MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION GRADUATION THESIS MECHATRONICS ENGINEERING TECHNOLOGY RESEARCH, DESIGN AND FABRICATION OF FIREFIGTING QUADCOPTERS INSTRUCTOR: PhD HA LE NHU NGOC THANH STUDENT: VU DUC BINH DOAN THANH NAM TRAN LE NHAT HUY SKL013385 Ho Chi Minh City, July 2024 HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF MECHANICAL ENGINEERING MECHATRONICS ENGINEERING GRADUATION THESIS TOPIC: RESEARCH, DESIGN AND FABRICATION OF FIREFIGTING QUADCOPTERS Supervisor: PhD HA LE NHU NGOC THANH Students : VU DUC BINH………………….ID: 20146478 DOAN THANH NAM………….ID: 20146506 TRAN LE NHAT HUY………….ID: 20146494 Class: 201461 Academic year : 2020-2024 Ho Chi Minh City, July - 2024 2 COMMITMENT - Topic: Research, Design and Fabrication of firefighting quadcopters - Supervisor: PhD Ha Le Nhu Ngoc Thanh - Students: Vu Duc Binh.ID: 20146478 Doan Thanh Nam. ID: 20146506 Tran Le Nhat Huy.ID: 20146494 - Thesis Deadline: 4/7/2024 - Class: 201461 - Phone number: 0888360856 - Email: 20146478@student.vn - Thesis submission date: - Commitment: “We hereby declare that this dissertation: Research, Design and Fabrication of Firefighting Quadcopters is our work and has been conducted by ourselves. We did not copy from any published article without citing the source. If there is any violation, we will take full responsibility.” Group of students - Vu Duc Binh Doan Thanh Nam Tran Le Nhat Huy 3II ACKNOWLEDGMENT On behalf of the research team, we would like to extend our deepest gratitude to PhD Ha Le Nhu Ngoc Thanh for his unwavering guidance and expertise throughout our academic journey.
His mentorship and inspiration have been instrumental in the successful completion of this project. We also extend our sincere appreciation to the esteemed faculty members of the Department of Mechatronics, particularly, and to the broader Faculty of Mechanical Engineering and the Ho Chi Minh City University of Technology and Education. Their dedication to teaching and unwavering support have been invaluable throughout our academic endeavors. We are immensely grateful to our families, friends, and loved ones for their encouragement, care, and assistance throughout our studies and the completion of this project.
Their support has been a source of strength and motivation. While we have strived to produce a high-quality project, we acknowledge that our limitations in time and experience may have resulted in shortcomings. We humbly welcome any constructive criticism and valuable feedback from our esteemed lectures to further refine our knowledge and skills. We are eager to learn and grow from your insights.
Group of students Vu Duc Binh Doan Thanh Nam Tran Le Nhat Huy III 4 ABSTRACT RESEARCH, DESIGN AND FABRICATION OF FIREFIGHTING QUADCOPTERS UAVs are becoming increasingly popular in society. Their biggest strength is that they can fly to difficult-to-reach locations, hazardous areas for humans, or rough terrain. With their great potential, UAVs are being utilized to revolutionize many industries, being used in various fields like agriculture, military, and surveillance equipment, significantly increasing productivity and work efficiency. However, there are still limitations and challenges in the current firefighting field.
Based on this reality, our team has researched and implemented a UAV capable of carrying heavy objects, specifically a fire extinguisher ball. The fire extinguisher ball is held and released through a clipper controlled automatically by companion computers like the Jetson Nano. Additionally, flight modes are established for the UAV to enable it to automatically search for fire sources using a camera with an autofocus function. AI models are built to optimize fire detection quickly and with high reliability.
The choice of motors, UAV frame, etc. is made in accordance with pre-calculated aerodynamic equations. As a result, the team has researched and developed a fire-fighting quadcopter UAV capable of carrying a load of approximately 1.5 kg, with the most notable advantage being its ability to automatically search for fire sources. Hardware-in-the-Loop (HILT) simulation tools are used to ensure it runs according to the pre-programmed code, making its operation smoother and more stable outdoors.
5 IV TABLE OF CONTENT COMMITMENT ------------------------------------------------------------------------------------------------II ACKNOWLEDGMENT ------------------------------------------------------------------------------------- III ABSTRACT -----------------------------------------------------------------------------------------------------IV TABLE OF CONTENT ---------------------------------------------------------------------------------------- V TABLE OF TABLES ------------------------------------------------------------------------------------------IX TABLE OF IMAGES ------------------------------------------------------------------------------------------ X LIST OF ABBREVIATIONS-------------------------------------------------------------------------------XV INTRODUCTION ---------------------------------------------------------------------------------------------- 1 1. Reason for choosing the topic ----------------------------------------------------------------------------------- 1 2. Research objectives of the topic--------------------------------------------------------------------------------- 1 3. Research subjects and scope ------------------------------------------------------------------------------------- 1 3.
Structure of project ---------------------------------------------------------------------------------------- 2 INTRODUCTION ---------------------------------------------------------------------------------------------------- 2 CHAPTER 1: RESEARCH TOPIC OVERVIEW ------------------------------------------------------- 3 1. What is Drone/UAV ------------------------------------------------------------------------------------------- 3 1. History of Aircraft’s Evolution and Development------------------------------------------------------ 3 1. History of Aviation ----------------------------------------------------------------------------------------- 3 1.
History of Drone -------------------------------------------------------------------------------------------- 4 1. Application of Drone into practice ------------------------------------------------------------------------- 5 1. All usage notes and instruction ----------------------------------------------------------------------------- 7 CHAPTER 2: STRUCTURE AND PRINCIPLES OF OPERATION------------------------------- 9 2. Common configuration and operating principles of some types of Drones ----------------------- 9 2.
Fixed-wing hybrid VTOL ---------------------------------------------------------------------------------- 11 2. Compare advantages and disadvantages of each type of Drones ---------------------------------- 11 2.3 Flight control system ---------------------------------------------------------------------------------------- 21 V 6 2. Flight control software -------------------------------------------------------------------------------------- 24 2. Power distribution board------------------------------------------------------------------------------ 31 2.
Transmitting data and images on Drone ---------------------------------------------------------------- 34 2. Camera Adrucam IMX519 ------------------------------------------------------------------------------ 34 2.4 The Flight Controller ---------------------------------------------------------------------------------------- 37 2.2 Receiver ------------------------------------------------------------------------------------------------------ 39 CHAPTER 3: MATHEMATIC MODEL OF QUADCOPTER ------------------------------------- 40 3. Diagram of quadcopter kinematic ------------------------------------------------------------------------ 40 3. Coordinate systems in Quadcopter ----------------------------------------------------------------------- 41 3.
High altitude dynamic equation of UAV ------------------------------------------------------------- 43 3. Position dynamic equation of UAV -------------------------------------------------------------------- 44 3. Equation of Coriolis’s force ----------------------------------------------------------------------------- 45 3. Deploy the motion kinematic model in {E} coordinate system ---------------------------------- 48 3.
Dynamics of motors ------------------------------------------------------------------------------------------ 51 3. Electrical operating model:------------------------------------------------------------------------------ 51 3. The mechanical operating model ---------------------------------------------------------------------- 52 3. The relationship between Kt and Ke ------------------------------------------------------------------- 53 CHAPTER 4: CONTROLLER DESIGN ----------------------------------------------------------------- 55 4.
The relationship between PWM and thrust------------------------------------------------------------- 55 4. The relationship between PWM and moment ------------------------------------------------------------ 56 4. Roll axis ------------------------------------------------------------------------------------------------------ 59 VI 7 4. Transfer function for controlling position -------------------------------------------------------------- 63 4.
P-P Controller Design for Position Control --------------------------------------------------------- 66 4. The transfer function for controlling altitude ------------------------------------------------------- 67 4. P-P Controller Design for Altitude Control --------------------------------------------------------- 69 CHAPTER 5: APPLICATION FOR FIREFIGHTING QUADCOPTER ------------------------ 72 5. Components on gripper ---------------------------------------------------------------------------------- 72 5.
Transmission mechanism of a Gripper --------------------------------------------------------------- 75 5. Stress Analysis of Gripper ------------------------------------------------------------------------------- 76 5. Deformation of Load-Bearing Components in a Gripper ------------------------------------- 76 5. Stress Analysis for Three Upper Support Bars of Clamping Mechanism ---------------- 77 5.
Analyzing the velocity of Gripper mechanism --------------------------------------------------- 79 5. Image Processing ---------------------------------------------------------------------------------------------- 80 CHAPTER 6: CONTROLLER PROGRAMMING ---------------------------------------------------- 84 6. Overview of programming system --------------------------------------------------------------------- 86 6. Image processing experiment --------------------------------------------------------------------------- 91 6.
Mathematical Model for Quadcopter Fire Detection---------------------------------------------- 91 6. Find the relationship between the movement of the quadcopter and the change in pixels ------------------------------------------------------------------------------------------------------- 92 6. Find the relationship between Z distance and quadcopter height ----------------------- 92 6. The relationship between the forward-backward movement of the quadcopter and the change in pixels ----------------------------------------------------------------------------------------------- 92 6.
The equation describing the relationship between yaw angle and position x, y ------ 94 8 VII 6. HITL simulation results---------------------------------------------------------------------------------- 96 6. Overview of Hardware ----------------------------------------------------------------------------------- 99 6.2 Graph of parameters in real flight------------------------------------------------------------------- 100 6. Development Orientation --------------------------------------------------------------------------------- 101 REFERENCES ----------------------------------------------------------------------------------------------- 104 OTHER REFERENCES------------------------------------------------------------------------------------ 105 APPENDIX ---------------------------------------------------------------------------------------------------- 107 9 VIII TABLE OF TABLES Table 2.
1 Compare all types of Drones. 2 Specifications of motor. 3 Parameters for the EMP9X6 Propeller. 4 Specifications of Propellers.
5 Specifications of Lipo Battery. 6 Specifications of ESC. 7 Specifications of the RadioMaster Pocket TX. 1 Specifications of the GA25-370 Motor.
2 Description of Pins on the L298-N Driver. 1 Specifications of the Firefighting Quadcopter. 99 IX 10 TABLE OF IMAGES Figure 1. 2 Some types of Plane.
3 History of Drones. 4 Drone spraying pesticide. 5 Drone flying in the city. 6 Drone-based land surveying.
7 Drone-based warehouse inventory management system. 8 Drone is used by the military. 4 Fixed-wing hybrid VTOL. 5 All components in Drone.
10 Motor SunSky x2814-7 1100KV. 14 Robot Operating System. 18 Battery Lipo GN3 4 cells. 19 Power Distribution Board.
22 Jetson Nano Developer Kit. 23 Camera Adrucam IMX519. 1 Diagram of quadcopter dynamic. 2 Coordinate system on Drone.
3 The graph of lifting UAV. 4 Coordinate system in Euler's equation. 5 Computational Fluid Dynamics. 6 Circuit using Kirchoff's law.
7 Mechanical operation model. 1 Relationship between PWM and F(N). 2 Drone rotates around the X-axis. 3 Drone rotates around the Y-axis.
4 Drone rotates around the Z-axis. 5 Simulation by MATLAB for control motor signal. 6 Transfer function for Roll axis control. 7 Transfer function for Pitch Axis control.
8 Transfer fucntion for Yaw axis control. 9 Block Diagram for Position Control. 10 The Block Diagram for P-P Control Position. 11 The Block Diagram for Altitude control.
12 The Block Diagram P-P Controller for Altitude Control. 13 The Block Diagram for Dynamic Control. 1 The gear reducer. 3 The Gripping Unit.
4 The Support Base. 5 The Motor Housing. 6 The transmission mechanism of Gripper. 7 Deformation Analysis of Load-Bearing Components.
8 Strength Analysis of Load-Bearing Components. 9 Illustration for Gripper Mechanism. 10 UI on MakeSense. 11 Crop the images.
12 Final step of process. 1 Diagram of how HITL simulation works [24]. 2 Connection between Computer and Pixhawk. 3 Connection between FTDI and TELEM2.
4 The graph of programming system. 5 The graph of Node Init. 6 The graph of Offboard Node. 7 The graph of Camera Node.
8 The graph of Detect node. 9 The graph of Control Node. 10 The graph of GPIO Node. 11 Experimental Result in Recognition Flame.
12 The geometry illustrates the relationship between Z and pixel. 13 The geometry illustrates the relationship between Z and h. 14 The geometry illustrates the relationship between backward-forward movement and pixels. 15 The relationship between yaw angle and position x, y.
16 Graph of Roll Angle in HITL Simulation. 17 Graph of Pitch Angle in HITL Simulation. 18 Graph of Yaw Angle in HITL Simulation. 19 Graph of X-Position in HITL Simulation-----------------------------------------------------97 Figure 6.
20 Graph of Y-Position in HITL Simulation. 21 Graph of Z-Position in HITL Simulation. 22 Drone after has been assembled. 23 Roll Axis Response Curve in Real Flight.
24 Pitch Axis Response Curve in Real Flight. 25 Pitch Axis Response Curve in Real Flight. 26 X-Position Response Curve in Real Flight ------------------------------------------------- 100 Figure 6. 27 Y-Position Response Curve in Real Flight ----------------------------------------------- --101 Figure 6.
28 Z-Position Response Curve in Real Flight ------------------------------------------------- 101 15 XIV LIST OF ABBREVIATIONS UAV Unmanned Aerial Vehicle FPV First Person View LiDAR Light Detection and Ranging VTOL Vertical Take-Off and Landing FC Flight controller IMU Inertial Measurement Unit GPS Global Positioning System PID Proportional-Integral-Derivative ROS Robot Operating System QGC QGroundControl ESC Electronic Speed Controller PWM Pulse Width Modulation HITL Hardware-in-the-loop GPIO General-Purpose Input/Output BEC Battery Eliminator Circuit XV 16 INTRODUCTION 1. Reason for choosing the topic - The realm of public safety is undergoing a transformative shift with the emergence of firefighting quadcopters. These unmanned aerial vehicles (UAVs) represent a significant advancement in robotics and artificial intelligence, offering innovative solutions to longstanding challenges faced by fire departments globally. - Firefighting quadcopters possess the distinct advantage of traversing hazardous or inaccessible areas with agility, surpassing the limitations of human firefighters [3].
Equipped with advanced sensor technology and autonomous navigation systems, these drones gather real-time data on fire behavior and provide crucial situational awareness. This enhances informed decision-making by fire crews, leading to increased efficiency in response efforts. - Furthermore, the capabilities of these quadcopters extend beyond data collection. By leveraging advanced sensors, they facilitate early fire detection, allowing for prompt intervention and potentially mitigating the spread of blazes [2].