Designing Agricultural Fertilizer Drone for Surveillance

with Optimized Spraying Mechanism

Submitted By
 Muhammad Salman (10816)
 Shees Khan (11459)
 Muhammad. Hamza Hayat (10601)
 Mahad Salam (10677)

Supervisor: Engr. Ambar Lal

Co. Supervisor: Engr. Mubashir Javid

CITY UNIVERSITY OF SCIENCE AND INFORMATION

TECHNOLOGY PESHAWAR, PAKISTAN
 Approval Sheet

The undersigned, appointed by the HOD of Faculty of Electrical Engineering, have examined
the thesis entitled,

“DESIGNING AGRICULTURAL FERTILIZER DRONE FOR SURVEILLANCE

WITH OPTIMIZED SPRAYING MECHANISM”

Presented By,

External Examiner

Internal Supervisor Engr. Ambar Lal

External supervisor

Engr. Dr. Muhammad Hilal, Department of Electrical

Engineering
 Designing Agricultural Fertilizer Drone for Surveillance
with Optimized Spraying Mechanism

Submitted By
 Muhammad Salman
 Shees Khan
 M. Hamza Hayat
 Mahad Salam

A thesis presented to the City University of Science & IT, Peshawar in partial fulfillment for
the degree requirement of BSc in Electrical (Power) Engineering Peshawar, Khyber
Pakhtunkhwa, Pakistan

2023
 Author's Declaration

We hereby declare that we are the sole authors of this thesis. This is a true copy of the thesis,
including any required final revisions, as accepted by my examiners. It is further declared,
that I have fulfilled all the requirements in line with the Quality Assurance guidelines of the
HEC/PEC.
 Abstract

Agricultural spraying drones are a new and innovative approach to modern agriculture that
offers numerous benefits to farmers. These drones are equipped with specialized sprayers
that allow for the precise application of pesticides, herbicides, and fertilizers, resulting in
more efficient use of chemicals and reduced costs for farmers. Agricultural spraying drones
can cover large areas of farmland quickly, reducing the time and labor required for traditional
spraying methods.

Moreover, agricultural spraying drones have a positive impact on the environment. By

targeting specific areas of crops, these drones reduce the amount of chemicals needed for
treatment, resulting in less pollution and runoff, which can harm nearby water sources and
aquatic life. Agricultural spraying drones can also help reduce soil compaction and decrease
greenhouse gas emissions associated with traditional agricultural practices.

However, the implementation of agricultural spraying drones comes with several challenges
that need to be addressed. These challenges include cost, regulation, safety concerns, limited
flight time, technical skills, weather conditions, and data management.

In summary, the adoption of agricultural spraying drones has the potential to revolutionize
modern agriculture, but addressing these challenges will be critical to maximizing the
benefits of this technology for farmers and the environment.
 Acknowledgements

We would first like to thank our thesis advisor Engr. Amber Lal of the Electrical Engineering
department at City University of Science & Information Technology Peshawar. The door to
Engr. Amber Lal office was always open whenever we ran into a trouble spot or had a
question about our research or writing. He consistently allowed this paper to be our own
work, but steered us in the right direction whenever he thought we needed it.

We would also like to acknowledge Engr. Mubashir Javid as the second reader of this thesis,
and we are gratefully indebted for his very valuable comments on this thesis.

We would also like to acknowledge Mr. Muhammad Atif, Lab Technician at City University
of Science & Information Technology Peshawar for providing us the lab equipment required
for our project.

We would like to thank over friend Mr. Waqas Ahmad who has done his engineering from
University of Engineering and Technology Peshawar, for always being there for us whenever
we needed him throughout the process of writing thesis or giving his advices on the project.

Finally, we must express our very profound gratitude to our parents for providing us with
unfailing support and continuous encouragement throughout our years of study and through
the process of researching and writing this thesis. This accomplishment would not have been
possible without them.
 Table of Contents

Approval Sheet..........................................................................................................................ii
Author's Declaration..................................................................................................................ii
Abstract....................................................................................................................................iii
Acknowledgements..................................................................................................................iv
Table of Contents.......................................................................................................................v
List of Figures..........................................................................................................................vii
List of Tables..........................................................................................................................viii
List of Acronyms......................................................................................................................ix
Chapter 1....................................................................................................................................1
Introduction................................................................................................................................1
1.1 Overview..........................................................................................................................1
1.2 History of Drone technology............................................................................................2
1.3 Background......................................................................................................................2
1.3.1 Quadcopters dynamics..............................................................................................3
1.4 Problem statement............................................................................................................5
1.5 Objectives.........................................................................................................................6
1.6 Scope................................................................................................................................7
1.7 Hypotheses.......................................................................................................................7
Chapter 2....................................................................................................................................9
Literature Review......................................................................................................................9
2.1 Literature Review.............................................................................................................9
2.2 Advantages of Agricultural Spraying Drones................................................................12
2.3 Disadvantages of Agricultural spraying drones:............................................................12
Chapter 3..................................................................................................................................13
Methodology............................................................................................................................13
3.1 Research design and approach.......................................................................................13
3.2 Environmental benefits..................................................................................................14
 3.3 Challenges......................................................................................................................15
Chapter 4..................................................................................................................................16
Quadcopter Design and Development.....................................................................................16
4.1 Quadcopters configuration.............................................................................................16
4.2 Quadcopter components.................................................................................................18
4.2.1 Frame.......................................................................................................................18
4.2.2 Brushless DC motors...............................................................................................19
4.2.3 Electronic Speed Controller....................................................................................22
4.2.4 Propellers.................................................................................................................23
4.2.5 Flight Controller......................................................................................................24
4.2.6 Water Pump.............................................................................................................27
4.2.7 Transmitter or remote control..................................................................................28
4.2.8 LiPo Battery............................................................................................................29
4.3 Weight of the Quadcopter..............................................................................................30
4.4 Payload Estimation........................................................................................................31
Chapter 5..................................................................................................................................33
Testing and Evaluation............................................................................................................33
5.1 Experimental setup and procedures for spray................................................................33
5.2 Comparison of the Spraying Performance with Traditional Methods...........................35
Chapter 6..................................................................................................................................36
Results and Discussion............................................................................................................36
6.1 Results............................................................................................................................36
6.2 Discussion......................................................................................................................37
Chapter 7..................................................................................................................................38
Conclusion and Future work....................................................................................................38
7.1 Conclusion.....................................................................................................................38
7.2 Future Work...................................................................................................................38
References................................................................................................................................40
 List of Figures

Figure 1: "+" configuration..................................................................................................................................16

Figure 2: "X" configuration..................................................................................................................................17
Figure 3: Quadcopter Configuration..................................................................................................................17
Figure 4: Brushless DC motors.........................................................................................................................19
Figure 5: Propeller...............................................................................................................................................23
Figure 6: DJI A2 Flight Controller.....................................................................................................................25
Figure 7: GPS-Compass Pro Module....................................................................................................................25
Figure 8: IMU module.........................................................................................................................................26
Figure 9: Dr16 Receiver.......................................................................................................................................27
Figure 10: Water Pump for spraying..................................................................................................................27
Figure 11: Transmitter & Receiver.......................................................................................................................28
Figure 12: LiPo Battery........................................................................................................................................29
Figure 13: Block diagram of the drone hardware................................................................................................34
 List of Tables

Table 1: Payload Estimation of Hexacopter.......................................................................................................29

Table 2: Payload Estimation of Hexacopter........................................................................................................30
 List of Acronyms

UAV: Unmanned Aerial Vehicle

PID: Proportional-Integral-Derivative
IMU: Inertial Measurement Units
GPS: Global Positioning System
CW: Clock Wise
CCW: Counter Clock Wise
BLDC: Brushless DC
ESC: Electronic Speed Controllers
RTH: Return-To-Home
CNC: Computer Numerical Control
LCD: Liquid crystal display
BMS: Battery management systems
MTOW: Maximum Takeoff Weight
LIDAR: Light Detection and Ranging
AI: Artificial Intelligence
LiPo: Lithium-polymer
Chapter 1

Introduction

1.1 Preface
The agricultural product spraying drone, sometimes referred to as a crop duster drone or an
agricultural UAV, is an unmanned aerial vehicle that is used for this purpose. These drones
have tanks and spray nozzles for applying fertilizers, insecticides, and other chemicals to
crops.

Drones for agricultural spraying have a number of benefits over conventional crop spraying
techniques, including improved efficiency, accuracy, and safety. They can distribute
chemicals with better precision, rapidly cover large amounts of land, and access places that
are difficult to reach, minimizing waste and having no adverse effects on the environment.
They further do away with the need for pilots to fly low over fields, lowering the possibility
of errors and enhancing worker safety.

Drones used for agricultural spraying have a number of advantages. It decreases the need for
manual labour, lowers the amount of pesticides that people are exposed to, and improves
worker safety. Additionally, it enables exact application, decreasing waste and minimizes the
impact on the environment.

Drones for agricultural spraying are becoming more and more common, especially in nations
with significant agricultural industries like the United States, China, and Brazil. As
technology develops, it could completely change how crops are tended to and sprayed,
creating new possibilities for development and expansion in the agricultural industry.

1
 1.1 History of Drone technology
Unmanned aerial vehicles (UAVs), which are also referred to as drones, have a long history.
The Kettering Bug, the first pilotless aircraft, was created in the early 20th century for
research reasons during World War I. The first remotely piloted aircraft, the Radio plane OQ-
2, was created by the US Army in 1935 for aerial target practice. UAVs were first developed
by the US military for inspection and surveillance purposes in the 1960s, which set the way
for their deployment in military operations, particularly in Afghanistan and Iraq, in the
2000s.

Commercial UAVs were created in the 1990s for use in environmental and agricultural
applications. Consumer drones, however, weren't freely available for business and personal
use until the 2010s. Drones are utilized in a wide range of applications, including
agricultural, environmental monitoring, surveying and mapping, search and rescue,
photography, and more, which has contributed to the growth of the drone business as we
know it today. Future drone uses are likely to be much more creative and practical as the
technology advances.

1.2 Background
Unmanned aerial vehicles (UAVs) used for agricultural spraying are intended to spray
insecticides, herbicides, and other chemicals on crops. Because they can spray effectively
and precisely, lowering the quantity of pesticides needed while increasing crop yields, these
drones have grown in popularity in recent years.

Drones were first utilized in military operations for surveillance and inspections, which led
to the creation of agricultural spraying drones. As the technology advanced and became more
widely available, experts started looking into how drones could be used for civilian
applications, including agricultural.

Early in the 1990s, Japan created the first drones for agricultural spraying, which were
applied to rice fields. Drone technology has improved since that time, becoming more
complex and high-tech. Modern agricultural spraying drones can scan fields, identify areas
that need to be treated, and apply chemicals accurately since they are outfitted with cutting-
edge sensors and algorithms.

Drones used for agricultural spraying have many advantages, including a decrease in the
amount of chemicals used, increased effectiveness, and lower labour costs. They can also get
to places that could be risky or challenging for people to get to, including rural areas or high
mountains. Despite these advantages, there are worries regarding the drones used for
agricultural spraying, including their possible environmental impact as well as the safety and
legal issues involved.

1.2.1 Quadcopters dynamics

Quadcopters are unmanned aerial vehicles (UAVs) with four propellers arranged in a
symmetrical pattern. They are sometimes referred to as quadrotors or quadrotor helicopters.
Quadcopters' dynamics are extremely important to their control and handling. The
quadcopter can hover and fly because of the thrust produced by its four propellers, which
balance out the quadcopter's weight. The quadcopter can modify the thrust provided by each
propeller to change its altitude. The primary movements that enable quadcopters to fly are
pitch, roll, and yaw. Rotation around the lateral axis is referred to as pitch, rotation around
the longitudinal axis as roll, and rotation around the vertical axis as yaw. The appropriate
rotations and attitude adjustments are made possible by creating uneven thrust by adjusting
the propeller speeds on separate sides.

Quadcopters use counter-rotation, with two propellers rotating clockwise and the other two
anticlockwise, to ensure stability. This arrangement ensures smooth flight by cancelling out
the torque created by the propellers' opposing spins. The flight control system that regulates
quadcopter dynamics measures the orientation and motion of the quadcopters using
accelerometers, gyroscopes, and magnetometers. This information is used by the flight
controller to determine how to alter the propeller speeds to maintain stability and perform the
actions that are requested. The employment of proportional-integral-derivative (PID)
controllers and inertial measurement units (IMUs), which detect and correct departures from
the ideal flight attitude, further improves stability.
 In contrast to fixed-wing aircraft, which depend on forward airspeed for lift, quadcopters
only produce lift through the force of their propellers. Quadcopters with rotating wings can
hover, fly in any direction, and make vertical takeoffs and landings. In order to construct
control algorithms, create flight controllers, and improve performance in a variety of
applications, including aerial photography, surveillance, delivery, and agricultural, it is
essential to know about quadcopter dynamics.

Applying Newton's Second Law

F=ma

Acceleration at constant velocity is zero (a=0). The forces add up to zero as a result.
Completing a force balance in the horizontal direction on the diagram yields the following
results for steady, constant velocity flight:

F Thrust −F Drag =0

F Thrust =F Drag

Since this is for a constant velocity, the aircraft is either moving or at rest. An analysis in
the vertical direction will produce similar results.

F lift−F weight =0

F lift=F weight

It is important to remember that variables like air density, wind speed, payload weight, and
structural design can have an impact on the dynamics of quadcopters.
 1.3 Problem statement
Due to their capacity to deliver accurate and effective pesticide, herbicide, and other
chemical spraying on crops, the use of agricultural spraying drones has significantly
increased in recent years. However, there are a number of issues related to the usage of
drones for agricultural spraying that need to be resolved.

The potential environmental effects of spraying chemicals on crops with drones are one of
the key issues. Concerns exist over the possibility of pesticide contamination of surrounding
water sources, runoff, and non-target creatures like bees and other pollinators.

Another issue is the high expense of purchasing and employing drones for agricultural
spraying. Despite the fact that these drones can be very effective at lowering chemical use
and increasing crop yields, many farmers, especially small-scale enterprises, may find the
initial expenditure necessary to purchase a drone and the continuous costs associated with
maintenance and operation to be unaffordable.
As many nations have strong restrictions limiting the use of drones for commercial purposes,
there are additional regulatory obstacles related to the usage of agricultural spraying drones.
Farmers may find it difficult to use agricultural spraying drones lawfully and safely due to
the complexity and difficulty of these rules.
1.4 Objectives
The goal of this project is to construct a quadrotor-style unmanned aerial vehicle
(UAV) with a camera and wireless communication system to enable immediate
environment surveillance. The following goals are listed.

 Create a UAV with an X configuration and an H-shaped quadcopter construction that is

intended only for use in agricultural spraying activities.

 Build a flight controller system by integrating sensors properly and improving PID
control settings to guarantee stable and precise flying characteristics, enabling precise
spraying operations.
 Fit the quadcopter with a spraying device, such as a nozzle or sprayer system, for
spraying fertilizers, insecticides, and herbicides over crops efficiently and uniformly.

 Create a wireless transmission system that will allow the quadcopter to transmit live
video and GPS data to a base station. This enables operators to keep an eye on the
spraying procedure, adjust as necessary, and capture information for additional
analysis.
 Include autonomous flight features in the drone's design, such as takeoff, landing, and
predefined flight paths. This will allow the drone to move over the agricultural field
effectively without continual manual control.
 Incorporate safety features, such as obstacle detection and avoidance systems, to
prevent collisions with structures or other objects.
 Ensure efficient use of resources to minimize waste and maximize coverage.
 Optimize the drone's payload capacity to carry a sufficient amount of agricultural
chemicals.
 Concentrate on optimizing battery life and exploring charging infrastructure
alternatives to increase flight durations and reduce downtime for recharging.
 1.5 Scope
Drone technology for agricultural spraying has a broad use and is developing quickly. In
order to meet the rising demand for food, which is expected to exceed 9.7 billion people by
2050, farmers have been under pressure to improve agricultural yields and efficiency. Drones
used for agricultural spraying can help farmers overcome these difficulties by giving them a
precise and effective way to monitor and spray crops.

The development of advanced drone hardware and software to enhance flying

performance, payload capacity, and imaging capabilities is included in the scope of
agricultural spraying drone technology. A developing market exists for data analytics
systems that can analyze the information gathered by agricultural spraying drones and give
farmers insights on the health, growth, and yield potential of their crops.

Precision agriculture, environmental monitoring, and disaster relief activities are

anticipated to benefit even more in the future from the use of agricultural spraying drone
technology. The agriculture sector will have additional prospects for innovation and
expansion as technology advances, which will be advantageous to both farmers and
consumers.

1.6 Hypotheses
1. Compared to conventional spraying methods, agricultural spraying drones are more
efficient, precise, and cost-effective, resulting in increased crop yields and less
environmental impact.

2. The employment of agricultural spraying drones in modern farming techniques has the
potential to produce great economic benefits, including lower labour costs and higher
crop yields, as well as environmental advantages, like lower pesticide use and less soil
erosion.

3. Regulatory obstacles, technological constraints, and cost barriers are the main obstacles
to the deployment of agricultural spraying drones. These obstacles can be removed with
the help of targeted policies, education, and investment.
4. Regulatory frameworks have a considerable impact on how agricultural spraying drones
are adopted in various regions and nations, with higher adoption rates being associated
with more favorable laws and regulations.

5. Drones used for agricultural spraying have the potential to be used for a variety of
functions outside spraying crops, such as mapping, monitoring, and data collection,
increasing productivity and efficiency in the agricultural industry.

Chapter 2

Literature Review
 2.1 Literature Review
Due to their ability to efficiently and precisely spray insecticides, herbicides, and other
chemicals onto crops, agricultural spraying drones have attracted increased attention in recent
years.
Numerous studies have examined how well agricultural spraying drones perform in
comparison to more conventional spraying techniques like manual spraying or sprayers
mounted on tractors.
In the study on the applications, requirements, and challenges of UAVs (drones) in
smart agriculture, Maddikunta Reddy P.K. et al. (2021) highlight the use of fixed-wing and
multi-rotor UAVs as the primary types of drones employed in agricultural settings. Multi-
rotor UAVs are relatively easy to manufacture and cost-effective, while fixed-wing UAVs
are well-suited for long-distance operations and extended flying time. The researchers also
explore various agricultural sensors, including optical sensors, temperature-based sensors,
and location-based sensors, and identify several potential applications of UAVs in smart
agriculture.
These applications include the use of UAVs as "sky farmers" for obtaining a bird's eye view
of cultivation fields or livestock herds, precision agriculture applications involving the use of
hyper spectral and multispectral cameras to capture high-quality images and derive
vegetation indices like NDVI, irrigation monitoring, aerial mustering, and artificial
pollination. The study highlights the importance of enabling requirements for UAVs in smart
agriculture, such as network availability, data storage capabilities, farmer acceptance of the
technology, accuracy of results, and regulatory frameworks governing the use of UAVs.
In their comparative study on the application of UAV systems in agriculture, Rahman
M.F.F et al. (2021) highlight the potential of UAVs to drive economic prosperity in
developing countries by reducing health risks and labor requirements associated with manual
pesticide spraying. UAVs, particularly quadcopters, are well-suited for agricultural purposes
due to their cost-effectiveness, compact size, and excellent maneuverability. These aerial
systems enable precise delivery of fertilizers and pesticides, minimizing wastage and
improving working conditions for laborers. However, challenges such as accurate data
interpretation, privacy risks, and complex spraying environments need to be addressed.
Overall, UAVs offer significant benefits in enhancing agricultural productivity and reducing
the negative impacts of traditional farming methods.
In the paper proposed by Shaik Khamuruddeen et al. ( 2020), a novel approach is
introduced to overcome the limitations of traditional spraying systems by utilizing drones.
These drones, also known as rotor crafts due to their revolving twisted cord Aerofoil design,
are specifically designed for pesticide spraying purposes. The paper introduces a new
concept called PSQ (Pesticide Spraying Quadcopter), which focuses on achieving efficient
and effective pesticide spraying while minimizing the negative impact of toxins present in
the pesticides. By implementing this new approach, the researchers aim to enhance the
spraying process by reducing the harmful effects associated with excessive toxin usage,
leading to more sustainable and environmentally friendly pesticide application practices.
Weicai Qin et al. (2019) study investigates the impact of UAV spraying parameters,
specifically focusing on the prevention of powdery mildew in Asian countries on wheat
crops. The experiments were conducted using a UAV (UAV N-3) equipped with fixed
spraying width at different working heights and varying concentrations of pesticide. The
UAV sprayed the field at a distance of 3.5 m, with a height of 5.0 m, and a spraying speed of
4 m/s. Water-sensitive paper was placed on the top and bottom parts of the wheat canopy to
analyze the spread of the pesticide. In order to combat wheat powdery mildew, an auxiliary
agent was added to increase the adhesion of the pesticide on the plant surface. The study
aims to optimize the design and improve the performance of small UAV sprayers by
analyzing the effects of varying height and concentration, ultimately enhancing the
prevention of serious diseases and improving the efficacy of pesticide application.
The Quadcopter (QC) system, proposed by Shilpa Kedari et al. (2018), is a lightweight
and cost-effective solution for agricultural spraying. It utilizes a small-sized quadcopter, also
known as a UAV, which can autonomously spray pesticides and fertilizers on both indoor
and outdoor crops. The system is controlled in real-time using an Android device, with
communication established through a Bluetooth device. By automating the spraying process,
the QC system aims to reduce labor-intensive tasks and improve agricultural yield by
ensuring efficient and targeted application of agricultural chemicals.
 In their review on the application of drone systems in precision agriculture, Mogili
U.M.R. and Deepak B.B.V.L. (2018) highlight the advantages of using drones for pesticide
spraying, particularly in avoiding health risks associated with manual spraying. Drones offer
the capability to operate in challenging areas where human intervention may be difficult. The
authors describe the use of multispectral cameras mounted on drones for crop monitoring.
These cameras capture images during a single flight, and through image analysis, areas
requiring pesticide spraying can be easily identified. The drone's sprinkling system then
autonomously navigates using GPS coordinates to precisely spray the pesticides on the
infected areas indicated by the analysis of vegetation using NDVI. The review concludes that
these developments represent early stages of drone applications in precision agriculture, with
potential for further advancements both in technology and agricultural applications.
In the work by Marthinus Reinecke et al. (2017), the focus was on studying the benefits,
limitations, and features of drones for optimizing harvest and crop management. The study
considered two different technologies: drone camera technology, specifically UVIRCO, and
Aerobotics. The findings indicated that an increasing number of farmers are investing in
drone technology to improve crop productivity. Drones offer various advantages such as
generating digital field maps, identifying healthy and unhealthy crops, and detecting missing
stock, identifying irrigation system leaks, providing fire alerts, and facilitating pesticide
spraying. By leveraging drone capabilities, farmers can gain valuable insights into their
fields, enabling them to make informed decisions for maximizing yields and efficiently
managing their crops.
Overall, the study points to a great potential for agricultural spraying drones to increase the
effectiveness and efficiency of applying pesticides and other chemicals to crops. However,
there are issues with their potential environmental impact as well as regulatory difficulties
that must be resolved.

2.2 Advantages of Agricultural Spraying Drones

1. Accuracy and precision: Drones for agricultural spraying can accurately target certain
fields, minimizing waste and guaranteeing that crops receive the right amount of
pesticide or fertilizer.
2. Effectiveness and speed: Drones can quickly and efficiently cover huge tracts of
agricultural land, saving time and lowering labour costs.

3. Safety: By using drones to spray crops, farmers are less likely to come into touch with
potentially dangerous chemicals, which improves worker safety on the farm.

4. Environmental impact: A reduction in chemical use during crop spraying caused by

agricultural spraying drones will result in reduced soil, water, and air pollution.

5. Flexibility: Drones can be utilized to spray crops in harsh conditions or difficult-to-

reach locations, increasing the overall coverage of crops.

2.3 Disadvantages of Agricultural spraying drones:

1. High initial cost: Small-scale farmers may find it challenging to implement the
technology due to the high cost of a drone and the associated equipment.
2. Technical restrictions: Due to technical restrictions, drones may not be able to
transport huge quantities of fertilizer or pesticides, which limit their application to
large-scale farms.
3. Regulatory obstacles: Drone use regulations and limits can be complicated and differ
between areas and nations, which makes them difficult to adopt.
4. Weather: Drones might not be able to function in unfavorable weather, such as strong
winds or heavy rain.
5. Data management: Gathering and analyzing data from drones may require specialized
knowledge and tools, which could add to farmers' costs.
Chapter 3

Methodology

3.1 Overview
An agricultural spraying drone hardware project's technique often starts with problem
identification. When employing conventional spraying techniques, farmers frequently run
into a number of problems, including inefficiency, environmental challenges, and labour
expenses. The project team must carefully analyze these issues and identify particular
situations in which the drone can offer a more time- and cost-saving resolution.

The study and design part of the project can start once the issue has been located. This
involves finishing extensive study on the most recent drone technology for agricultural
spraying and creating a prototype that solves the challenges found. To ensure that the drone
can match the requirements, the team must carefully choose the right components and
develop the frame, propulsion system, spray system, and other aspects.

The team must test the prototype after the original design is finished to make sure the drone
satisfies the performance criteria. Testing the drone in controlled situations to assess aspects
like flying time, load capacity, and spraying accuracy may be necessary. The team may need
to modify the design and components as needed to enhance the performance of the drone
based on the findings of these testing.

The team can begin field testing after the prototype has been tested and improved. Here, the
drone is put to the test in a practical setting. The team needs to see how well the drone can
map the field, avoid obstacles, and spray crops. The performance of the drone is then
assessed using the data gathered during the field tests to spot any potential improvement
areas.

The results of the data analysis are used to optimize the design and functionality of the drone
during the project's optimization and enhancement phase. The members of the team must
keep making advancements until the drone satisfies the specified performance standards. The
design of the drone may need to be tested and improved further, and the software and
hardware parts may also need to be improved.

3.2 Block Diagram

The agricultural spraying quadcopters consists of several key components interconnected in a

block diagram configuration. At the heart of the system is the flight controller, which serves
as the central processing unit. It receives inputs from various sensors to ensure stable flight
and precise control. The sensors include a GPS module that provides location information for
navigation and position hold functionality, an IMU (Inertial Measurement Unit) that
measures the quadcopters orientation, acceleration, and angular velocity, and a barometer
that helps maintain altitude control by measuring atmospheric pressure.

Additionally, the flight controller integrates obstacle detection and avoidance systems. These
systems often use ultrasonic or LiDAR sensors to detect and assess the surrounding terrain or
obstacles. The flight controller processes this information and adjusts the quadcopters flight
path to avoid collisions, ensuring safe and efficient operation.
Furthermore, the flight controller manages the communication and control interfaces. It may
include wireless communication modules for receiving mission instructions or transmitting
real-time data to ground-based operators or remote monitoring systems. The flight controller
also interfaces with the power management system, which handles battery monitoring,
charging, and power distribution to the different components of the quadcopter.

3.3 Quadcopter components

There are a number of things to take into account while choosing quadcopter parts for
agricultural spraying.

3.3.1 Frame

In selecting a frame for drone spraying equipment, long-term reliability and stability are
undoubtedly important considerations. A growing number of drone manufacturers are using
carbon fiber frames because of their superior strength-to-weight ratio.

3.3.1.1 Advantages of Carbon Fiber frame:

 Strength: Carbon fiber is famous for having tremendous strength, particularly when
weighed against other materials. Because of its great tensile strength, it can support the
weight of the payload and endure probable impacts while in flight.

 Lightweight: Compared to several other materials frequently used for frames, such as
aluminum or steel, carbon fiber is substantially lighter. Due to its lightweight nature, the
aircraft can carry more payload and travel farther without losing structural integrity.

 Rigidity: Carbon fiber frames have great elasticity and rigidity, which contributes to
flight stability. By minimizing flexing and vibration, this rigidity ensures precise control
over the drone's motions and lowers the possibility of spraying equipment damage.

 Corrosion resistance: Unlike materials like steel or aluminum that may rust or degrade
over time, carbon fiber is naturally resistant to corrosion. This resistance serves to
increase the lifespan of the frame and is especially useful when working with chemicals
frequently used in spraying applications.
 Fatigue resistance: High fatigue resistance in carbon fiber frames allows them to
withstand multiple stress cycles without breaking down. For aerial spraying drones,
which frequently perform repeated take offs, landings, and manoeuvres, this attribute is
crucial.

3.3.2 Brushless DC motors

It's crucial to choose motors for an aerial spraying quadcopter that have enough thrust to lift
the quadcopter and the extra supplies.

A quadcopters thrust and motors are essential parts because they produce the lift required to
keep the aircraft aloft. Four motors are required for a quadcopter, with one propeller being
driven by each motor. On each quadcopter arm, the propellers revolve in different directions,
producing opposing forces that offer stability and control.

The size and pitch of the propeller, the voltage and current supplied to the motor, as well as
the effectiveness of the motor itself, all affect the thrust produced by each motor. Greater
thrust can be produced via larger propellers and higher voltage and current levels, but these
factors also use more energy and produce more heat.

To calculate the thrust for each motor as,

Total weight∗2
Total Thrust =
Number of Motors
 Figure 1: Brushless DC Motor

Motors Specification:
RPM/V: 400KV
Stator size: 35 *15mm
Motor Dimension: 42.5 * 34.5mm
Maximum Current: 26.8A
Motor Weight: 150g
Wire: Winding extended 150mm
Degree of Protection: Rain resistant

3.3.2.1 Advantages of Brushless DC motors

Compared to other motor types like brushed DC motors or AC induction motors, brushless
DC (BLDC) motors provide a number of benefits.

 Compared to brush DC motors, BLDC motors have a longer lifespan and higher
durability because they lack brushes that wear out over time, reducing maintenance needs
and enhancing reliability.

 BLDC motors offer high efficiency, converting electrical energy into mechanical energy
with minimal power loss, improving battery life and extending flight times for
applications like drones.
 Compared to brushed DC motors and AC induction motors with comparable power
ratings, BLDC motors have a high power-to-weight ratio, making them lighter and more
compact. This is advantageous for applications where weight is an issue, such as electric
vehicles and drones.

 Due to their brushless design, BLDC motors generate less noise and vibration than brush
DC motors, making them advantageous in applications where noise reduction is desired,
such as drones used in residential areas.

 BLDC motors have excellent response characteristics and precise speed control, making
them ideal for applications requiring precise and responsive motor control.

 The lack of brushes in BLDC motors improves heat dissipation compared to brushed DC
motors, preventing overheating and extending the motor's lifespan.

 BLDC motors can achieve a wide range of speeds, from low to high, providing range to
adapt to different operating conditions and application requirements.

3.3.2.2 Application of BLDC motors

Due to its many benefits, BLDC (Brushless DC) motors are used in a variety of products and
sectors. Here are some common applications for BLDC motors:

 Drones and unmanned aerial vehicles (UAVs): BLDC motors are widely employed in
drones and UAVs to produce thrust for lift and control. They are perfect for establishing
stable flying and mobility due to their high power-to-weight ratio, accurate control, and
efficiency.

 Electric Vehicles (EVs): BLDC motors are essential components of electric

automobiles, including motorcycles, scooters, bicycles, and automobiles. They enable
effective and environmentally sustainable transportation by transforming electrical
energy from batteries into mechanical energy for propulsion.

 Robotics: BLDC motors are frequently used in robotics for a variety of applications,
including locomotion, joint action, robot grippers, and arms. They are ideal for robotic
 systems that need quick motions and fine control because of their high torque and
compact size.

 Industrial Automation: For activities like conveyor belt drives, robots, CNC machines,
and pumps, BLDC motors are used in industrial automation systems. They enable precise
control and motion in manufacturing and assembly operations through their dependable
and effective functioning.

 Medical gadgets: Various medical technologies, such as surgical robots, prosthetic

limbs, infusion pumps, and laboratory apparatus, use BLDC motors. They are
advantageous for essential medical applications because of their small size, fine control,
and dependability.

 Appliances: Home appliances including refrigerators, washing machines, dishwashers

and vacuum cleaners all employ BLDC motors. Their smooth operation, small size, and
effective operation improve the functionality and energy efficiency of appliances.

3.3.3 Electronic Speed Controller

A crucial element in the proper operation of a drone is the Electronic Speed Controller
(ESC). Its main job is to regulate and manage the drone's motors' power supply. The ESC
modifies the voltage and current provided to the motors by interpreting signals from the
flight controller, which controls the motors' rotational speed and direction. The drone can
move smoothly, change directions, and hover at various altitudes due to this fine control.
Stable flying performance and accurate control inputs from the pilot depend on the ESC's
responsiveness and capacity to maintain constant motor speeds.
With features including motor braking, active freewheeling, and motor timing adjustment to
enhance performance, ESC technology has significantly advanced. To avoid harming the
motors and batteries, many ESCs also include safety features that are built-in including
overheat protection, overcurrent protection, and low voltage cutoff. The parameters of the
drone and the motors' power needs determine the size and weight of the ESC. In conclusion,
the ESC is a crucial component that ensures effective motor control, stability, and secure
drone operation while in flight.

Figure 2: Electronic Speed Controller

3.3.4 Propellers
When choosing propellers for an agricultural spraying quadcopter drone, several factors
come into play. The size and diameter of the
propellers should be compatible with the
drone's frame and motor specifications.
Propeller size is typically represented by two
numbers, such as "15x5", which indicate the
length and pitch of the propeller blades. The
length affects the thrust generated, while the
pitch determines the forward propulsion per
revolution. For agricultural spraying drones,
propellers with larger diameters are
generally preferred as they can generate
more thrust to lift the heavier payload.
Figure 3: Propeller
However, it's essential to ensure that the
propellers are suitable for the motor's power output and torque requirements to achieve
optimal performance. Additionally, consider the design of the propeller, such as its shape and
blade count. Propellers with efficient aerodynamic profiles and higher blade counts tend to
produce more thrust and reduce noise. Balancing the propellers and regularly inspecting them
for any signs of wear or damage is crucial to maintain safe and efficient flight operations.

Specification:

Diameter: 15 inch,
Pitch: 5.5
Weight: 21 g ± 2 g per Prop
Bore Diameter: 6mm
Circular Diameter: 12mm
Props: 1 x CW; 1 x CCW

3.3.5 Flight Controller

A flight controller is a vital component in the operation of a quadcopter or any multirotor
drone. Serving as the drone's central processing unit, the flight controller acts as the "brain"
of the aircraft, managing and controlling its flight functions. Equipped with sensors like
accelerometers, gyroscopes, and barometers, the flight controller collects data on the drone's
orientation, altitude, and movement. It then processes this information and sends commands
to the motors, adjusting their speeds to stabilize the drone and maintain its desired flight
position. The flight controller offers various features and functionalities, including
stabilization, different flight modes, autopilot capabilities, receiver and transmitter
communication, telemetry, data logging, and configuration options. These functions enable
pilots to control the drone, automate flight operations, monitor flight parameters, and
customize performance settings. Selecting the right flight controller that is compatible with
the drone's specifications and intended use is crucial for ensuring safe and efficient flight
operations. Consulting with experts or following manufacturer recommendations can provide
guidance in choosing the appropriate flight controller for a specific drone build and flight
requirements.
DJI A2 Flight Controller

The DJI A2 Flight Controller is a professional-grade flight control system designed for
multirotor drones and aerial platforms. Developed by DJI, a leading manufacturer in the
drone industry, the A2 Flight Controller offers advanced features and precise control for
demanding applications.

The DJI A2 Flight Controller boasts a high-performance processor and sensor system,
including a dual IMU (Inertial Measurement Unit) setup, which enhances stability and
redundancy. This redundancy ensures reliable and accurate flight control even in the event of
sensor failure.

One of the key features of the DJI A2 Flight Controller is its intelligent flight modes and
advanced navigation capabilities. It supports various flight modes, such as GPS-assisted
position hold, return-to-home (RTH), and waypoints navigation. These features enable
autonomous flight operations and precise positioning, making it suitable for professional
aerial photography, videography, mapping, and inspection missions.

Figure 4: DJI A2 Flight Controller

GPS-Compass Pro Module: The GPS-Compass Pro Module is an advanced positioning
and navigation module developed by DJI, a leading
manufacturer in the drone industry. This module is
designed to enhance the capabilities of DJI flight
controllers and improve the accuracy and reliability of
GPS-based functions.
The compass functionality of the module ensures
accurate heading information, allowing the drone to
maintain a stable orientation and direction during flight.
This is particularly important for applications such as Figure 5: GPS-Compass Pro Module

aerial photography, videography, and mapping, where precise heading control is required for
smooth and accurate image capture or data collection.

High sensitive built-in damper IMU module: The High-Sensitive Built-in Damper IMU
Module is an advanced sensor module designed to
provide precise and stable flight control for drones and
other aerial platforms. This module integrates an Inertial
Measurement Unit (IMU) with built-in dampers,
enhancing the sensor's sensitivity and reducing vibration
interference. The IMU module accurately measures the
drone's attitude, acceleration, and angular velocity,
providing crucial data for flight stabilization and control
algorithms. The built-in dampers help minimize vibrations, ensuring accurate and reliable
Figure 6: IMU module
sensor readings even in challenging flight conditions.
Overall, the High-Sensitive Built-in Damper IMU Module improves the overall flight
performance and stability of drones by offering highly sensitive and vibration-resistant
sensor capabilities.
Specifications:
Power Consumption: MAX 5W (Typical Value: [email protected]）
Total Weight: <= 224g (overall)
Recommended Battery: 2S ~ 6S LiPo
Max Yaw Angular Velocity: 150 deg/s
Max Tilt Angle: 35°
Dimensions
Flight Controller: 54mm x 39mm x 14.9mm
IMU: 41.3mm x 30.5mm x 26.3mm
GPS-Compass Pro: 62mm (diameter) x 14.3mm
LED-BTU-I: 30mm x 30mm x 7.9mm
PMU: 39.5mm x 27.6mm x 9.8mm

Built-In 2.4 GHz Dr16 Receiver: The Built-in 2.4GHz DR16 Receiver is an integrated
receiver module that enables wireless control of a drone
or remote control system. It operates on the 2.4GHz
frequency band, offering stable and reliable
communication with the transmitter. With its built-in
design, the receiver eliminates the need for external
modules and simplifies the system setup. It supports
multiple channels for precise control inputs and may
include fail-safe functionality for added safety.

Figure 7: Dr16 Receiver

3.3.6 Water Pump

When incorporating a water pump into a drone for spraying purposes, it's crucial to consider
the specific requirements of aerial spraying. The water pump should be compact, lightweight,
and compatible with the drone's payload capacity. It
should provide the required flow rate and maintain
the necessary pressure for efficient spraying.
Electric pumps powered by the drone's onboard
battery are commonly used, and pump efficiency is
essential to maximize flight time.

Features: Figure 8: Water Pump for spraying

Rated voltage DC 12V

Working current 300mA
Applicable voltage DC8-12V
Weight 150g

3.3.7 Transmitter or remote control

Transmitter or remote control is a handheld device used to wirelessly control a drone. It
communicates with the drone's receiver using a radio link, allowing the pilot to command the
drone's movements and activate various functions. The transmitter features control inputs
such as control sticks, switches, buttons, and dials, enabling the pilot to manipulate the
drone's throttle, pitch, roll, and yaw. Modern transmitters may include LCD screens for real-
time telemetry data display. They vary in complexity and features, ranging from basic
models to advanced versions with
programmable settings and multiple
flight modes. The transmitter is
powered by batteries and plays a
crucial role in operating a drone,
providing the pilot with control over
the aircraft and access to its features Figure 9: Transmitter & Receiver

and functions.

Specifications:
 Item: fs-i6x RC transmitter
Channel: 6-10 (default 6
RF range: 2.408-2.475GHz
Power: 6V DC

Receiver

Receiver is an integral part of a drone's control system, working alongside the transmitter. It
receives signals from the transmitter and relays them to the drone's flight controller, allowing
the pilot to remotely control the drone. The receiver operates on the same radio frequency as
the transmitter and establishes a wireless communication link between the two. It supports
multiple channels corresponding to different control inputs, enabling the pilot to control the
drone's flight and activate various functions. The receiver is lightweight and compact,
powered by the drone's main power source, and plays a critical role in ensuring reliable and
responsive control of the drone during flight.

3.3.8 LiPo Battery

Battery is a crucial component of a drone, providing power to the motors and electronic
systems. Lithium-polymer (LiPo) batteries are commonly used due to their high energy
density and lightweight design. The choice of battery depends on factors like drone size,
flight time requirements, and power demands. Battery capacity, measured in milliampere-
hours (mAh), affects flight time, while voltage rating determines the overall voltage output.
Safety is vital when handling LiPo batteries, and proper charging, storage, and monitoring
practices should be followed. Battery
management systems (BMS) or protection
circuits help ensure safe operation. Ongoing
advancements in battery technology offer Figure 10: LiPo Battery
improved performance and reliability. Choosing
the right battery and following safety guidelines
allows drone pilots to maximize flight time and
performance.
 Specification

Capacity: 5500mAh
Voltage: 22.2V
Max Continuous Discharge: 25C
Max Burst Discharge: 50C
Weight: 875g
Dimensions: 190*45*50 mm

3.4 Environmental benefits

When used properly, drones for agricultural spraying can have a good effect on the
environment. These drones can lower the amount of chemicals required for treatment by
focusing on particular crop sections. This decrease in chemical use may lead to decreased
runoff and pollution, which could be harmful to local water supplies and aquatic life.

Drones used for agricultural spraying can also lessen soil compaction, which can happen
when heavy equipment is utilized on agriculture. Agricultural spraying drones can contribute
to the preservation of soil health and the prevention of erosion by lowering the quantity of
heavy machinery needed for spraying.

Drones used for agricultural spraying may also help in lowering greenhouse gas emissions.
Drone use can reduce the environmental impact of conventional farming practices by
avoiding the requirement for large machinery.

Drones used for agricultural spraying must, however, be operated carefully to minimize any
harm to the environment. With this technique, it is still possible to use pesticides and
fertilizers excessively or improperly, which can cause pollution and environmental harm.
Furthermore, the energy necessary to run the drones may have an adverse effect on the
environment, particularly if fossil fuels are used.
Furthermore, if agricultural spraying drones are not employed carefully, they may endanger
wildlife and natural environments. For instance, drones flying over bird nests could interfere
with the breeding cycles and ecosystems of the birds.

3.5 Challenges
There are a number of difficulties that must be overcome in the implementation of
agricultural spraying drones. Several of these difficulties include:

 Price: Due to their high maintenance and purchase costs, agricultural spraying drones
may not be as accessible to smaller farms or farmers with fewer resources.

 Regulation: Farmers may need to get permits or licenses to operate agricultural

spraying drones, as their use is subject to restrictions and laws in many nations. This
can make adoption more expensive and present administrative challenges.

 Safety issues: Drone use in agricultural environments raises safety issues, especially
in relation to collisions with other aircraft, electrical wires, and other obstacles. It's
important to think about any potential concerns associated with the chemicals used in
spraying.

 Limited flight time: Drones used for agricultural spraying often have a short flight
period, necessitating numerous flights to cover bigger fields. This may increase the
price and duration of spraying operations.

 Technical training and expertise: Technical training and expertise are necessary for
the operation and maintenance of agricultural spraying drones, which may not be
readily available to all farmers.

 Meteorological conditions: Wind, rain, and other meteorological factors might

impact how safely and successfully agricultural spraying drones can operate. This can
restrict their use to particular areas or seasons of the year.
Chapter 4

Quadcopter Design and Development

4.1 Quadcopters configuration

Unmanned aerial vehicles (UAVs) having four rotors are referred to as quadcopters or
quadrotors. They are widely used for many different reasons, such as aerial photography,
surveillance, inspection, and social activities. The positioning and orientation of the four
rotors of a quadcopter are referred to as its configuration.

The "+" arrangement is the most typical for quadcopters. With two rotors situated in the front
and two in the back, the four rotors are arranged in the shape of a plus sign (+). With this set
up, the quadcopter can hover, move in any direction, and rotate with stability and flexibility.

Figure 11: "+" configuration

The "X" design is another common arrangement. The quadcopters' four rotors are placed in
the shape of an X in this configuration, with two front rotors angled and two rear rotors
angled in the opposite direction. The "+" configuration's flight characteristics are comparable
to those of the "X" configuration, but stability and responsiveness may change slightly.
 Figure 12: "X" configuration

There are additionally uncommon configurations, like the "H" and "V" configurations. The
front and back rotors are placed horizontally while the two side rotors are positioned
vertically in the "H" layout. In contrast, the "V" arrangement has two rear rotors set
horizontally and two front rotors mounted vertically. These setups are less common and are
frequently employed in particular applications.

It should be noted that for quadcopters to remain stable and under control, each rotor speed
must be precisely controlled. The quadcopter may modify its altitude, orientation, and
direction of movement by varying the rotor's speed. Complex flight control mechanisms that
monitor the quadcopter's position and make appropriate adjustments to ensure stability are
used to manage the rotor speeds.

According to Fig. 1, each arm is attached to a brushless DC motor with a fixed-pitch

propeller so the rotor can drive the air flow downward and produce the lift force. Two rotors
rotate in an anticlockwise manner (anticlockwise; CCW) and two additional rotors rotate in a
clockwise direction (clockwise; CW). Thus, it is evident that the quadcopter's dynamic
motion is solely determined by the rate of motor rotation.

Figure 13: Quadcopter Configuration

Flight Time: The flight time of a hexacopter depends on several factors, including the
battery capacity, weight of the drone, and the power consumption of its components. To
calculate the flight time of a hexacopter, the following equation can be used:

Battery Capacity ( mAh )∗Battery Voltage

Flight Time=
Power Consumption

The battery capacity is measured in milliampere-hours (mAh), and the battery voltage is
measured in volts (V). The power consumption of the drone is the sum of the power
consumed by all of its components, including the motors, electronic speed controllers
(ESCs), flight controller, and any other accessories.

For example, A quadcopters has a battery with a capacity of 5500mAh and a voltage of
14.8V, and the power consumption of its components is 500 watts, the flight time can be
calculated as follows:

5500 ( mAh )∗14.8 V

Flight Time=
500W

81.4 Wh
Flight Time=
500W

Flight time=0.1628 hours /9.77 minutes(approximately)

4.2 Weight of the Quadcopter

The weight of the drone itself, often referred to as the dry weight or empty weight,
includes the components of the drone without any payload or additional equipment. The
weight of the drone can vary depending on factors such as the size, design, and materials
used in its construction. For a quadcopter agricultural spraying drone, the dry weight
typically ranges from 2 to 6 kilograms, depending on the specific model and configuration.
This weight includes the frame, motors, flight controller, power distribution system, batteries,
and other necessary components.
It's important to note that the weight of the drone itself does not include the weight of the
payload, such as the spraying system, chemicals, or any additional sensors or equipment
added to the drone. When estimating the total weight of the drone for operational purposes,
it's essential to consider both the dry weight of the drone and the weight of the payload being
carried to ensure that the drone operates within its designed limits and maintains stable flight
performance.

Table 1: Payload Estimation of Hexacopter

HEXACOPTER PARTS WEIGHT (Grams)

Frame 500 (Approx.)

Battery 940
Motor (4) 600
ESC (4) 150
Propeller (4) 100
Flight controller 220
Other Wires and tools 100
TOTAL 2560
Or 2.56kg

4.3 Payload Estimation

Payload estimation is a critical aspect of designing an agricultural spraying drone as it
determines the maximum weight that the drone can carry while maintaining stable flight. To
estimate the payload capacity, several factors need to be considered.

Firstly, the Maximum Takeoff Weight (MTOW) of the drone needs to be determined. This
includes the weight of the drone itself, including the frame, motors, flight controller,
batteries, and other necessary components. Additionally, the weight of the spraying system,
such as the spraying tank, pump, valves, and associated hardware, should be accounted for.
Any additional sensors, communication systems, or safety features integrated into the drone
should also be considered.

Table 2: Payload Estimation of Hexacopter

PARTS WEIGHT (grams)

2-litre liquid 2000

2-litre liquid tank 150

Pump 200

Nozzles 100

Total 2450 grams (approximately)

Or 2.4 KG

Total weight = Payload + Weight of hexacopter

= 2450 grams + 2560 grams

= 5.10 Kg (approx.)

4.4 Selection of Motors:

 Determine the Total Weight: The total weight of quadcopter, including the frame,
motors, battery, payload, and any other components (in kg), including the 2.450 kg
payload are 5.10 Kg (approx.)

 Calculate Thrust Requirement: The thrust generated by the motors should be equal to
or greater than the total weight of the quadcopter to achieve stable flight. If the total
weight of the drone, including the payload, is 5 kg, then the thrust requirement to
achieve stable flight would also be 5 kg.
  Determine Lift-to-Thrust Ratio: The lift-to-thrust ratio is typically around 2:1 for
quadcopters. This means that the total thrust should be approximately twice the total
weight of the quadcopter. In this case, the desired thrust should be 2 * W (in kg).
Desired Thrust = 2 * Weight of the Drone (including payload)
Desired Thrust = 2 * 5 kg
Desired Thrust = 10 kg

 Find Motor Thrust: Look for motor specifications provided by manufacturers or

suppliers. You need to find motors that can provide the required thrust for your
quadcopter. Pay attention to the thrust data at different voltages and propeller sizes.

The maximum thrust of the motor is 3.529 kg. This value provides an indication of the
motor's capability to generate thrust, and you can compare it directly with your desired
thrust requirement

Total weight∗2
T otal Thrust=
Number of Motors

Total Weight of the Drone (including payload) = 5 kg

Number of Motors = 4 (assuming a standard quadcopter configuration)

Total Thrust per Motor = (5 kg * 2) / 4

Total Thrust per Motor = 10 kg / 4

Total Thrust per Motor = 2.5 kg

If the total thrust provided by the motors is greater than the desired thrust, the quadcopter
should be able to fly. Having a motor thrust greater than the desired thrust ensures that the
quadcopter has sufficient power to lift off and maintain stable flight.
In this case, if the desired thrust requirement is 98 newtons and the motor provides a
maximum thrust of 3529 grams (or 34.5942 newtons), the motor thrust is indeed greater than
the desired thrust. This means that the motor has the capability to generate enough thrust for
the quadcopter to fly.

Chapter 5

Testing and Evaluation

5.1 Experimental setup and procedures for spray

The method of transmitting signals from the transmitter to the receiver and then to the
flight controller plays a crucial role in controlling the upward motion of an agricultural
spraying drone by rotating its motors. The transmitter allows the pilot to input commands
that determine the drone's movements, such as throttle, pitch, roll, and yaw. These commands
are wirelessly transmitted to the receiver on the drone, which processes and forwards them to
the flight controller. The flight controller then interprets the commands and adjusts the
rotation of the motors accordingly, enabling the drone to ascend or maintain a specific
altitude during the spraying operation.
 In the manual spraying method using a switch, the flight controller's involvement is
bypassed for activating the spraying mechanism. Instead, a switch is directly connected to the
spraying mechanism on the drone. When the pilot activates the switch, it triggers the release
of pesticides or chemicals from the sprayers or nozzles mounted on the drone's body. This
manual method provides the pilot with immediate control over the activation of the spraying
mechanism, allowing for real-time decision-making during the operation. However, it
requires careful coordination and timing from the pilot to ensure accurate and even spraying
coverage.

While the manual spraying method offers direct control, it may lack the precision and
automation provided by the flight controller-assisted method. The flight controller, with its
sensors and algorithms, ensures stability, precise positioning, and optimized spraying
patterns. It takes into account factors like wind conditions and sensor data to regulate the
spraying process, ensuring uniform coverage and efficient use of pesticides or chemicals. The
manual method, on the other hand, places more responsibility on the pilot to control the
spraying mechanism accurately.

Figure 14: Block diagram of the drone hardware

The flight controller, which manages the drone's flight and controls its various systems,
operates at a lower voltage. The battery supplies 5V to the flight controller, ensuring a stable
power source for its operation. The flight controller, consisting of microprocessors, sensors,
and other electronic components, requires a lower voltage to function properly and process
the incoming signals from the receiver.
The battery supplies 12V to the spraying motor, which is responsible for activating the
spraying mechanism and releasing pesticides or chemicals. The higher voltage is typically
required to provide sufficient power for the motor to operate effectively. The spraying motor
draws power from the battery at 12V to perform its designated function.

5.2 Comparison of the Spraying Performance with Traditional

Methods
When comparing the spraying performance of quadcopters with traditional methods, several
factors come into play. These factors include efficiency, precision, coverage, cost-
effectiveness, and safety.
Efficiency: Quadcopters have the potential to be more efficient compared to traditional
methods. They can cover larger areas in a shorter time due to their agility and speed.
Quadcopters can also access difficult-to-reach areas and navigate through complex terrains
with ease, reducing the time and effort required for spraying.
Precision: Quadcopters offer greater precision in spraying operations. With advanced flight
controllers and GPS capabilities, they can follow pre-defined flight paths and apply the spray
material precisely to the target areas. This precision helps reduce the waste of pesticides or
fertilizers and minimizes the risk of overspray or drift onto non-target areas.
Coverage: Quadcopters can provide more uniform coverage compared to traditional
methods. Their ability to maintain consistent altitude and flight paths, combined with the use
of advanced spraying mechanisms, ensures that the spray material is evenly distributed over
the target area. This results in improved crop coverage and enhanced effectiveness of the
sprayed substances.
Cost-effectiveness: While the initial investment for quadcopter systems may be higher than
traditional spraying equipment, they can offer long-term cost savings. Quadcopters can
reduce the labor required for manual spraying, increase efficiency in pesticide or fertilizer
application, and minimize wastage. Additionally, quadcopters can help optimize resource
allocation by targeting specific areas that require treatment, leading to cost-effective
agricultural practices.
Safety: Quadcopters can significantly improve safety compared to traditional spraying
methods. They reduce the need for human operators to be in direct contact with potentially
hazardous chemicals, thus minimizing the risks associated with exposure. Quadcopters also
have safety features such as emergency landing capabilities and obstacle detection systems,
enhancing overall operational safety.

Chapter 6

Results and Discussion

6.1 Results
The results of the agricultural spraying quadcopter can be evaluated based on various
parameters such as spray distribution, coverage, application rate, efficiency, and
effectiveness. These results provide insights into the performance and effectiveness of the
quadcopter in delivering pesticides or fertilizers to the target areas.

Spray Distribution: The quadcopter's ability to achieve uniform spray distribution is an

important aspect. The results can be assessed by analyzing the spray pattern and ensuring that
the spray material is evenly distributed over the crops or designated areas. Uniform spray
distribution helps prevent under or over-application, ensuring optimal coverage and
effectiveness.

Spray Tank Capacity and Distribution Mechanism:

The agricultural spraying quadcopter incorporates a tank with a capacity of 2 liters to store
the agricultural solution or pesticide. The tank is designed to be lightweight and durable to
minimize the impact on the quadcopters flight performance. It is typically made from
materials that are resistant to corrosion and chemical degradation.

To distribute the pesticide during the spraying operation, the quadcopter is equipped with a
distribution mechanism. In this case, the distribution mechanism consists of three nozzles
strategically positioned on the quadcopter. The number and placement of the nozzles may
vary depending on the specific requirements of the spraying operation and the desired spray
coverage.

In the manual control setup of the agricultural spraying quadcopter, the spraying system is
operated through a switch located on the quadcopter or the remote control. The operator has
the ability to activate and deactivate the spraying system as needed. When the switch is
flipped to the "ON" position, a signal is sent to the spraying system, initiating the release of
the pesticide. The pesticide flows from the tank through the distribution mechanism, which
includes the designated nozzles. The operator, in control of the quadcopter's flight and
positioning, manually maneuvers the quadcopter while the spraying system remains active.
This manual control allows for direct operator involvement and real-time decision-making
during the spraying operation. When the switch is flipped to the "OFF" position, the spraying
system is deactivated, and the flow of pesticide ceases. While manual control may not offer
the same level of precision and consistency as automated systems, it can still be a suitable
choice for smaller-scale applications or situations where operator control is preferred or
required due to specific operational or regulatory factors.

Coverage: The coverage achieved by the quadcopter is another crucial factor. It involves
evaluating the extent to which the target areas are covered by the sprayed substances. High
coverage indicates that the quadcopter effectively reaches all the intended areas, including
those that may be difficult to access manually.

If the spraying drone covers a 2-foot area, it means that the pesticide or agricultural
solution sprayed by the drone can effectively cover a square area with dimensions of 2 feet
by 2 feet. This coverage area is determined by the distribution mechanism, including the
spray nozzles and the flow rate of the pesticide.

It's worth noting that the coverage area of a spraying drone can vary based on several
factors, including the drone's altitude, speed, spraying technique, and the specific
configuration of the spraying system. Additionally, wind conditions and environmental
factors can influence the dispersion and coverage of the sprayed solution.

Efficiency: Evaluating the quadcopter's efficiency involves considering factors such as

flight time, refilling or reloading time, and overall productivity. Longer flight times and
shorter refilling intervals contribute to increased efficiency, allowing the quadcopter to cover
larger areas in a shorter time and reducing downtime for refilling.

Effectiveness: The effectiveness of the quadcopter's spraying operations can be assessed

by monitoring the impact on the target crops or areas. This involves evaluating factors such
as pest or weed control, disease prevention, and crop health improvement. Results should
indicate whether the quadcopter's spraying activities have successfully achieved the desired
outcomes.

6.2 Discussion
The discussion focused on evaluating the results of the agricultural spraying quadcopter. The
quadcopter demonstrated advantages over traditional methods in terms of spray distribution,
coverage, application rate, efficiency, and effectiveness. It achieved uniform spray
distribution, providing consistent coverage and reducing the risk of under or over-
application. The quadcopter's ability to access difficult-to-reach areas ensured comprehensive
coverage across the entire field. It maintained a consistent and accurate application rate,
minimizing wastage and environmental impact. The quadcopter improved efficiency by
covering larger areas in less time, increasing productivity. The effectiveness of its spraying
operations was assessed by spraying management. Overall, the quadcopter showcased its
potential to enhance agricultural practices, but further research is needed to optimize its
performance and address any limitations.
Chapter 7

Conclusion and Future work

7.1 Conclusion
In conclusion, agricultural spraying drones have become an innovative and valuable tool in
modern farming practices. These drones offer numerous benefits, including increased
efficiency, precision application of pesticides or fertilizers, reduced labor costs, and
improved crop health management. By leveraging advanced technologies such as GPS,
sensors, and intelligent software, these drones can navigate autonomously, optimize spraying
patterns, and collect valuable data for decision-making. The inclusion of cameras in
agricultural spraying drones primarily serves the purpose of providing a visual perspective
for farmers to locate and identify their fields. These cameras assist in navigation and
orientation, allowing the drone operator to precisely target the designated areas for spraying.
By utilizing the camera feed, farmers can ensure accurate positioning of the drone and
optimize the spraying process. The use of agricultural spraying drones has the potential to
revolutionize farming by enhancing productivity, sustainability, and overall yields, while
minimizing environmental impact and promoting efficient resource management.
 7.2 Future Work
In the future, the work of agricultural spraying quadcopter drones with cameras for
surveillance purposes is likely to see several advancements and developments. Here are some
potential future improvements:

i. Enhanced Precision Agriculture: Agricultural spraying quadcopter drones equipped

with cameras will continue to play a vital role in precision agriculture. These drones
will become even more precise and efficient in identifying crop health issues, detecting
pests, and monitoring overall plant growth. Advanced cameras and sensors will provide
high-resolution images and real-time data for improved decision-making.

ii. AI and Machine Learning Integration: Future drones will integrate artificial
intelligence (AI) and machine learning algorithms to analyze the data captured by
cameras. These algorithms will be able to detect and classify different types of pests,
diseases, and weed species with higher accuracy. This will enable farmers to apply
targeted treatments and optimize their pesticide usage.

iii. Autonomous Operation: The future will see increased autonomy in agricultural
drones. They will be capable of autonomous flight planning, navigation, and obstacle
avoidance, reducing the need for manual control. With the integration of AI and
advanced computer vision technologies, these drones will be able to make real-time
decisions, adjusting their spraying patterns based on the analyzed data from the
cameras.

iv. Improved Efficiency and Capacity: Future agricultural spraying quadcopter drones
will likely feature advancements in battery technology, allowing for longer flight times
and increased spraying capacity. This will enable them to cover larger areas in a single
flight and complete spraying operations more efficiently.

v. Integration of Multiple Sensors: Drones will incorporate a range of sensors beyond

cameras to enhance surveillance capabilities. These may include multispectral or
hyperspectral sensors to capture detailed information about plant health, thermal
 sensors for early detection of stress or disease, and LIDAR (Light Detection and
Ranging) sensors for accurate terrain mapping and obstacle detection.

vi. Environmental Considerations: There will be an increased focus on environmental

sustainability in future drone designs. This includes the development of more eco-
friendly spraying solutions, such as the use of bio-based pesticides and precision
application techniques to minimize chemical usage. Drones may also incorporate
technologies for capturing and reducing spray drift, further reducing their
environmental impact.
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