frame ………………………………………………………………...…...35

Fig. 4.2 : Upper Base of frame ……………………………………………………………...36

Fig. 4.3: Lower Base of frame ……………………………………………………………...36

Fig. 4.4: Assembled Frame ………………………………………………………………....37

Fig. 4.4: Propeller …………………………………………………………………………..38

VIII
 LIST OF TABLE

Table 2.1: Literature Review………………………………………………………………14

Table: 3.1 List of parts used……………………………………………………………….16

Table: 4.1 Specifications of motor…………………………………………………….…..39

IX
 CHAPTER 1

Introduction

1.1 Introduction

The motivation to this project, problems to the recent project andproject plan is

as follows:

1.1.1 Motivation

In recent years, the use of unmanned aerial vehicle (UAV) has been a major focus of active

research, since they extend our capability in a variety of areas. Applications such as

surveillance, medical evacuation and search-and-rescue missions, agriculture are some such

areas where use of UAVs is explored. Personal Drones have been all the rage for the past few

years, as toys, and primarily as new devices for capturing amazing aerial photography. As the

technology has matured and become more mainstream, a number of practical and very

interesting uses of Drone technology have emerged. In the past few months we have seen

some amazing developments in the flying drone industry. These drone can be used in

agriculture such as crop spray and surveillance. Using drones as crop spray

 Can save time

 Can reduce labor cost

 Can cover large areas

 As chemicals used effect human health so it can be operated from far away

1.1.2 Problems:

Recent researches on drone have led them to use in many applications as it is also use in

agriculture now a days drone are more stable in flight, and are more advanced than ever but

as these agriculture or crop spray drones are being used by uneducated farmers so they don’t

even know that how to fly these drone because they are not as simple to fly.

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The drones in the market are so expensive in Pakistan that a farmer with low income cannot

even think to buy these drone drones and use it for crops spray.

1.1.3 Objective

The basic objective of this project is to reduce the cost and make the cost effective model of

drone, by using qualitative and cheap parts and also to make the controls of drone easy to

operate by an untechnical person.

The objective is to make a drone which have all of these desirable qualities such as, can carry

weight of its components and also the weight of spray, can have low cost and affordable , can

be easily controlled.

The final Drone design had to meet the following specifications:

1. The Drone must be capable of carrying load.

2. It must have long range.

3. The Drone must be stable and balanced.

4. The Drone must be cheap and components must be easily available.

5. The drone must be capable of spray the crops with constant speed.

6. The Drone must be able to perform the following commands:

 Smooth take off

 Smooth landing

 Move forward And backward

 Move left and right

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1.1.4 Project Plan

The project plan was divided into five major.

1) Project Description and Plan of Work

2) System Model

3) Components Purchasing

4) Implementation / Hardware / Software

5) Project Demonstrations

The sequence that we met these milestones to complete our project was decided by us and

reviewed by our supervisor. Experience told us to get the hardware done as soon as possible

as this is often requires a lot of time. So selected the model of the drone and purchased the

components. By doing so, and because of unforeseen difficulties, we fell behind slightly the

estimated time but after a long effort and After working closely as a team we were able to

complete the milestones nearly to decided schedule.

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 CHAPTER 2

History & Literature Review

2.1 History

2.1.1 What is drone:

An unmanned aerial vehicle (UAV), commonly known as a drone, is an aircraft without a

human pilot onboard. UAVs are a component of an unmanned aircraft system (UAS); which

include a UAV, a ground-based controller, and a system of communications between them.

The flight of UAVs may operate with various degrees of autonomy: either under remote control

by a human operator or autonomously by onboard computers. Compared to manned aircraft,

UAVs were originally used for missions too "dull, dirty or dangerous" for humans. While they

originated mostly in military applications, their use is rapidly expanding to commercial,

scientific, recreational, agricultural, and other applications, such as policing, peacekeeping, and

surveillance, product deliveries, photography, and drone racing.

Fig. 2.1: Drone

A UAV is defined as a "powered, aerial vehicle that does not carry a human operator, uses

aerodynamic forces to provide vehicle lift, can fly autonomously or be piloted remotely, can

4
be expendable or recoverable, and can carry a lethal or nonlethal payload" .Therefore, missiles

are not considered UAVs because the vehicle itself is a weapon that is not reused, though it is

also unmanned and in some cases remotely guided. [1]

2.1.2 Early attempts

The idea of drone quadcopter has been experimented, some of the experiments are as follows

2.1.2.1 Breguet-Richet Gyroplane (1907)

A four-rotor helicopter designed by Louis Breguet. This was the first rotary wing aircraft to lift

itself off the ground, although only in tethered flight at an altitude of a few feet. In 1908 it was

reported as having flown 'several times', although details are sparse.[2]

Fig. 2.2: Breguet-Richet Gyroplane

2.1.2.2 Oehmichen No.2 (1920)

Etienne Oehmichen experimented with rotorcraft designs in the 1920s. Among the six designs

he tried, his helicopter No.2 had four rotors and eight propellers, all driven by a single engine.

The Oehmichen No.2 used a steel-tube frame, with two-bladed rotors at the ends of the four

arms. The angle of these blades could be varied by warping. Five of the propellers, spinning in

the horizontal plane, stabilized the machine laterally. The aircraft exhibited a considerable

5
degree of stability and increase in control-accuracy for its time, and made over a thousand test

flights during the middle 1920s. By 1923 it was able to remain airborne for several minutes at

a time, and on April 14, 1924 it established the first-ever FAI distance record for helicopters

of 360 m (390 yd). It demonstrated the ability to complete a circular course and later, it

completed the first 1 kilometre (0.62 mi) closed-circuit flight by a rotorcraft.[2]

Fig. 2.3: Oehmichen No.2

2.1.2.3 de Bothezat helicopter (1922)

Dr. George de Bothezat and Ivan Jerome developed this aircraft, with six-bladed rotors at the

end of an X-shaped structure. Two small propellers with variable pitch were used for thrust

and yaw control. The vehicle used collective pitch control. Built by the US Air Service, it made

its first flight in October 1922. About 100 flights were made by the end of 1923.[2]

2.1.3 Recent developments

In the last few decades, small-scale unmanned aerial vehicles have been used for many

applications. The need for aircraft with greater maneuverability and hovering ability has led to

a rise in quadcopter research. The four-rotor design allows quadcopters to be relatively simple

in design yet highly reliable and maneuverable. Research is continuing to increase the abilities

of quadcopters by making advances in multi-craft communication, environment exploration,

6
and maneuverability. If these developing qualities can be combined, quadcopters would be

capable of advanced autonomous missions that are currently not possible with other vehicles

Some current programs include:

1. The Bell Boeing Quad TiltRotor concept takes the fixed quadcopter concept further by

combining it with the tilt rotor concept for a proposed C-130 sized military transport.

3 Flying prototype of the Parrot AR.Drone : Parrot AR.Drone 2.0 take-off, Nevada, 2012.

4 Parrot AR.Drone is a small radio

controlled quadcopter with cameras

attached to it built by Parrot SA,

designed to be controllable by

smartphones or tablet devices.

5 Nixie is a small camera-equipped

drone that can be worn as a wrist band.[3] Fig. 2.4: Drone for photography

6 Amazon has announced a service, which will deliver your orders right to your door, and

3D Robotics, a commercial drone maker, has received $36 million in funding. The future

of drones flying around everywhere is coming closer and closer to us.[4]

Fig. 2.5: Delivery drone by amazon

7
2.1.4 Agricultural drone:

As drones entered use in agriculture, the Federal Aviation Administration (FAA) encouraged

farmers to use this new technology to monitor their fields. However, with the unexpected boom

of agricultural drones, the FAA quickly retracted such encouragement, pending new rules and

regulations. With incidents such as drones crashing into crop dusters, it was vital for the FAA

and the AFBF (American Farm Bureau Federation) to agree on regulations that would allow

the beneficial use of such drones in a safe and efficient manner. Although the American Farm

Bureau Federation would like small adjustments to some of the restrictions that have been

implemented, they are happy that the agricultural industry can actually use this new machinery

without the worry of facing any legal issues.

Fig. 2.6: An Agricultural drone

8
2.2 Literature Review

A “Drone” is basically an Unmanned Aerial Vehicle (UAV) – an aircraft without a human pilot

aboard. In this article, we explore the different types of drones out there in the market some of

which are just concepts, while most others are already in action.

2.2.1. Classification

“Drones” can be classified on a different basis say based on ‘usage ‘like Drones for

Photography, Drones for aerial Mapping, and Drones for Surveillance etc. However, the best

classification of ‘Drones’ can be made on the basis of aerial platforms. Based on the type of

aerial platform used, there are 4 major types of drones.

 Multi Rotor Drones

 Fixed Wing Drones

 Single Rotor Helicopter

 Fixed Wing Hybrid VTOL

Fig. 2.6: Fixed wing drone

9
2.2.2. Durham K. Giles, Ryan C. Billing’s Drone

In 2015 Durham K. Giles, Ryan C. Billing Deployment and Performance of a UAV for Crop

Spraying The UAS used in this project was a commercially-produced UAV with the

associated ground control station. The aircraft was a petroleum-powered helicopter (Model

RMAX, Yamaha Motor U.S. Co. USA, Cypress, CA USA) originally developed and

deployed for spraying agrochemicals onto rice in Asia (Figure 1). The physical characteristics

of the aircraft where: Vehicle mass = 100 kg; Rotor diameter = 3.1 m; vehicle length = 3.6 m

and vehicle height = 1.1 m. The aircraft power plant was a two-stroke, 250 cm3

displacement, liquid cooled, 13.6 kW engine. Control of the aircraft was through a radio

linked, 60 mW, dual joystick handheld transmitter operating in the 72 MHz band. The model

used in this project hd no provisions for autonomous operation; operation was by direct

operator manipulation of the flight control surfaces and the engine throttle. Operation of the

aircraft was limited to a 400 m line-of-sight range.[5]

Fig. 2.7: Durham K. Giles, Ryan C. Billing’s Drone

10
2.2.3. Paul D Picar Agricultural drone

Timothy Paul D Picar a uses drone for agricultural use. The main objective of the study was

to the development of quad copter with seed planting mechanism. The study specifically

addresses Develop a quad copter with a seed planting mechanism. The systems can operate

anywhere from 10 minutes at a time and can fly up to 15 miles away from the operator,

though regulations prohibit them from leaving the sight of the operator. Paul Made a drone in

2005 with his ideas.

This drone uses 8 motors and 8 propellers and uses 320 kv motor and make a quadcopter

which have 4 arms. This idea was used to reduce the extra weight of arms, the motor is

placed upward and downward to each other but both motors produce the downward thrust.[6]

Fig. 2.8: Paul’s Volt Aerial Robotics

11
2.2.4. Freyr drone : Pesticide/fertilizers spraying drone

Freyr drone: pesticide/fertilizers spraying drone – an agricultural approach Project by

spoorthi.s, sandhya.a.s,. K. Manasa , nithin kishore k.

The purpose of FREYR drone is to develop a quad-copter which carries pesticides to spray

all over the farm which reduces the work of farmers as well as it finishes his work soon .The

application of pesticides and fertilizers in agricultural areas is of prime importance for crop

yields. This is to develop a user friendly interface for the farmers .The FREYR Drone is a

pesticide spraying quad copter for agricultural purpose which helps the farmer to spray the

pesticides all over his land so that it reduces his work which can evenly spray all over his

farm. Here the farmer can control the drone using an android app and he can connect to the

app using Wi-Fi module which is interfaced in the drone.[7]

Fig. 2.9: FREYR drone

12
2.2.5. Jeff DeMaagd, Kemal Talen, and Ross Tenney’ s Drone

The 2014-2015 Calvin College senior design a agricultural drone for crop spray Delivery

consists of members Jeff DeMaagd, Kemal Talen, and Ross Tenney. All three team members

are senior mechanical engineering students. This drone development, prototyping, and testing

of the unmanned aerial vehicle (UAV) that the team designed. The UAV was designed to

carry and deliver a 1.5 L. package across the Calvin College campus with enough energy left

to return back to its starting point. The frame of the drone was made of 3-D printed ABS

plastic and carbon fiber tubing due to their light weight and cost effective properties. Two

prototypes were built and the second was tested to ensure that it met the performance

standards the team set for it. The UAV successfully carried and delivered a package a half

mile with enough energy to fly an additional half mile. [8]

Fig. 2.10: Jeff DeMaagd, Kemal Talen, and Ross Tenney’ s Drone

13
 Table 2.1:Literature Review

No of Weight carring Flight Driver for

Propellers/ capacity timings propellers

motors

Durham K. Giles,

Ryan C. Billing’s 1 30 L As per fuel Engine

Drone

Paul D Picar 8 2.5 L 10 min Dc motors

Agricultural drone

Freyr drone :

Pesticide/fertilizers

spraying drone 4 1L 15 min Dc motors

Jeff DeMaagd,

Kemal Talen, and

Ross Tenney’ s 4 1.5 L 10 min Dc motors

Drone

14
 CHAPTER 3

Methodology And Working

There are many design which can be used to make the drone, and there are many ways to

control it such as by mobile, by remote, with gsm, with remote, with Bluetooth wit GPS, etc.

but we have selected to make a multi rotor drone, and further we have made a quadcoptor which

is capable of caring weight and spray the chemical on the crops, the methodology of this drone

is not so complicated.

There are four motor attached on the frame , the frame is made up of plastic which have holes

in it to reduce the weight of the frame each arm of frame is at 900 to the other arm. At the end

of these arm there are the motors each arm of the frame consist of one motor. The motor used

in this project is brushless motor and operated with dc current the motor is 1400 KV and is

operated on 11- 24 volts.

The motor is attached with the propellers there are two sets of propellers, each set of propeller

contains one clock wise and one anticlockwise propeller.

We have made the quardcoptor in X mode as it is shown in figure below, so the setup of motors

will be as the figure one motor will rotate clock wise and other will rotate anti clockwise, and

just like motors the clockwise motor will have the clockwise propeller and anticlockwise motor

will contain the anticlockwise propeller to generate upward thrust

The direction of each motor will be opposite to its adjacent motor and such as propeller will

also have different direction which will cancel the effect of each other

The control of this drone is made easy by using the special remote control system instead of

using mobile and laptop because they use programing.

15
 As the motor of these drones are used for caring weight and have large thrust and rpm value so

we are using the speed controller circuit for motors named as ESC (electronic speed controller)

Which receive the signals and control the speed.

As for stable flight, a flight controller is needed which gives signal to ESC to control motors,

there are many flight controller but we use both KK 2.15 and AURDINO for stable flight and

easy to operate. And the sensors used is gyroscope.

The receiver of remote is connected with flight controller & AURDINO, the AURDINO is

programed and the value of remote control frequency is collaborated with AURDINO, so the

remote can control the thrust values of motors and movement such as pitch, yaw etc.

Sensors:
Gyroscope
(Read
Error)

Flight Esc:
Receiver: Electronic
controller
&Aurdino speed Motor
(Receives controller (Produces
(Read
signals) (control thrust)
signals &
control speed of
Flight) motor)

Signals Transmitted

Controller:

Rc-Remote
Fig. 3.1: process flow Diagram

16
3.1.1. Parts used:

The parts used in this project is selected by taking care of cost and low weight

Table: 3.1 List of parts used

Sr. No. Parts Name Quantity

1 Frame 1

2 Motor 4

3 Rc remote 1

4 Aurdino 1

5 Esc 4

6 Flight controller KK2.15 1

7 Motor shield 1

8 Batery 1

9 Propeller 4

10 Landing gears 1

11 Wires -

12 Pump 1

13 Nozzle 1

14 Tank 1

15 Pipes 1

16 Gyroscope sensor 1

17 Receiver 1

17
3.3. Working

To understand working we have to take a look at flight Dynamics we adopted in drone

3.2.1. Flight dynamics

Quadcopters generally use two pairs of identical fixed pitched propellers; two clockwise (CW)

and two counterclockwise (CCW). These use independent variation of the speed of each rotor

to achieve control. By changing the speed of each rotor it is possible to specifically generate a

desired total thrust.

Fig 3.2 : Flight dynamics of drone

To locate for the Centre of thrust both laterally and longitudinally; and to create a desired total

torque, or turning force. Each rotor produces both a thrust and torque about its center of

rotation, as well as a drag force opposite to the vehicle's direction of flight. If all rotors are

spinning at the same angular velocity, with rotors one and three rotating clockwise and rotors

two and four counterclockwise, the net aerodynamic torque, and hence the angular acceleration

about the yaw axis, is exactly zero, which means there is no need for a tail rotor as on

conventional helicopters. The Rotors act as wings. They generate thrust by rotating at Fast

speeds, which pulls the air downwards and keeps the quad in the air.

18
  The Thrust cancels out the acting weight and the quad hovers.

 A directional Thrust causes the quad to move in that direction.

 Or a decrease in Thrust overall causes the Drone to lose height.

The setups for Flying is simple:

 Two adjacent motors spin in the opposite direction.

 Two opposite motors spin in the same direction.

Fig 3.3: Flying setup of quardcoptor Fig 3.4: Quard X mode

 A,C spin Clockwise (From our point of view)

 B,D Spin Counter-Clockwise

Why?

Physics says to be in stability the net forces acting on a body should be zero.

So if all the rotors were to spin in the same direction, it would result in a net Torque causing

the complete Quad to rotate.

19
Consider a motor rotating a ceiling fan of yours. The motor pushes the air in the downward

direction overcoming the resistance that air puts on the blades due to inertia. Inertia is the

property of any object to resist change in motion. Hence the blades, which are inherently

connected to the motor, push the air in the desired direction overcoming the inertia of air. This

pushing is what in mechanical terms,we call force. So the blades apply force on the air

molecules.

Newton's third Law kicks in, which says, that any object applying a force on another object,

experiences a force of the same magnitude but in the opposite direction.

As the blades push the air, the air pushes the blades with the same magnitude but in the opposite

direction.

Now, the blades are connected to the motor in such a way that the resulting force due to the air

produces a torque. A torque is nothing but a force which when applied to an object, it tends to

rotate about an axis.

Hence the motor experiences a torque. That is, there is some tendency for the motor to rotate.

This tendency to rotate needs to be stopped by some force, or else the motor will start spinning,

which is undesirable. That is done by the hook by which the motor is hanged to the ceiling. It

provides the necessary opposite torque to stop the motor from spinning.

So far so good. As long as we are on land, we got the earth to provide the necessary

compensatory torque. But once we go up in the air, things are a bit different.

In the air, we have got to somehow give that opposite torque so that we get the desired results.

Many flying designs have tackled this problem in different ways. Quadcopter has tackled the

problem, leveraging the fact that there are multiple motors which on an average run at the same

speed.

20
Having two motors turn anticlockwise and the other two clockwise, nullifies the overall effect

on the Quadcopter.

A single motor by the torque applied by the air would want the body of the quad to rotate in

the direction opposite to that of its spin; the overall effect by the four motors cancels out.

21
3.2.2. How quadcopters fly:

To getting into the specifics how quadcopters fly, it is important to understand what drag And

thrust are:

3.2.3. Drag

‘Drag’ is essentially a mechanical force that opposes the motion of any object through a fluid.

In this context, since we are talking about quadcopter passing through air, it is called

‘aerodynamic drag’ (as opposed to ‘hydrodynamic drag’ (for objects passing through water).

Fig 3.5: Drag of Quadcopter

22
Aerodynamic drag on quadcopter is generated due to the difference in velocity between the

quadcopter and the air. This is only if the quadcopter/multirotor is in motion (going up, down,

forward, backward and taking turns) relative to the air. If the quadcopter is stationary, there is

‘Thrust’ is the force generated by the propellers of the multirotor, in order to work against one

of the forces that need to be overcome: the drag. Note that the thrust force is not the main force

responsible for getting the multirotor up in the air. Instead, it is the force that lets the multirotor

travel within the air, which is a fluid, overcoming its drag resistance.

3.2.4. Thrust

The upward thrust force generated by the propellers is usually measured in pounds or grams.

To keep your drone flying at a hover, the upward thrust needs to equal the weight of your drone.

The thrust to weight ratio TWR (thrust divided by weight), indicates how much thrust your

drone generates relative to its weight. A good rule of thumb is to design the TWR to be at least

a value of two.

Typically, quadcopter propellers produce more thrust the faster they spin. They are also

influenced by the flight dynamics of your quadcopter

. Fig 3.6 : Thrust force of quadcopter

23
Some propellers produce much more thrust when the drone is stationary, as opposed to when

it is flying. Other props perform much better at higher speeds.

Torque is generated when the propellers accelerate up or down. This force is responsible for

the ability of the drone to rotate on the yaw axis. Torque is an effect of Newton’s third law,

where every action has an equal and opposite reaction. As the propeller rotates, and pushes

through the air, the air pushes back and causes a counter rotation on the body of the drone. This

is why all of the propellers on a multirotor drone do NOT rotate in the same direction

Drones use rotors for propulsion and control. You can think of a rotor as a fan, because they

work pretty much the same. Spinning blades push air down. Of course, all forces come in pairs,

which means that as the rotor pushes down on the air, the air pushes up on the rotor. This is the

basic idea behind lift, which comes down to controlling the upward and downward force. The

faster the rotors spin, the greater the lift, and vice-versa.

24
3.2.5. How Drone Lifts

 To Rise above the ground, you need a net upward Force.

 The Motors generate Thrust that is greater than the Weight, making the quad rise upwards.

 The lift is the force that acts against the weight of the craft, taking it up in the air. Like we

covered in the quadcopter blade rotation and lift post, The following are responsible for the

lift in a wing:

 Newton’s third law (every action has an equal and opposite reaction) – generates a lift in a

wing at the bottom, since the mass of air is pushed down and back (lift and drag).

 Bernoulli’s explanation is incomplete, but the pressure difference between the air at the top

and at the bottom of propeller due to the Coanda Effect generates a lift towards the lower

pressure at the top (read more in the quadcopter blade rotation post).

 The propellers on the multirotor generates a ‘lift’ force using similar principles (pushing

the air downwards and the difference in air

pressure). In order for the multirotor to get off

the ground and be able to hover and fly around,

this force must be greater than the weight of the

craft.

Fig. 3.7: Lift of drone

25
3.2.6. How do quadcopters hover?

In order for the quadcopter to hover in place, it is necessary to ensure that:

The rotation speed must be sufficient enough for the quadcopter to generate a ‘lift’,

counteracting its own weight, but not so much that the quadcopter keeps climbing in altitude.

The torque effect acting on the body of the quadcopter by each of the motors should be

cancelled out. Otherwise, expect the quadcopter to tend to want to yaw in a certain direction.

 Hovering in Air is simple.

 Motors generate Thrust.

 All the motors rotate at the same speed (or RPM).

 The Thrust should equal the weight of the System.

 The two forces cancel and our drone Hovers.

 To hover, the net thrust of the four rotors push the drone up and must be exactly equal to

the gravitational force pulling it down.

F1 = Thrust of All Motors

F2 = m g

Fig 3.8: Hovering of Quadcopter

26
3.2.7. Gaining and losing altitude

In order for the quadcopter to gain altitude, all four of the motors must increase the speed of

rotation simultaneously. Conversely, to descend down, all four of the motors must decrease

speed of its rotation simultaneously.

This is what happens when you increase or decrease the elevator control on your transmitter –

the speed of the motors change simultaneously.

 The gain or losing height depends upon the thrust of all the motors.

 The thrust of all motors must be same, thrust of directly depends on motor speed

 If thrust is greater than its weight then it moves upward

 If thrust is smaller than its weight then motors moves downward

 If thrust is equal to the weight then the drone will hovers

F = thrust force
Fig 3.9: Getting and Losing height by drone

27
3.2.8. Roll of drone

The ‘roll’ control tells the quadcopter to move side to side. In order to ‘roll’ to the right for

example, the speed of the motor at the left of the quadcopters must increase, relative to the

speed of the motors on the right. This ‘rolls down’ the right side of the quadcopter, resulting in

a side-ways swaying movement.

Like pitch, this is achieved by either increasing the speed of the left motors or decreasing the

speed of the right motors. Conversely, in order to ‘roll’ left, the speed of the motors of the right

of the quadcopter should increase relative to the speed of the motors at the left.

As the red arrows in figure indicater higher thrust and blue arrows shows lower thrust side.

Fig 3.10: left Roll Of Quadcopter

28
 To roll towards the Left (Our Left), the Thrust is increased on the Motors on the Right.

 Thrust on the motors on the Left also decreases.

 To Roll towards the Right (Our Right), the Thrust is increased on the Motors on the

Left.

 Thrust on the motors on the Right also decreases.

 To keep the Net Torque zero and allowing an Leftward Net Force.

Fig 3.11: Right Roll of Quadcopter

29
3.2.9. Pitch

The ‘pitch’ control tells the quadcopter whether to fly forward or backward. In order to pitch

forward for example, the speed of the motors at the rear of the quadcopter must increase,

relative to the speed of the motors on the front. This ‘pitches’ the nose (front) of the quadcopter

down, resulting in the forward movement.

What is the difference between moving forward or backward? None, because the drone is

symmetrical. The same holds true for side-to-side motion. Basically a quadcopter drone is like

a car where every side is the front. This means that explaining how to move forward also

explains how to move back or to either side.

In order to fly forward, we need a forward component of thrust from the rotors. You could

increase the rotation rate of rotors 3 and 4 (the rear ones) and decrease the rate of rotors 1 and

2, the total thrust force will remain equal to the weight, so the drone will stay at the same

vertical level.

Since one of the rear rotors is spinning counterclockwise and the other clockwise, the increased

rotation of those rotors will still produce zero angular momentum. The same holds true for the

front rotors, and so the drone does not rotate.

However, the greater force in the back of the drone means it will tilt forward. Now a slight

increase in thrust for all rotors will produce a net thrust force that has a component to balance

the weight along with a forward motion component.

This is achieved by either increasing the speed of the rear motors or decreasing the speed of

the front motors. Conversely, in order to ‘pitch’ backwards, the speed of the motors at the front

of the quadcopter must increase relative to the speed of the motors at the back.

30
 To Pitch Forwards (Towards us)

 The Power to the motors rear motors is increased.

 To Pitch Backward (away from us)

 The Power to the motors rear motors is increased.

 We also decrease the power to the two front motors to keep the angular momentum

conserved.

Fig 3.12: Backward pitch Of Quadcopter

31
3.2.10. Yaw of drone

The ‘yaw’ or ‘rudder’ is a rotation movement of the quadcopter. In this case, the rotation speed

of diametrically opposing pairs of motors are increased or decreased, varying the torque in the

direction of rotation of that pair (remember that diametrically opposing motors in a quadcopter

rotate in the same direction), causing the quadcopter to rotate in the direction of the increased

torque.

Fig 3.13: Yaw of Quadcopter

 To Yaw Clockwise.

 We increase the Thrust on the Anti-Clockwise moving Motors.

 Decrease the Thrust on Clockwise Rotating Motors.

 There is a resulting Anti-Clockwise Torque.

 The Quad rotates Clockwise to conserve the Angular Moment

32
3.2.11. Controls

Roll

Done by pushing the right stick to the left or right. Literally rolls the quadcopter, which

maneuvers the quadcopter left or right.

Pitch

Done by pushing the right stick forwards or backwards. Tilts the quadcopter, which

maneuvers the quadcopter forwards or backwards.

Fig 3.14: Remote control System

Yaw

Done by pushing the left stick to the left or to the right. Rotates the quadcopter left or right.

Points the front of the copter different directions and helps with changing directions while

flying.

33
Throttle

Engaged by pushing the left stick forwards. Disengaged by pulling the left stick backwards.

This adjusts the altitude, or height, of the quadcopter.

Aileron

Same as the right stick. However, it relates directly to controlling roll (left and right

movement).

Hovering

Staying in the same position while airborne. Done by controlling the throttle.

Roll

Roll moves your quadcopter left or right. It’s done by pushing the right stick on your

transmitter to the left or to the right.

Yaw

This is done by pushing the left stick to left or to the right.

34
 CHAPTER 4

Design and Calculations

4.1. Design

4.1.1. Parts of frame:

4.1.1.1. Arms Of frame:

Fig. 4.1: Arms of frame

35
4.1.1.2. Base of frame:

Fig. 4.2 : Upper Base of frame

Fig. 4.3: Lower Base of frame

36
4.1.1.3. Frame Assembly:

Fig. 4.4: Assembled Frame

37
4.1.2. Propellers

Fig. 4.4: Propeller

38
4.2. Calculations:

4.2.1. Motor Specifications:

 KV Values: 1400KV

 Voltage: DC 8~12V

 Current: 11.9~20.6A

 Trust: 520~940G

 Power: 95.2~247.2W

 Efficiency: 5.5~3.8G/W

 Rotation Speed: 8250~12020RPM

Table: 4.1 Specifications of motor

39
4.2.2. Specifications of Propeller:

Diameter: 10in

Pitch: 4.5in

Propeller diameter: 25.4cm

Centre bore diameter : 6mm front and 9mm reverse side.

Working Area: 0.0290

Centre seat TH: 6mm

Weight: about 10g/pair

1 x CW Propeller & 1 x CCW Propeller

4.2.3. Specifications of frame:

Model Flame Wheel 450 (F450)

Frame Weight 282g

Diagonal Wheelbase 450mm

Takeoff Weight 800g ~ 1600g

40
4.2.1. Maximum Thrust For Motor (1400 Kv):

MaxinumThrust For One Motor = 930 gram

For 11.5 volt & (10*4.5 inch propeller )

For Four Motors = 930 * 4

= 3720 gram

= 3.72 kg

4.2.2. Dead Weight & Payload ( in grams)

1. Dead Weight

Propaller = 20 grams

Frame =280 grams

Motors = For One Motor 50 grams

For Four Motors 200 grams

Tank = 25 grams

Pump = 50 grams

Battery = 150 grams

Circuts = 30 grams

Nozzle & Pipe = 50 grams

Total Weight = 20+280+200+25+50+150+30+50 = 805 grams

2. Maximum Payload

Weight Carrying Capacity For Drone

According to thrust to weight ratio the Thrust should be twice of weight for stable flight so

Thrust to weight ratio = 3.72/2 =1.86 kg

1860 grams

41
Maximum Payload during stable flight = Thrust to weight ratio – Total weight

1860 – 805 = 1055 grams

=1.055 kg

4.2.3. Drag Force

Take a look at the drag equation:

Fd = ½ ρ Cd A V²

Where:

Fd = drag force in Newtons

ρ = the density of air in kg/m³

Cd = the drag coefficient

A = the cross section of our quad in m³ in the direction of movement

Calculations:

ρ = Density

Air density =1.223 kg/m3

Cd = Drag Coefficient is constant for 10*4.5 inch propeller

Cd = 0.0475

A = Area of Drone propellers

Area OF Propeller = 0.0290 m2

V = Assume Average Velocity of drone at Maximum Thrust

Velocity V = 8 m/sec

Fd = 1/2 ρ Cd A V2

1/2 * 1.223 * 0.0475 * 0.0290 * 82

= 1.858 N

42
4.2.4. Lift force

LF = 1/2 [ CL ρ A V 2 ]

𝟐𝑳
CL = lift coefficient =
𝑨𝛒𝐕

ρ = Density

Air density =1.223 kg/m3

CL = Lift Coefficient it varies by distance covered by drones

CL = 21.146

A = Area of Drone

Area OF Propeller = 0.0290 m2

V = Assume Average Velocity of drone at Maximum Thrust

Velocity V = 8 m/sec

The distance covered by drone during lift, Assume distance L = 3 m

2𝐿
CL =
𝐴ρV

2∗3
CL =
0.029∗1.223∗8

CL = 21.146

L.F = ½ ρ CL A V2

= 1/2 * 1.223 * 21.146 * 0.0290 * 82

L.F = 23.99 N

43
 CHAPTER 5

Conclusions
Conclusion:

Some of the points which are achieved in this drone and the results from drone are as follows:

1. Drone are crucial to farmers because they will no longer have to walk around their farms

surveying soils, crops and buildings.

2. The drone is 20 % more faster than the man and cover the large area in less time space

3. The cost of labor to spray the parasites chemicals can be minimized.

4. It is also not injurious to health such as the human spraying the parasite can be harmed by

these dangerous chemicals so operator which operates drone from far distance can be saved

from these dangerous chemicals.

5. The main achievement is to reduce the cost of drone the cost on our drone is Rs. 30000/-

which is much less than drone in the market. The cost has been reduced by using cost

effective parts.

6. The battery timing has also been increased by using the larger battery the battery timing of

drone is 25 min with caring pay load, but using larger battery increases the weight and

reduce the payload.

7. Remote control has been used to control which is easy to use or setup, than to use any

laptop or mobile application.

44
 References:

1. https://en.wikipedia.org/wiki/Unmanned_aerial_vehicle

2. https://en.wikipedia.org/wiki/Quadcopter

3. https://en.wikipedia.org/wiki/Nixie_(drone)

4. https://www.amazon.com/Amazon-Prime-Air/b?ie=UTF8&node=8037720011

5. Deployment and Performance of a UAV for Crop Spraying Durham K. Giles*, Ryan

C. Billing Department of Biological & Agricultural Engineering, University of

California,

https://www.aidic.it/cet/15/44/052.pdf

6. Timothy Paul D Picar University of Mindanao, College of Engineering Education,

https://www.academia.edu/38769537/FINAL_NOV_20_Drone_Thesis_Body_Corrected

7. Freyr drone: pesticide/fertilizers spraying drone - agricultural approach , by spoorthi

s. ; b. Shadaksharappa ; suraj s. ; v.k. manasa tucker, compton j.

http://anveshanaindia.com/wp-content/uploads/conference/paper/freyr-drone-

pesticidefertilizers-spraying-drone-an-agricultural-approach-ms-spoorthi-s.pdf

8. Agricultural drone by Jeff DeMaagd, Kemal Talen, Ross Tenney

http://www.calvin.edu/academic/engineering/2014-15 team02/content/FinalReport(1).pdf

9. Best drones for agriculture 2019: the ultimate buyer’s guide by andrew nixon

10. "Red and Photographic Infrared Linear Combinations for Monitoring Vegetation."

Remote Sensing of Environment (1977): 127-50.

11. Green, Miranda. "Unmanned Drones May Have Their Greatest Impact on

Agriculture ..." The Daily Beast. 26 Mar. 2013. Web. 8 Oct. 2014.

12. Johnson, L.F, and S. Herwitz. "Collection of Ultra High Spatial and Spectral

Resolution Image Data over California Vineyards with a Small UAV."

45
13. Colomina I and Molina P. “Unmanned aerial systems for photogrammetry and remote

sensing:

14. Robert Pierre C. “Precision agriculture: new developments and needs in remote

sensing and technologies”. Ecosystems’ Dynamics,

46