Fire Extinguisher Quadcopter

Group Members

M. Suliman Khan ECI-IT-14-090

Syed Muzzamil Hussain Shah ECI-IT-14-062
Ibrar Ali ECI-IT-14-072
Mubassir Saeed ECI-IT-13-679

Project Supervisor

Engr. M Asghar Khan

Lecturer, HIET (HUIC)

Department of Electrical Engineering

Hamdard University Karachi, Islamabad Campus

2014 - 2018
 CERTIFICATE
This is to certify that this project report entitled “Fire Extinguisher Quadcopter” by
M.Suliman Khan, Syed Muzzamil Hussain Shah, Ibrar Ali, Mubassir Saeed submitted in
partial fulfillment of the requirements for The Bachelors of Electrical Engineering from
Hamdard University Karachi, Islamabad Campus is the record of candidates own work carried
out by them under our supervision & guidance. In our opinion the work submitted has reached a
level required for being accepted for exam. The matter embodied in this project has not been
submitted to any other university or institute.

Committee:

1. Project Supervisor Signature

Engr.M Asghar Khan _____ ________________________

2. Examiner 1 Signature

_________________________ _________________________

3. Examiner 2 Signature

_________________________ _________________________
 TABLE OF CONTENTS
Table of Contents ............................................................................................................................. i
List of Figures ................................................................................................................................ iv
List of Tables ................................................................................................................................. vi
List of Acronyms ......................................................................................................................... vii
Dedication .................................................................................................................................... viii
Acknowledgement ......................................................................................................................... ix
Abstract ............................................................................................................................................x
CHAPTER 1: INTRODUCTION.................................................................................................1
1.1 Introduction ...............................................................................................................................1
1.2 Problem Statement .....................................................................................................................1
1.3 Aims and Objectives ..................................................................................................................2
1.4 Motivation .................................................................................................................................2
1.5 Report Outline............................................................................................................................4
CHAPTER 2: LITERATURE REVIEW ....................................................................................5
2.1 Introduction ................................................................................................................................5
2.2 History of Quadcopter ...............................................................................................................5
2.3 Related Works .........................................................................................................................10
2.4 Regulations .............................................................................................................................12
2.5 Discussion ...............................................................................................................................13
CHAPTER 3: THEORETICAL ASPECTS ..............................................................................14
3.1 Introduction ..............................................................................................................................14
3.2 UAV Quadcopter .....................................................................................................................14
3.3 Flight Control ...........................................................................................................................15
3.4 Firefighting Systems ................................................................................................................17
3.5 Current Techniques towards Autonomous Control ................................................................18
3.5.1 GPS. ..........................................................................................................................18
3.5.2 Computer Vision. ......................................................................................................19
3.5.3 SLAM. ......................................................................................................................20
3.6 Design Specifications ..............................................................................................................20
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3.7 Advantages of Quadcopter ......................................................................................................22
CHAPTER 4: HARDWARE COMPONENTS .........................................................................23
4.1 Major Components ..................................................................................................................23
4.2 Fire ball Extinguish Grenade ...................................................................................................23
4.3 F450 Quadcopter Frame .........................................................................................................25
4.4 Electric Motors ........................................................................................................................26
4.5 Electronic Speed Controller .....................................................................................................28
4.5.1 Benefits of 4 in 1 ESC. .............................................................................................29
4.6 Flight Controller.......................................................................................................................29
4.6.1 GPS Flight Control System.......................................................................................31
4.6.2 Ardu-Pilot. ................................................................................................................31
4.7 3DR Radio Telemetry .............................................................................................................31
4.8 Transmitter and Receiver .........................................................................................................32
4.9 Battery/Power Supply .............................................................................................................34
4.10 First Person View Camera ....................................................................................................36
CHAPTER 5: METHODOLOGY .............................................................................................38
5.1 Introduction ..............................................................................................................................38
5.2 Methodology Overview ...........................................................................................................38
5.3 Hardware Implementation .......................................................................................................38
5.4 Quadcopter ...............................................................................................................................39
5.5 Attachment of a Fire Extinguisher to a Quadcopter ................................................................43
5.6 Software Implementation .........................................................................................................43
5.6.1 Autonomous System. ................................................................................................43
5.6.2 Mission Planner. .......................................................................................................44
5.6.3 Connect Flight Controller to Computer. ...................................................................44
5.6.4 Selection of COM Port..............................................................................................45
5.6.5 Mission Planning. .....................................................................................................46
CHAPTER 6: RESULTS AND DISCUSSION .........................................................................48
6.1 Equipment Testing Level .........................................................................................................48
6.1.1 Unit Testing ..............................................................................................................48

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 6.1.2 Integration Testing ....................................................................................................48
6.1.3 System Testing ..........................................................................................................48
6.2 Flight Test ...............................................................................................................................48
6.2.1 Initial Test Flight.......................................................................................................49
6.2.2 Test Flight with Load. ...............................................................................................49
6.2.3 Autonomous Flight Test. ..........................................................................................50
CHAPTER 7: CONCLUSION AND FUTURE RECOMMENDATION ...............................51
7.1 Conclusion ...............................................................................................................................51
7.2 Future Recommendations ........................................................................................................52
REFERENCES.............................................................................................................................53

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 LIST OF FIGURES
Figure 2.1 1907-Jacques and Louis Breguet ............................................................................5
Figure 2.2 1920-Oehmichen .....................................................................................................6
Figure 2.3 1920-The Oemichen No. 2.......................................................................................7
Figure 2.4 1922-De Bothezat Helicopter .................................................................................7
Figure 2.5 1956-Covertawings Model A Quadrotor ................................................................8
Figure 2.6 1958- Curtiss-Wright VZ-7 .....................................................................................9
Figure 3.1 Block Diagram of Quad copter UAV Based fire extinguishers System. ………..14
Figure 3.2 Quadcopter: Motor rotation directions ..................................................................15
Figure 3.3 Quadcopter: Vertical thrust movement .................................................................16
Figure 3.4 Quadcopter: Pitch movement ................................................................................16
Figure 3.5 Quadcopter: Roll movement ..................................................................................17
Figure 3.6 Quadcopter: Yaw movement .................................................................................17
Figure 3.7 Fire Extinguishing Grenade ...................................................................................21
Figure 3.8 Proposed design ....................................................................................................22
Figure 4.1 Fire Extinguishing Grenade ...................................................................................24
Figure 4.2 F450 Quadcopter Frame .......................................................................................25
Figure 4.3 Electric brushless motor .........................................................................................27
Figure 4.4 Brushless ESC ........................................................................................................28
Figure 4.5 Brushless ESC ........................................................................................................28
Figure 4.6 APM with GPS ......................................................................................................30
Figure 4.7 3DR Radio Telemetry ............................................................................................32
Figure 4.8 Structural view of Remote control .........................................................................32
Figure 4.9 Spektrum DX7S receiver (left) and Transmitter (right) .......................................33
Figure 4.10 Turnigy Lipo Battery ............................................................................................34
Figure 4.11 First person view Camera .....................................................................................36
Figure 4.12 Video Transmitters ................................................................................................37
Figure 4.13 Display receivers ...................................................................................................37
Figure 5.1 Block Diagram ......................................................................................................39

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Figure 5.2 Quadcopter Layout Diagrams ...............................................................................40
Figure 5.3 Yaw, Pitch and Roll Movements of Quadcopter ..................................................42
Figure 5.4 Quadcopter with Fire Extinguisher .......................................................................43
Figure 5.5 Ardu-Pilot with USB Connector ...........................................................................44
Figure 5.6 Port Selections ......................................................................................................45
Figure 5.7 Firmware Selections ..............................................................................................45
Figure 5.8 Build Programs .....................................................................................................46
Figure 5.9 Home Location ......................................................................................................46
Figure 5.10 Way Points ............................................................................................................47
Figure 6.1 First Flight without Load ......................................................................................49
Figure 6.2 Flight Test with Load ............................................................................................50
Figure 6.3 Balancing ..............................................................................................................50

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 LIST OF TABLES
Table 1 Specification of Fire Extinguishing Grenade .........................................................24
Table 2 Specifications of the Frame of the Quadcopter......................................................26
Table 3 Specifications of the Motor....................................................................................27
Table 4 Specifications of ESC ............................................................................................29

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 LIST OF ACRONYMS
UAV Unmanned Aerial Vehicle
US United States
VTOL Vertical Take Off And Landing
FAA Federal Aviation Administration
ISIL Islamic State Of Iraq And The Levant
GPS Global Positioning System
SLAM Simultaneous Localization And Mapping Algorithm
PCB Printed Circuit Board
ESC Electronic Speed Control
RPM Rotation Per Minute
KHz Kilohertz
USB Universal Serial Bus
PID Proportional Integral Derivative
AM Amplitude Modulation
FM Frequency Modulation
APM Actions Per Minute
DSSS Direct Sequencing Spread Spectrum
GUIC Globally Unique Identification Code
Wi-Fi Wireless Fidelity
Ni-Cad Nickel-Cadmium
NiMH Nickel-Metal Hydride
LiPo Lithium Polymer
VTX Video Transmitter
CW Clockwise
CCW Counter Clockwise
TTL Transistor-Transistor Level
FPV First Person View
RC Radio Control

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 DEDICATION
Dedicated to our Parents who have always been encouraging and been a constant support.
Also dedicated to our Teachers who inspired us towards the sacred task of learning. They
guided us to the right and successful path.

viii
 ACKNOWLEDGEMENT

This project has been a result of our own hard work but it could not have become a reality
without the support and help of many of our friends and faculty members. We take this
opportunity to acknowledge their help and thank them for their good will. We would like to
thank our project supervisor Engr.M Asghar Khan for his support and cooperation. We would
also like to express our special thanks of gratitude to Engr.M Asghar Khan for his support and
conceptual help at various technical problems. The very concept of the project as well as its
realization would not have been possible without him. Lastly we would like to thank all the
faculty members of Hamdard Institute of Engineering and Technology (HIET) for their support
throughout the degree. Apart from our faculty members we would also like to thank our
classmates and friends for being with us in this journey and making it memorable.

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 ABSTRACT
The ignition of certain materials that combust to create a fire is something that most of the times
occurs without being wanted. The damages that a fire causes are proportional to the size of the
fire. Sometimes, nothing happens to property and living beings, but other times, the emotional
and economic losses are too great to afford to keep having fires that are difficult to control, and
eventually extinguish. For that reason, the intention of this design project is to improve the ways
in which fires are prevented and extinguished. UAVs are apparatuses that have become popular
in recent years thanks to not only their many capabilities to program, but also that a human being
does not need to be on board in order to control it. Hence, we decided to use them in an
innovative and inventive manner to create an unmanned, autonomous aircraft with mechanism
that can detect and release a fire extinguishing grenade in the desired location that will prevent
fires or directly extinguish them. And a First person view camera is also attached to Quadcopter
for live video streaming.

Keywords: Unmanned Aerial Vehicle (UAV), Autonomous, Fire Extinguishing Grenade, First
Person View Camera

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 Chapter 1
Introduction
1.1 Introduction

An unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot on the board. Its flight
can be controlled autonomously by computers or by remote control under the direct command of
human through RC in his hand. The main reason of using Quad copter for this project is that it
remain stable in air during its work, and have ability of lifting more pay load. This is because of
its vertical take-off and landing (VTOL) property which enables the quad copter to move in any
direction. And capable to to fly at low speed. During the last several years, UAVs have been the
focus for many researchers. Also, interest in UUV research and development has been steady [1-
3].The quad copter is used for many applications such as, meteorology, penetration of hazardous
environment, search and rescue missions, Border security, emergency management etc.The fire
extinguisher quad copter as the ability to reach higher storey buildings in less time as compared
to method of taking a fireman to that storey a crane. In recent years fires are the accidents which
occurs most frequently, whose causes are the most diverse and which require intervention
methods and techniques adapted to save mankind and society. So here we are designing a quad
copter for fire fighting and reaching in unreachable areas during fire hazards. This project will
help those that risk there life when a fire take place. The livings beings that can be potentially
harmed and their surroundings, forests etc where fire occurs and to help avoid fire and also assist
in extinguishing them.
The quad copter can reaches those places where sometimes it becomes impossible for humans to
reach. It can work for long time without any problems. Even a person sitting in a wheel chair can
also contribute to help people who are stuck in the buildings children’s can also control it. There
is no need of physical fitness of the controller. It can reach high in very less time as compared to
the time taken by human beings.

1.2 Problem statement:

Fire is one of the critical problems that have not been solved yet despite technological
development [4]. Human losses are the most important aspect related to fires. Since it may be
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impossible to prevent fire from occurring. It would be helpful to minimize its impact in terms of
human’s losses. Fire that occurs in home and non residential buildings as well as fire in wild
lands causes plenty of health issues; including death to humans and animals, in addition to great
economic losses in structures, equipment and vegetation.
The first response teams, such as fire fighters, are exposing their lives to great risks in order to
extinguish a fire, Additionally, the fire extinguisher team using conventional method cannot have
the ability to reach to higher storey building or disastrous zone in a very less amount of time.

1.3 Aims & Objectives

The main aim of this project is to design a UAV quadcopter such that it can fly while carrying a
fire extinguisher mechanism system. This mechanism will be entirely designed and
manufactured by the members of this team. The UAV is going to be built using parts already in
existence and this team is going to put them together in order to construct a vehicle that is
able to comply with all requirements to extinguish, prevent and inspect a fire.
Once this system is up and running, a camera is going to be added to the vehicle. With
this, the second application takes place, which is inspection by live video recording and pictures.
In addition, the camera is also going to help in taking the vehicle to the place desired by the
controller.

1.4 Motivation
The main reason why this team decided to build an UAV and integrate a fire extinguishing ball
release mechanism is because of all the advantages that UAVs provide. Starting with the fact that
UAVs do not need a pilot on board, they also can get access to places in which life can be in
danger if entered. Another reason to use an UAV for this particular project is that it can be
programmed to perform any mission desired, without having human error on board. Of course, it
has to be taken into account that if any of the systems fail, the UAV will be in great risk of
crashing, but those probabilities are too small in comparison to the probabilities of having a
successful mission.
On the other hand, according to the U.S. Fire Administration National Fire Incident Reporting, in
the year 2011, there were 364,500 residential building fires. A residential building is defined as a

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structure in which people live. Those fires caused 2,450 deaths, 13,900 injuries and more than
$6.6 billion in losses. On the side of nonresidential buildings, they are defined as public or
private enclosed structures in which businesses, educational facilities, underground buildings,
hospitals and subway terminals are included. In the year 2011, there were 85,400 fires in
nonresidential buildings in the U.S., causing 80 deaths, 1,100 injuries and more than $2.4 billion
in losses.
A wildfire is defined as the ignition and burning of large extensions of vegetation in a wilderness
area. Wildfires take place when the components of a fire triangle come together in a vulnerable
and sometimes predisposed area. These components cause a fire when an ignition source is
brought into contact with a combustible material, such as trees and dry leaves, that are exposed
to enough heat and has a satisfactory supply of oxygen from the ambient air. A wildfire can be
caused by natural events, such as spontaneous combustion, lightning, sparks from rock falls and
volcanic eruptions; and can also be caused by human activities, such as, discarded cigarettes,
discarded glass and plastic (magnifying the rays and heat of the sun),sparks from equipment, and
power line arcs [5].
By the same token, in 2012, wildfires were responsible for burning more than 9.3 million acres
in the United States, causing more than $450 million in property damages, putting at risk around
$136 billion in properties and generated more than $270 million in fire suppression costs.
Regarding the ways in which fires are extinguished, lately two new techniques were introduced
to the market. The first one uses a fire extinguishing ball that needs to be thrown in the location
of the fire and once it is in contact with the fire, it self-activates within 3 seconds and releases
fire extinguishing chemicals that work effectively in a room with a volume of approximately 9
m3. The second technique consists of a similar method. It is called DSPA-5. It requires throwing
the device with fire extinguishing agents inside the room, and someone has to pull a trigger to
activate it. Presently, both devices are put in the location of the fire by a human. This puts the
person in charge of this task in huge danger, since the person has to be very close to the fire.
Another important thing to keep in mind is that by the year 2030, Unmanned Aerial Systems will
be allowed by the Federal Aviation Administration (FAA) to operate in the National Airspace
system and provide a wide range of services.
As seen by all the facts described before, fires are causing plenty of human and monetary losses

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in this country; therefore, this team decided to change the application of the regular UAVs being
constructed for military purposes, and build and design an UAV that can help a great amount of
people being affected by flames and smoke, that most of the times cannot be prevented or well
controlled in an effective and timely manner.

1.5 Report Outline

This report describes that how to design A Fire Extinguisher Quadcopter. The report is
organized by section of the development process. The upcoming chapter are going to provide
further detail about the design of A Fire Extinguisher Quadcopter as Chapter 2 this chapter tells
about work done in this so far basically it is literature review. Chapter 3 gives a brief
introduction and overview about action of this project. Basic structure and mechanism to work is
also discussed in this chapter. Chapter 4 tells about the basic theory related to project introduces
different components used in this project and highlights their features and working procedure.
Chapter 5 discusses the methodology of our project in detail, how it was designed? How it was
constructed? How it can work in actuated and non-actuated modes. Chapter 6 basically tells
about the description of results achieved. Chapter 7 gives conclusion and future suggestions for
research in this area. Also, how we enhance this project to get better results and how one can
make it more efficient.

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 Chapter 2
Literature Review
2.1 Introduction

Literature review consists of the work which has been previously done on this area by
different engineers, authors and researchers. This chapter contains the literature review of the
project in which all previous projects are discussed along with its background and history
work done in previous years with modifications.

2.2 History of Quadcopter

Quadcopters are VTOL rotorcraft with 4 propellers/rotors for propulsion. Multirotor is a more
general term encompassing not only quadcopters but also tricopters, hexcopters, octocopters and
all other form of rotorcraft with more than 2 rotors. The early pioneers actually first attempted
rotor flight using multicopters, because using more than one rotor seemed to be the natural
solution to the problem of VTOL flight. The very first experimental attempts of taking off with a
rotorcraft were mostly done with multirotors. Around 1907 Jacques and Louis Breguet, French
brothers, built and tested Gyroplane No 1, a quadcopter. They managed take-off, although the
design proved to be very unstable and hence impractical.[6]

Fig 2.1: 1907-Jacques and Louis Breguet

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In 1924 French engineer Étienne Oehmichen flew his quadcopter a distance of 360m (1,181ft)
setting a world record. In the same year he flew a 1km (0.62miles) circle in 7m and 40s.

Fig 2.2: 1920-Oehmichen [7]

Etienne Oehmichen experimented with rotorcraft designs in the 1920s.(Figure.2.2) among the six
designs he tried, his helicopter No.2 had four rotors and eight propellers, all driven by a single
engine. The Oehmichen No.2 used a steel-tube frame, with two-bladed rotors at the ends of the
four arms. The angle of these blades could be varied by warping. Five of the propellers, spinning
in the horizontal plane, stabilized the machine laterally. Another propeller was mounted at the
nose for steering. The remaining pair of propellers were for forward propulsion.
The aircraft exhibited a considerable degree of stability and controllability for its time, and made
more than a thousand test flights during the middle 1920s. By 1923 it was able to remain
airborne for several minutes at a time, and on April 14, 1924 it established the first-ever FAI
distance record for helicopters of 360 m (390 yd). It demonstrated the ability to complete a
circular course and later, it completed the first 1 kilometer (0.62 mi) closed-circuit flight by a
rotorcraft.[8]

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 Fig 2.3:.1920-The Oemichen No. 2, [7]

Dr. George de Bothezat and Ivan Jerome developed this aircraft, (Figure. 2.3) with six bladed
rotors at the end of an X-shaped structure. Two small propellers with variable pitch were used
for thrust and yaw control. The vehicle used collective pitch control. Built by the US Air Service,
it made its first flight in October 1922. About 100 flights were made by the end of 1923. The
highest it ever reached was about 5 m (16 ft 5 in). Although demonstrating feasibility, it was
underpowered, unresponsive, mechanically complex and susceptible to reliability problems. Pilot
workload was too high during hover to attempt lateral motion.

Fig 2.4: 1922-De Bothezat Helicopter [7]

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This unique helicopter was intended to be the prototype for a line of much larger civil and
military quadrotor helicopters. The design featured two engines driving four rotors through a
system of v belts. (Figure. 2.4) No tail rotor was needed and control was obtained by varying the
thrust between rotors[9]. Flown successfully many times in the mid-1950s, this helicopter proved
the quadrotor design and it was also the first four-rotor helicopter to demonstrate successful
forward flight.
Convert a wings proposed a Model E that would have a maximum weight of 42,000 lb (19 t)
with a payload of 10,900 lb (4.9 t) over 300 miles and at up to 173 mph (278 km/h).

Fig 2.5: 1956-Covertawings Model A Quadrotor [7]

The Curtiss-Wright VZ-7 was a VTOL aircraft designed by the Curtiss-Wright company for the
US Army. The VZ-7 was controlled by changing the thrust of each of the four propellers.
(Figure.2.5) AR.Drone is a small radio controlled quadcopter with cameras attached to it built by
Parrot SA, designed to be controllable with by smartphones or tablet devices. Nixie is a small
camera equipped drone that can be worn as a wrist band.[10]
• Had 4 rotors and 8 propellers all driven by one motor
• Over 1000 Successful flights
• First recorded FAI distance record of 360m in 1924 for a helicopter

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• Very Stable for the Time
• Designed by Etienne Oemichen

Fig 2.6: 1958- Curtiss-Wright VZ-7 [7]

In the last few decades, small-scale unmanned aerial vehicles have been used for many
applications. The need for aircraft with greater maneuverability and hovering ability has led to a
rise in quadcopter research. The four-rotor design allows quadcopters to be relatively simple in
design yet highly reliable and maneuverable. Research is continuing to increase the abilities of
quadcopters by making advances in multi-craft communication, environment exploration, and
maneuverability. If these developing qualities can be combined, quadcopters would be capable of
advanced autonomous missions that are currently not possible with other vehicles. .[11]
The Bell Boeing Quad TiltRotor concept takes the fixed quadcopter concept further by
combining it with the tilt rotor concept for a proposed C-130 sized military transport. AeroQuad
and ArduCopter are open-source hardware and software projects based on Arduino for the DIY
construction of quadcopters.
Parrot AR.Drone is a small radio controlled quadcopter with cameras attached to it built by
Parrot SA, designed to be controllable by smart phones or tablet devices. Nixie is a small
camera-equipped drone that can be worn as a wrist band. Several camera-drone projects have
turned into high-profile commercial failures.
Zano (drone) - a high-profile Kick starter project to build a quadcopter-camera drone, Zano
failed after delivering only a small fraction of their orders in a partially nonfunctional state. Lily
Camera - a startup attempting to make a quadcopter-camera drone, sued by the San Francisco
District Attorney after they closed down without fulfilling any of their pre-orders.

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In July 2015, a video was posted on YouTube of an airborne quadcopter firing a pistol four times
in a wooded area, sparking regulatory concerns.[12]
Aeryon Scout, created by Canadian company Aeryon Labs,[13] which is a small UAV that can
quietly hover in place and use a camera to observe people and objects on the ground. The
company claims that the machine played a key role in a drug bust in Central America by
providing visual surveillance of a drug traffickers compound deep in the jungle (Aeryon won't
reveal the country's name and other specifics).[14]
After a recreational quadcopter (or "drone") crashed on the White House lawn early in the
morning of January 26, 2015,[15] the Secret Service began a series of test flights of such
equipment in order to fashion a security protocol against hostile quadcopters. During the Battle
of Mosul it was reported that commercially available quadcopters and drones were being used by
Islamic State of Iraq and the Levant (ISIL) as surveillance and weapons delivery platforms using
improvised cradles to drop grenades and other explosives. The ISIL drone facility became a
target of Royal Air Force strike aircraft.
In December 2013, the Deutsche Post gathered international media attention with the project
Parcelcopter, in which the company tested the shipment of medical products by drone delivery.
Using a Microdrones md4-1000 quadrocopter, packages were flown from a pharmacy across the
Rhine River. It was the first civilian package delivery via drones.
In 2014 The Guardian reported that major media outlets have started to put serious effort into
exploring the use of drones for reporting and verifying news on events that include floods,
protests and wars. [16]
2016 model DJI Phantom 4 quadcopter with a high definition 4k stabilized video and still
camera, GPS stabilization and automatic obstacle avoidance. The largest use of quadcopters in
the USA has been in the field of aerial imagery. Quadcopter UAVs are suitable for this job
because of their autonomous nature and huge cost savings.

2.3 Related Works

Recently, drone technology has been advanced to the point in which its usage needs little or no
training. By the year 2030, unmanned aerial vehicles will be allowed by the Federal Aviation
Administration (FAA) to operate in the national airspace system. Accordingly, drone will be

10
soon an important part of any fire extinguishing system that leads to improve the ways in which
fires are prevented and extinguished. A number of systems have been proposed for the purpose
of extinguishing process. The authors in [27] proposed a release mechanism to be mounted on
the bottom of the frame of the quadcopter. They proposed a cage and a railing system to hold the
Elide Fire Extinguishing ball. The cage used to hold the fire extinguishing ball, and the rails
served to guide the ball to its target while the quadrotor hovering over the flame.
In [28], the authors proposed a new firefighting Drone to control and supply a solution using
CO2 Boll extinguisher. They equipped the drone with a thermostat detector in order to notice the
fire over a particular area. The same technique was proposed in [29], the authors proposed a
robotic fire extinguishment approach and a prototype of an aerial extinguisher with an inert gas.
The prototype can transport only a small volume of an inert gas, and it can extinguish a very
small flame. In [30], the authors also proposed a robot that consists of a control station,
quadcopter, dropping device, and fire extinguishing device. Liquid in a capsule was proposed to
be the fire extinguishing device. It was used for suppression of class A and class B substances.
Vision-based detection technique was researched in many articles. A set of image processing
algorithms that is capable of effectively detecting and tracking forest fire was developing
[31,32,33]. Those techniques have become a key component in the UAVs-based forest fire
detection system. The Authors in [34] proposed a fire detection algorithm that force the
quadcopter to track the fire and estimate its position. Having the same idea, but with different
approach; a quadcopter, equipped with sophisticated components to capture and transmit the
image or video to the data base was proposed in [35]. The author demonstrates the adoptability
of quadcopter in acquiring and communicating information in hazardous environment.
The authors in [36] proposed a monitoring software that is used to process UAV aerial data. The
software provides the geographical location of the fire and generates a report for the command
and control center. Other researchers were studies the potentialities of multiple UAVs
technology for several forest-fire related activities. The authors in [37] have been reviewed
different types of UAVs for their use and applicability for forest-fire fighting. As the author did
in [36], they proposed the use of a camera to generate a clear image to the affected area. In their
project, a fleet of heterogeneous UAVs was applied for forest-fires detection, confirmation,
localization and monitoring.

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A system of multiple UAVs was also described in [38] for the same purpose mentioned before.
The UAVs were able to fly autonomously over an area of interest and generate an overview
image of that area. Consequently, by reviewing all mechanism we came to a conclusion that a
multi-purpose aerial system is necessary to extinguish fire when it is found.

2.4 Regulations
Similar to what has happened with incorporating new technologies into our lives, UAVs are part
of ethics discussions and companies that hold the technologies to create such flying devices, and
their components, are waiting to start profiting from the results.
So far, the use of UAVs in the civilian sector is mainly for surveillance purposes, which is one of
the functions of drones, for military purposes, but there are no limits for what they can be useful
in research and governmental purposes. To name a few, Vertical Profiles of Shortwave
Atmospheric Heating Rates, Imaging Spectroscopy, Topographic Mapping; and non-research,
Coastal Patrol, Forest Fire Damage Assessment, Forest Fire Mapping, Invasive Plant
Assessment. Most of these applications are in early developments and there is lack of regulations
and specifications for starting with new projects. These regulations concern the following:
• Lack of airspace regulation that covers all types of UAV systems (encompassing ‘sense and
avoid’)
• Affordability - price and customization issues
• Efforts to establish joint customer requirements
• Liability for civil operation
The lack of precise regulations has not stopped the enthusiasm of individuals and known
universities, to create or modify existing UAVs into what could possibly be helpful in the future.
The Swiss Federal Institute of Technology Zurich has a department focused only in the
development of intelligent aircraft. In there, competitions are held often and individuals can
share open source code for their UAVs.
The development of UAVs must be accompanied by a high ethical sense and preservation of
privacy of everyone. This does not mean that research should be stopped or restricted, just the
opposite, it should be open to everyone to get more contributions and increase the capabilities of
any application. Until now, the computing and programming part of the UAVs had been moving
along side, which means that the faster and more accurate technology becomes, better, more
12
interesting and helpful ideas for UAVs can be designed.

2.5 Discussion
The eradication of fires in a manner that no lives are lost, and that the cost of extinguishing the
flames is reduced to a minimum comes from prevention and having a well educated population.
Nonetheless, there are certain situations in which fires occur in unexpected and fast ways;
therefore, there have to be competent and cost efficient methods in order to approach the
extinguishing of the flames and smoke without the losses.

13
 Chapter 3
Theoretical Aspects

3.1 Introduction

This chapter contains the theoretical aspects of Quad copter UAV Based on Fire Extinguisher
System in which all the detailed theory, block diagram and its parts are discussed to understand
the mechanism. Selection of components is discussed which are extracted according to system’s
requirement.

Fig 3.1: Block Diagram of Quad copter UAV Based fire extinguisher System

3.2 UAV Quadcopter

A UAV quadcopter is an unmanned aerial vehicle with four rotating rotors used for lift and
movement. It uses an electronic control system and electronic sensors to help stabilize it.
Quadcopter parts have been decreasing in price over the past couple of years due to
technological advances. Thus, more hobbyists, universities, and industries are taking advantage
of this opportunity to design and develop applications for the quadcopter.

14
3.3 Flight Control
A quad copter consists of four motors evenly distributed along the quadcopter frame as can be
seen in figure 3.2 below. The circles represent the spinning rotors of the quadcopter and the
arrows represent the rotation direction. Motors one and three rotate in a clockwise direction
using pusher rotors. Motor two and four rotate in a counter-clockwise direction using puller
rotors. Each motor produces a thrust and torque about the centre of the quad copter. Due to the
opposite spinning directions of the motors, the net torque about the centre of the quad copter is
ideally zero, producing zero angular acceleration. This eliminates the need for yaw stabilization.
A vertical force is created by increasing the speed of all the motors by the same amount of
throttle. As the vertical forces overcome the gravitational forces of the earth, the quadcopter
begins to rise in altitude. Figure 3.3 shows the vertical movement of the quadcopter. As above,
the circles represent the spinning rotors, the larger arrows represent the direction the rotors are
spinning, and the black arrows represent the forces caused by the spinning rotors.
Pitch is provided by increasing (or decreasing) the speed of the front or rear motors. This causes
the quadcopter to turn along the x axis. The overall vertical thrust is the same as hovering due to
the left and right motors; hence only pitch angle acceleration is changed. Figure 3.4 shows an
example of pitch movement of a quadcopter. As the front motor slows down, the forces created
by the corresponding rotor are less than the forces created by the back rotor. These forces are
represented by the blue arrows. These forces cause the quadcopter to tip forward and this
movement is represented by the red arrow.

Figure 3.2: Quadcopter: Motor rotation directions

15
 Figure 3.3: Quadcopter: Vertical thrust movement

Roll is provided by increasing (or decreasing) the speed of the left rotor speed and right motors.
This causes the quadcopter to turn along the y axis. The overall vertical thrust is the same as
hovering due to the front and back motors; hence only roll angle acceleration is changed.
Figure 3.5 shows an example of roll movement of a quadcopter. As the right motor slows
down, the forces created by the corresponding rotor are less than the forces created by the left
rotor. These forces are represented by the blue arrows. This causes the quadcopter to tip to the
right and this movement is represented by the red arrow. Yaw is provided by increasing (or
decreasing) the speed of the front and rear motors or by increasing (or decreasing) the speed of
the left and right motors. This causes the quadcopter to turn along its vertical axis in the
direction of the stronger spinning rotors.

Figure 3.4: Quadcopter: Pitch Movement

16
 Figure 3.5: Quadcopter: Roll Movement

Figure 3.6 shows an example of yaw movement of a quadcopter. As the front and back motor
slows down, the forces created by the corresponding rotors are less than the forces created by the
left and right rotors. The quadcopter will begin to rotate in the same directi
direction as the faster
spinning rotors due to the difference in torque forces. This movement is represented by the red
arrow.

Figure 3.6: Quadcopter: Yaw Movement

3.4 Firefighting Systems

The different types of firefighting systems that are currently used in the market are:
 Fire sprinkler systems: This system consists of a series of devices attached to the roof of
each floor of a building or home, and water is connected to them. When the fire sprinkler
detects smoke, it activates and releases water.
 Wet
et and dry chemical agents: This method to fight fires works by minimizing, isolating,
or reducing the fuel or heat. Reducing or isolating the oxygen or inhibiting the chain

17
 reaction of the components. This method causes less damage than water but some agents
can be harmful after long term exposure.
 Gaseous agents: Leaving the wet chemical agents aside for practical reasons like saving
electronic devices in the affected area, dry chemical agents are the best solution to
firefighting. They are similar to the gaseous systems but in most cases had been proved
faster than other methods.
Extinguishing a fire is a dangerous task, especially if the place is not equipped with any
firefighting system and in most cases a firefighter needs to enter a building if there are people
inside. To avoid putting at risks more human lives, an aerial firefighting gadget can be send
inside the building that is in fire to place a gaseous firefighting agent tool; for this purpose a quad
copter works best because of its stability capabilities. Few companies in the US already sell
generators of gaseous firefighting systems. They are small in size, portable, easily deployed and
can cover a substantial damaged area. By adapting a generator to an UAV equipped with a front
camera, one can easily enter a building in fire without risks, and the placing of the generator will
be more accurate.

3.5 Current Techniques towards Autonomous Control

3.5.1 GPS
The most straight forward method of navigation is to use GPS to navigate some UAV where
required. With advances in modern technology these GPS units can be quite adorable and
reasonably accurate; but still can run into issues for certain applications. When operating in close
proximity to obstacles accuracy is highly important and cannot be prone to any error such that no
collisions can occur. One such implementation in prior work showed a full positional accuracy of
less than 1.4m which is sucient for general exploration but not for precise environments in which
a UAV needs to operate in close proximity to obstacles [36].
Another drawback is that relying too heavily on a GPS system also lim-its the system as it cannot
be run in GPS denied areas. This may not be an issue for UAV projects which are focused on
areas where a strong GPS signal is present, but must be considered if the system needs to work
on all possible locations.

18
3.5.2 Computer Vision
Computer vision is another valuable option for the autonomous navigation of UAV systems and
there is a multitude of die rent techniques available that can be used [37]. The major problem
many computer vision algorithms encounter however is that they can be very prone to
disturbances such as changes in lighting conditions or unplanned motion from environmental e
ects, which could be often present in UAV systems [38]. Many of the algorithms created can also
be very computationally intensive and unsuitable for small UAV systems. Listing all techniques
possible would be extraneous, so only a few common methods for UAV control will be explored
here.
One computer vision technique used for the control and navigation of UAVs is opticalow. This
method measures the apparent motion of some video feed caused by the relative motion between
the camera lens and the scene. This can then be used to imply data about the UAV such as the
current position or speed. Solely using this form of navigation is not perfect however and
position error can slowly increase over time due to accumulated system, sensor and control
noise. [39].
Feature tracking is another method that can be used for autonomous control. Image processing
techniques can be utilized to and features in an image that can be used to identify any objects of
interest. Examples of some processing techniques that can be used are points or edge extraction,
but these are not al-ways necessary. These key features can then be tracked between frames to
and provide a basis for light navigation and control. When using these technique de-sired
characteristics of the input footage is smooth motion, minimal occlusion, illumination
consistency and distinct objects [40]. These characteristics can be di cult to achieve on a UAV
system.
Stereo vision is another method that can be used to help navigate a UAV system. Stereo vision
works by using two calibrated cameras together to track certain points of interest. Matching these
points between the two cameras the relative depth of the point can be obtained, forming a
disparity map. This could be useful for height or motion estimation of the UAV.
Each of these methods presented can be valuable in specific circumstances and adapted to a
various tasks as necessary, leading computer vision methods to be a versatile option for
autonomous control. However, the limitations should always be reviewed and considered.

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3.5.3 SLAM
The Simultaneous Localization and Mapping Algorithm (SLAM) algorithm ad-dresses the
problem of having a system formulate and update a map of an unknown environment, whilst
simultaneously tracking its location within the map. In the right environment, this would allow a
UAV to y around some area and generate a map while continually knowing it's own position
within that space. This algorithm is implemented using additional sensors, such vision methods,
LIDAR or similar [41,42].
The SLAM algorithm generally consists of multiple stages: Landmark extraction, data
association, state estimation, state update and landmark update. As the UAV moves around some
environment, landmarks are extracted relative to the system's position with the use of sensors.
Following this, the robot attempts to associate these landmarks with prior observations of its
environment. Land-marks that have been previously observed are then used to update the UAV's
position within the environment. New landmarks that have just been encountered for the rst time
are stored as new observations so they can be compared against later observations [43].
The SLAM algorithm comes with it's own trade-o s to consider. These include the requiring
large amount of computational power for processing state estimation and the issue of increased
complexity for larger maps. [44]. One of the goals for this project is to minimize the
computational power and keep the system simple, and so this technique will not be utilized.

3.6 Design Specifications

The requirements of the UAV are the following: pick up one fire extinguishing grenade, drop it
off in the area chosen by the operator, and have a camera that isrecording what is going on in the
surroundings of the UAV. In order to do this, this team decided to use a quadcopter vehicle. A
quadcopter is a UAV with four or more rotors with capabilities of lifting and carrying a specific
payload.
The other main factor in this project is the payload, which is the fire extinguishing grenade
shown in Figure 3.7. It has the form of a sphere, weights around 1.3 kilograms and is filled with
a chemical that fights fires. The grenade activates by itself when fire is present (around it);
therefore, it can also be used for fire prevention. The grenade can be located in an area prompt to

20
fires, such as the kitchen of a home or restaurant or in a forest that is known for having fires in
dry seasons, and once the grenade detects fire, it will activate by itself.

Figure 3.7: Fire Extinguishing Grenade [7]

It is also worth noticing that another one of the most relevant requirements of the multicopter is a
GPS system. This will allow the operator to indicate the location of the fire and the release place,
and will also specify the exact location of the UAV at all times. In addition with a ground station,
the operator can have control of the vehicle in case it goes out of range or the mission has been
rearranged. Furthermore, sensors of proximity and altitude will be incorporated to provide the
multicopter the ability to avoid a collision with other objects.
The design we proposed for this purpose of dropping the fireball through a door opening at
the bottom of the box. A box was chosen as a way of protecting the fireball from the fire, so
it does not activate before being located at the target. Servo motors control the door
simultaneously from a computer program that is connected to the quadcopter through
radio signal. The material of the mechanism is aluminum, which has a light weight and is
easy to manufacture. The disadvantage of this design is the close distance to the fire the
quadcopter has to get at the releasing point, since not only the ball has to be protected from
the fire during the flight but also the motors and electronic components need to be isolated
from high temperatures. This design can be seen in Figure 3.8

21
 Figure 3.8: Proposed Design [7]

3.7 Advantages of Quadcopter

There are many advantages to quadcopter compared to other aircrafts. A quadcopter does not
require a large area to obtain lift, like a fixed wing aircraft does. The quadcopter creates thrust
with four evenly distributed motors along its frame. A helicopter suffers from torque issue due to
its main rotor. The design of the quadcopter does not suffer from the same torque issues as the
helicopter. The counter balancing forces of the spinning motors cancel out the torque forces
caused by each motor causing the quadcopter to balance itself. Because the quadcopter uses four
rotors instead of one main rotor, it requires less kinetic energy per rotor for the same amount of
thrust when compared to the helicopter. Due to this and its symmetrical design, quadcopter
maintenance and manufacturing costs are relatively lower than other aircrafts.

22
 Chapter 4
Hardware Components

4.1 Major Components

There are many important components that are part of the quadcopter structure. Therefore, the
UAV for fire extinguishing grenade release and inspection could be examined as a set of
individual components according to the function of each system that conform a set. There are
three main sets shown in the following list:
1) Fire Ball Extinguish Grenade.
2) Quadcopter Components: Frame, motors, motor controller and flight controller, battery,
first person view camera, GPS flight control system and Ardu-Pilot.
3) Release Mechanism: Release mechanism platform, rails and servo motor.

4.2 Fire Ball Extinguish Grenade

This grenade is filled with an aerosol capable of extinguish fires using nitrogen mixed with
potassium. The aerosol compound contains 70% of nitrogen and 30% of very fine particles of
potassium. Using these two components, this method of extinguishing fires is successful in fully
developed and in early stages fire. This grenade was designed to replace a Halon fire
extinguisher, since its method of operation is to cut off the oxygen supply of the area in which is
used; therefore, it could cause serious harm to person if used inside a closed room.
The physical characteristics of the fire extinguishing grenade can be appreciated in Figure 4.1
This grenade has a solid material system that is filled with a minimal amount of extinguishing
compound. The compound acts directly on the flame; hence, having an uninterrupted interaction
with the burning surface once the fire extinguishing chemicals are released. This device can be
activated by thermal reaction, electronically or manually. The grenade is going to eject the
potassium solid as aerosol in a 360 degrees direction and the total deployment time will be 40
seconds.

23
 Figure 4.1: Fire Extinguishing Grenade [7]

One of the advantages of this dispositive is that it keeps oxygen levels intact in case humans are
in close range when the grenade is activated. Another important point is that it increases the
safety of firefighting personal when they try to extinguish a fire. The fire ball can extinguish 3
types of fires. One of them is type 1A, which is fire that blazes fueled by solids such as wood,
plastic, paper and cloth. The second type is 5B fire class, which contains substances such as
inflammable material. The third type is C fire class, which is used for electrical parts where
water cannot be applied. The specifications of the fire extinguishing grenade are shown in
Table1

.
Table 1: Specifications of the Fire Extinguishing Grenade

24
4.3 F450 Quad copter Frame
The DJI F450 frame is built from ultra-strong materials (plastic and fiberglass) which make the
quadcopter very resistant to crashes or other unpleasant events. This is a 450mm size quad copter
frame. This F450 flaming wheel compatible frame ideal for new users who would like to build
their first quad copter as this is a very affordable and strong frame that can handle crashes.

Fig 4.2: F450 Quad Copter Frame [7]

handle crashes. Similarly this frame can be used by more advanced users who would like a
simple lightweight platform to try more aggressive stunt flying without the worry of breaking an
expensive quad copter frame. This quad copter frame is suited for 10x45 or 8x45 propellers. The
arms are built from PA66+30GF material and the main frame plates use a compound PCB
material which is designed to implement high-strengths.

The arms and plates are designed to protect the ESCs and the battery, and there is enough space
between the top and bottom plates to add elements that need protecting. Usually, the kit comes
with arms colored differently: 2 red and white ones or 2 black and 2 white ones. This offer an

25
improved visual orientation during flight.HJ450 is the first series of "Fire-wheel" Multi-copter
frame from HJ. It is very suitable for RC beginner although HJ450 have simple design, seldom
parts but strong structure to let user easier for maintenance. The mounting holes design can fit
for different controller board e.g. KK, FF, MK, MWC in the RC market, it can fulfill
different kind of user need e.g. FPV. The thickness of the 4 motor arms are 5mm, the original
M3 motor screw maynot be long enough for mount the motor. Specifications are given in table 2.

Table 2: Specifications of the Frame of the Quadcopter

4.4 Electric Motors

There are two types of motors, brushless and brushed. A basic brushless motor has three
electromagnetic windings separated evenly on the stationary part of the motor, called a stator.
Permanent magnets are located on the rotating part of the motor, called a rotor. The rotor will
begin to rotate when two of the three windings are supplied with a voltage, creating a magnetic
field. The magnetic field created by the windings pushes and pull against the magnetic field
created by the magnets on the rotor. When the magnetic fields are aligned, two different
windings are driven and a new magnetic field is created causing the rotor to continue to turn. A
controller is used to determine the current rotor position relative to the windings and drive the
necessary windings in certain sequence to turn the rotor in the proper direction. The rotor will
turn in the opposite direction if the sequence is reversed.

26
 Figure 4.3: Electric brushless motor [7]

A brushed motor works in a similar fashion. A brushed motor has the opposite orientation of
brushless motor. The electromagnetic windings are located on the rotor and the magnets are
located on the stator. Like a brushless motor, the rotor on a brushed motor turns due to the
attractive and repulsive forces of the two magnetic fields created by the windings and the
magnets. The main difference between these two motors is that a brushed motor uses a
mechanical switch to change the polarity of the windings to turn the rotor. A brushed motor is
more susceptible to wear and tear because it uses a mechanical mechanism to check and change
the polarity of its windings. It is also limited in speed due to the same reason [19].
The model of the motors used for this UAV is “Turnigy D2836/9 KV950”shown in figure 4.2
and its specifications are listed in Table 3.

Table 3: Specifications of the Motor

27
4.5 Electronic Speed Controller
The term ESC stands for an electronic speed control is an electronic circuit used to change the
speed of an electric motor, its route and to perform as a dynamic brake. These are frequently
used on radio controlled models which are electrically powered, with the change most
frequently used for brushless motors basically providing an electronically produced 3-phase
electric power low voltage source of energy for the motor. An ESC can be a separate unit which
lumps into the throttle receiver control channel or united into the receiver itself, as is the
situation in most toy-grade R/C vehicles. Some R/C producers that connect exclusive hobbyist
electronics in their entry-level vehicles, containers or aircraft use involved electronics that
combine the two on a sole circuit board.

Figure 4.4: Brushless ESC [7]

In our project we are using 4 in 1 ESC of 30A for Brushless Motor.

Figure 4.5: Brushless ESC [7]

28
4.5.1 Benefits of 4 in 1 ESC

A 4 in 1ESC typically weighs no more than four individual ESCs, but provides the benefit of less
wiring and a more compact overall build. This is great for smaller frames, where the ESC wiring
and power distribution board add to the clutter. Additionally the weight from the ESCs is now in
the centre of your drone’s mass. Removing this weight from the arms will make it faster and
easier for your drone to flip, roll and turn because there will be less weight away from the centre
of mass and so less force is needed. they are protected in the main body and are less likely to be
damaged in a crash or by a prop strike. It also means that arms can be made thinner, for less air
resistance. The specification of 4 in 1 ESC is given in table 5 below.

Table 4: Specifications of ESC

4.6 Flight Controller

A flight controller is the brain of the aircraft. It’s basically a circuit board with sensor that detects
orientation changes of drone. It also receives user commands, and controls the motors in order
to keep the quadcopter in the air. A flight controller is small circuit board of varying complexity.
Its function is to direct the RPM of each motor in response to input. A command from the pilot
for the multi-rotor to move forward is fed into the flight controller, which determines how to
manipulate the motors accordingly. The quadcopter has to include a motor and flight controller.
Both components are in charge of receiving and processing the signal from the remote control.
Using this signal, these two components provide stability once the quadcopter is on the air.In
case the vehicle suddenly loses balance, for a reason such as a wind current, the motor controller
29
and the flight controller have the capability of resetting the quadopcter to its initial position and
generate the final decision to operate the motors in such way that they stabilize the vehicle.Both
devices are extremely relevant at the time of releasing the fire extinguishing ngrenade, since they
will provide the necessary stability in order for the quadcopter not to crash with the structure or
lose steadiness and crash with the ground.

In our project we are using Ardupilot APM 2.6 with GPS controller. The APM 2.6 is a complete
open source autopilot system and the bestselling technology that won the prestigious 2012
Outback Challenge UAV competition. It allows the user to turn any fixed, rotary wing or
multirotor vehicle (even cars and boats) into a fully autonomous vehicle; capable of performing
programmed GPS missions with waypoints.

This revision of the board has no onboard compass, which is designed for vehicles (especially
multicopters and rovers) where the compass should be placed as far from power and motor
sources as possible to avoid magnetic interference. (On fixed wing aircraft it's often easier to
mount APM far enough away from the motors and ESCs to avoid magnetic interference, so this
is not as critical, but APM 2.6 gives more flexibility in that positioning and is a good choice for
them, too). This is designed to be used with the 3DR uBlox GPS with Compass (see option
below), so that the GPS/Compass unit can be mounted further from noise sources than APM
itself. it is also arduino compatible.

Figure 4.6: APM with GPS [7]

30
4.6.1 GPS Flight Control System
This system can be used to convert this quadcopter in a fully autonomous vehicle capable of
performing programmed missions. However, in the vehicle, this device will be used as a locator
while the mission is being performed. This system will work in conjunction an Ardupilot. This
will provide refinement of the movements and behavior of the quadcopter during flight. The GPS
weight is 0.2 kg and its frequency is 915 MHz

4.6.2 Ardu-Pilot
Ardu-Pilot is a software system based on the Arduino platform, which is an open computing
system (hardware). This software contributes to autonomous stabilization and GPS navigation to
allow the vehicle to accomplish missions without human control. Another important function is
that quadcopter will have autonomous landing in case the pilot loses visibility of the vehicle

4.7 3DR Radio Telemetry

The 3DR Radio Telemetry of 3D Robotics is an ideal module to set the remote sensing
connection module between APM and ground station. It features small volume, cost effective,
wider transmission range, and it allows us to do things that other data transmission modules can’t
do.
The 3DR Radio telemetry system is designed as an open source Xbee replacement radio set,
offering a lower price, longer range and superior performance to Xbee radios. It’s available in
433Mhz and in the following configurations: serial board (for the air) and USB (for the ground).
Air Radio Module is used for UAV or equipment or aerial work equipment. Ground Radio
Module is used to connect to a computer or display images on other equipment in the ground.
When two modules are bound with the wireless signal, we can use the APM ground station
(Mission Planner) to adjust and upgrade the parameters.
It has a 915 MHz frequency band and its Receiver sensitivity to -117 dBm it is Small and
lightweight, it can be placed in the sleeving and also be tied to the mechanical arm.

31
 Figure 4.7:3DR Radio Telemetry [7]

4.8 Transmitter and Receiver

Our group came up with three different options for wireless communication system for our
quadcopter. There are three main options to choose from which include a radio transmitter and
receiver, a Wi-Fi module, or a Bluetooth module. For our purposes, we would need at least six
channels to control our quadcopter. The six channels correspond to throttle, roll, yaw, pitch, one
channel to switch between acrobatic mode and stable mode, and one or more channels for our
auto-commands. More details of the of the two different modes will be discussed in a the PID
tuning section.
Our group decided to choose the Spektrum DX7S transmitter and the AR800 receiver because it
had the required number of channels needed for our quadcopter purposes. The transmitter and
receiver also had the greatest range of transmission was also easy to interface with our control

Figure 4.8: Structural View of Remote control [7]

32
board. If we were to interface the other Wi-Fi module or the Bluetooth module, separate
channels need to be programmed and large amounts of programming would be needed.
Therefore, the Spektrum transmitter and receiver was chosen and shown in figure 4.8.
The Spektrum DX7S transmitter and receiver were properly interfaced with the quadcopter
controller board. Some difficulties encountered during interfacing were that both the controller
board and receiver used male pins. The quadcopter kit that was purchased did not come with the
necessary cables to connect these two components together. Female-to-female servo cables were
purchased to solve this problem.

Figure 4.9: Spektrum DX7S receiver (left) and transmitter (right). [7]

Wireless telecommunication is the transfer of information between two or more points that are
not physically connected. Radio is the transmission of signals through free space by
electromagnetic waves. The frequency range in radio is from 3 kHz to 300 GHz [20]. There are
different techniques used in electronic communication; which include Amplitude modulation
(AM), frequency modulation (FM), DSSS, DSM, and DSM2.
AM works by varying the strength of the transmitted signal in relation to the information being
sent. In the other hand, FM works by varying the frequencies of the transmitted signal.
In the past, radio technologies like FM are widely used in radio control (RC). The 27 MHz to 49
MHz frequencies bands are designated by law for use with RC airplanes and aircraft.
The designated frequencies for RC planes or aircraft fall into the 72 MHz band and each separate
frequency has been given a unique channel number. The dedicated remote control frequencies
avoid interference by unlicensed use [21]. Frequency checker is used to make sure no one is

33
occupying the same channels. If there are two people using the same channel to control the
aircraft, interference would occur and aircraft might crash.
In RC control the latest technology to avoid interference of signal occurs is Direct Sequencing
Spread Spectrum (DSSS). DSSS operates within the 2.4GHz frequency band. This new
technology was a form of secure radio signal transmission. DSM and DSM2 are applications of
DSSS. A Globally Unique Identification Code (GUIC) is assigned to every radio transmitter
during manufacture.
The receiver is programmed to identify that unique in what is known as the binding process, and
so the transmitter and receiver lock together with the same code which will block out other code
[22]. The binding process occurs a couple of seconds every time the system is powered up. Once
the transmitter and receiver locked together, the transmitted signal is spread out over a wide band
before being identified, collected and re-assembled by the receiver.

4.9 Battery/Power Supply

For our project, we need a power supply that is low cost, light weight, reusable, and has enough
power for at least ten minutes of flight. Rechargeable batteries were chosen for our project due to
reuse value. Currently there are three main types of rechargeable batteries available
commercially for radio controlled models, nickel-cadmium (NiCad), nickel-metal hydride
(NiMH), and lithium polymer (LiPo) batteries.

Figure 4.10: Turnigy Lipo Battery [7]

34
NiCad batteries have a low internal resistance that allows for high-power output, can operate a
large temperature range, but suffers from “memory” loss. This term memory refers to the amount
of capacity the battery can store after each discharge. The overall capacity of the NiCad battery
will decrease over a duration of time. NiMH batteries are like NiCad batteries except they can
hold 30% more capacity, but suffer from a larger memory loss [23].
LiPo batteries can hold 30% more capacity and are much lighter than a NiMH battery. LiPo
batteries also suffer from a lower memory loss compared to the NiMH battery. The
disadvantages to this battery are that these types of batteries are prone to overheating and
overcharging the batteries could lead to fire. Extreme care must be taken when using these type
of batteries [23].
Due to these reasons, our group has chosen to use a LiPo battery. At this point and time, we had
just started choosing parts for our quadcopter. To choose the size of battery we had to make
some calculations. All calculations and measurements were based on datasheet specifications. To
calculate the amount of thrust we needed to overcome gravity, the overall weight of the quad-
copter and all its components was found to be about 1550 grams. We may want to add extra
components in the future, so we made these calculations with that in mind and assumed the total
weight to be 1800 grams. Our quadcopter has four motors; therefore 450 grams of thrust was
needed for each motor to overcome the forces of gravity.
Using the data sheets, we estimated the amount of power needed to run the motors and other
components to be about 70 watts. Using the following equation

I = PV = 70W 11.1V = 6.3A (4.1)

where I is current in amperes, P is power in watts, and V is voltage in volts. We calculated the
amount of current needed for a 3 celled LiPo battery running at 11.1 volts to be about 6.3
amperes. Multiply this by the amount of motors and we needed about 22.2 amperes to fly the
quadcopter. Using Peukert‟s Law [13], we can determine the capacity amount needed for a
estimated flight duration of about 10 minutes.

C = T × I k 60 = 10min × 22.2A 60 = 3.7AH (4.2)

35
C is battery capacity measured in amperes-hour, k is Peukert’s constant which we assumed to be
1, and T is time measured in minutes. The calculated capacity per hour was calculated to be 3.7
amperes-hour. We rounded this value up and chose to purchase the Turnigy 3 cell LiPo battery
with a capacity of 4000 mill amperes-hour. All these calculations were based on rough estimates,
since we did not any components available for testing at the time of purchase of the battery. We
over specified the weight to make had enough power to fly our quadcopter. The estimated weight
was 1800 grams. The final measured weight of the quadcopter kit and all its components were
measured to by 1684 grams. Figure 3.7 shows the battery we chose and the balancer needed to
charge the battery safely.

4.10 First Person View Camera

The camera selected to install in the quadcopter transmits a real time image to a remote viewer.
With this system on board, the controller will have the capability of doing an inspection of the
fire situation, coordinate the fire extinguishing operation, and at the same time will assist the
controller in maneuvering the vehicle. This camera has a transmitter with a power of 250 mW
and a frequency of 5.8 GHz.

Figure 4.11: First Person View Camera [7]

36
The video this camera provides can be seen by an OTG FPV Receiver Support all 5.8G
transmission connected with cell phone. A video transmitter (VTX) is a device that is connected
to your camera and transmits the video signal from your drone back down to you on the ground
over the airwaves in real time.

Figure 4.12: Video Transmitter [7] Figure 4.13: Display Receiver [7]

37
 Chapter 5
Methodology

5.1 Introduction
In this chapter the discussion about the working and steps which are being taken to make the
project. For this, the explanations of this project divide into two steps hardware and software
implementation.
In hardware implementation we do a physical instrument and connectivity of different electrical
and electronic component in mean that they work together. In software implementation we use
Mission Planner software to make our Quadcopter autonomous.

5.2 Methodology Overview

The Fire Extinguisher quad copter consists of a set of basic components; a main hull, four rotors,
a battery, an external frame, a fire extinguisher system, and electronics inside the main hull.
The avionics system is a modified by flight controller and a power source of a lithium polymer
(lipo) battery.
With the transmitter the quad copter takes flight in air using the traditional methods in quad
copters. We can also fly a Quadcopter autonomously through GPS.
The quad copter flies in the air with the fire extinguisher ball. When the servo motor operates its
drop the ball on the desired position and then make itself stable and come back to the initial
position from which it take a flight.
But if the drone is needed to get back to initial position motors provide thrust this will turn the
quadcopter again to its normal position and then by providing minimum thrust the quadcopter
begins to down to the earth. A camera will monitor a live streaming of the working of
quadcopter.

5.3 Hardware implementation

In this topic we will discuss the implementation of our project hardware. We will discuss each
hardware in detail.

38
5.4 Quad Copter
A quad copter, also called a quad rotor helicopter or quad rotor is a multi-rotor helicopter that is
Lifted and propelled by four rotors [24]. Quad copters are classified as rotorcraft, as opposed to
fixed wing aircraft, because their lift is generated by a set of rotors (vertically oriented
propellers). Quad copters generally use two pairs of identical fixed pitched propellers; two
clockwise (CW) and two counter clockwise (CCW).
This uses independent variation of the speed of each rotor to achieve control. By changing the
speed of each rotor, it is possible to specifically generate a desired total thrust; to locate for the
center of thrust both laterally and longitudinally; and to create a desired total torque, or turning
force [25].Quad copters differ from conventional helicopters which use rotors which can vary the
pitch of their blades dynamically as they move around the rotor hub.

Figure 5.1: Block Diagram

39
We can control the quadcopter with the joysticks on a remote-controlled transmitter. A receiver
on the quadcopter processes the pilot’s instructions. The pilot’s signals combine with output
from the quadcopter’s altitude sensors. The flight controller then signals the Electronic Speed
Controllers, which in turn move the quadcopter’s motors. When we switch on the propillers
moves and balance its position .A good place to start is with the motors and electronic speed
controllers (ESCs) that you get with this kit. These motors and ESCs now come with bullet
connectors and so you can easily connect (and disconnect) them. This may be essential as you
must connect the motors cables to the ESC cables in a specific way to ensure they spin in the
correct direction.Now we attach the motors to the arms of the quadcopter. I have found that it is a
good idea to label the arms in relation to which motor you attach to it for future reference. So
there are two clockwise motors and two counter-clockwise motors and so we label two arms with
CW, and two with CCW (make sure to attach the correct motor to the correct arm).

Figure 5.2: Quadcopter Layout Diagram

40
You can label the arms in any way that you wish, here we have used some sticky paper that we
had laying around.Now that we have all four motors attached to their respective arms, we can
now get on with most of the frame side of the build. You will notice that there are two bottom
plates of the frame (these two are identical to each other) and one top plate, which is more
narrow than the other two. The arms (with the motors attached) will be sandwiched between the
two bottom plates. Before we do this however, we need to attach the red standoffs to one of the
bottom plates as shown below. The arms are then placed under this plate and the appropriate
screws are threaded though the holes. Make sure to attach the arms in the correct place
corresponding to the image below (this is why we labeled the arms earlier).Now that we have all
four motors attached to their respective arms, we can now get on with most of the frame side of
the build.
All four propellers rotate at the same speed which is represented as Ω [rad s-1] to counterbalance
the acceleration due to gravity [26]. Even though the quadcopter has 6 DOF, it is equipped just
with four propellers. Thanks to its structure, four best controllable variables can be chosen
related to the four basic movements which allow the quadcopter to reach a certain height and
attitude. It follows the description of these basic movements which have been described in the
figure [3] as follows:
1. Throttle (U1 [N]) - increasing (or decreasing) all the propeller speeds by the same amount. It
leads to a vertical force which raises or lowers the quadcopter. If the quadcopter is in horizontal
position, the vertical direction of the inertial frame coincides. Otherwise the provided thrust
generates both vertical and horizontal accelerations in the inertial frame.
2. Roll (U2 [N m]) - increasing (or decreasing) the left propeller speed and by decreasing (or
increasing) the right one. It leads to a torque with respect to the XB axis (Fig. 2) which makes
the quadcopter turn. The overall vertical thrust is the same as in hovering, hence this leads only
to a roll angle acceleration (in first approximation).
3. Pitch (U3 [N m]) - similar to the roll and is provided by increasing (or decreasing) the rear
propeller speed and by decreasing (or increasing) the front one. It leads to a torque with respect
to the YB axis (Fig. 2) which makes the quadcopter turn. The overall vertical thrust is the same
as in hovering; hence this leads only to pitch angle acceleration (in first approximation).
4. Yaw (U4 [N m]) - increasing (or decreasing) the front rear propellers‟ speed and by

41
decreasing.
(or increasing) that of the left-right couple. It leads to a torque with respect to the ZB axis (Fig.
2) which makes the quadcopter turn. The yaw movement is generated thanks to the fact that the
left-right propellers rotate clockwise while the front-rear ones rotate counter clockwise. When
the overall torque is unbalanced, the quadcopter turns on itself around ZB. The total vertical
thrust is the same as in hovering; hence this leads only to yaw angle acceleration.

Figure 5.3: yaw, pitch and roll movements of quadcopter [7]

The best way to do this is by using a controller.we use here a controller named APM 2.6 Ardu
Pilot Controller which keep the Quadcopter stable.The four motor are connected to the ESC
which is further connected to the flight controller.flight controller receive signals from the
reciever connected to it.the signals are sent by transmitter.GPS is connected to controller to make
a quadcopter autonomous by giving coordinates to it by using a geotagging software name as
Mission Planner.The GPS interacts with settalite and retrieves the accurate information of the
position and speed of UVA.3DR telemetry is used which is an open source radio platform that
can communicate upto three kilometerwith the use of patch antenna.its work on 915MHz.One
module is connected to the controller in the quadcopter and the other is attached to the
monitoring device.A camera is attached to the Quadcopter for live streamings.This camera
employs a transistor-transitor-level (TTL) logic signal.The camera operates on 5V supply and
draw current of 100mA.the main reason to choose this camera is due to its light weight and good
response.the camera is connected to the vedio transmitter which display vedio on OTG FPV
display connected to the computer or mobile.

42
5.5 Attachment of a Fire Extinguisher to a Quadcopter
The fire extinguisher quadcopter model is done by first preparing quadcopter and then attached a
ball drop mechanism to the quadcopter.The ball drop mechanism system consist of a servo motro
which is operate through the Transmitter due to its connection with the controller.Its receive
signal from controller so it will open the jaw and the ball will drop on the target.This makes the
structure of the overall concept. The figure [5.4] shows the quadcopter with fire extinguisher
setup attached to it. This figure [5.4] makes us to easily understand about how this fire
extinguisher application is been done with the help of quadcopter.

Figure 5.4: Quadcopter with fire extinguisher

5.6 Software implementation

In this topic we will discuss the implementation of our project on software to make it an
autonomous. We will discuss in detail how to make our quadcopter an autonomous.
5.6.1 Autonomous System
In general,Quadcopter are very difficult to control by only manual control without using any
sensors.So,if we use some specific motion sensors and apply some algorithms to the values read
from these sensors,the Quadcopter can itself balance its motion.if we use the above technique to
control the quadcopter,it can then called as “Autonomous”.We use a Mission Planner to make
our quadcopter an autonomous.

43
 5.6.2 Mission Planner
Mission Planner is a ground control station for Plane, Copter and Rover. It is compatible with
Windows only. Mission Planner can be used as a configuration utility or as a dynamic control
supplement for your autonomous vehicle. Here are just a few things we can do with Mission
Planner:

 Load the firmware (the software) into the autopilot board (i.e. Pixhawk series) that controls our
vehicle.
 Setup, configure, and tune vehicle for optimum performance.
 Plan, save and load autonomous missions into our autopilot with simple point-and-click way-
point entry on Google or other maps.
 Download and analyze mission logs created by our autopilot.
 Interface with a PC flight simulator to create a full hardware-in-the-loop UAV simulator.
 With appropriate telemetry hardware we can:
o Monitor our vehicle’s status while in operation.
o Record telemetry logs which contain much more information the the on-board autopilot logs.
o View and analyze the telemetry logs.
o Operate our vehicle in FPV (first person view)

5.6.3 Connect flight controller to computer

First of all we have to install a ground station on our computer, then we have to connect flight
controller to our computer using usb cable as shown given below.

Figure 5.5: ardu pilot with usb connector

44
5.6.4 Selection of COM port

First we select the COM port in the Mission Planner drop-down on the upper-right corner of the
screen. Then we select the specific port or auto for our board. Now we set the baud rate 115200
and connect it.

Figure 5.6: port selection

Install firmware
Now we install a firmware screen selecting the appropriate icon that matches our frame which is
a Quad.

Figure 5.7: firmware selection

After the detection of GCS of the board it will ask to unplug the board and plug it back in and
then pressing OK within a few seconds for upload a new firmware.

45
 Figure 5.8: build program

If the status like “erase…”, “program…”, “verify ”and “upload done” appears in the bottom right
then it sure that firmware has been successfully uploaded to the board. we can test the working of
firmware by connecting the Mission Planner.
5.6.5 Mission Planning
Setting the Home Position
For Quadcopter the home position is set as the location where the copter was armed. This means
if you execute an RTL in Quadcopter, it will return to the location where it was armed, so arm
your copter in the location you want it to return to.

Figure 5.9:home location

46
Now we have to give the desired events and location to our Quadcopter. We have to give a
desired altitude and latitude to the quadcopter through GPS.so then save the way point given to
the Quadcopter.

Figure 5.10: way point

In the screenshot below, a Copter mission starts with an auto takeoff to 10 meters altitude; then
goes to WP 2 rising to 20 meters altitude on the way, then waits 10 seconds; then the craft will
proceed to WP 3 (descending to 10 meters altitude on the way), then returns to launch. Since the
default altitude is 20 meters, the return to launch will be at 20 meters. After reaching the launch
position, the craft will land. The mission assumes that the launch position is set at the home
position.
We can save multiple mission files to our local hard drive by selecting Save WP File or read in
files with Load WP File in the right-click menu:

47
 Chapter 6
Results and Discussion
Quality assurance is very important for any product to perform satisfactorily and reliably after
deployment. In order to achieve these goals, each module of the system has been individually
tested and the system as a whole to make sure that it worked as desired. The system has been
evaluated to see whether the goals are accomplished or not. This chapter consists of evaluation of
the process and the outcome of various tests designed specifically to ensure reliability of the
system.

6.1 Equipment Testing Levels

6.1.1 Unit Testing
In unit test, each unit or module has tested for verification, whether the system does give the
expected output or not. After that every module has been checked for bugs and then removes the
bugs and has to verify that the module is error free.
6.1.2 Integration Testing
In integration test each module has tested for integration into the system by adding module by
module and testing the system after each addition. The objective is to take unit tested modules
and build the system that has been dictated by design. Then the modules are integrated. After
integration of each module the system is checked for any possible errors and verified.
6.1.3 System Testing
System testing tests a completely integrated system to verify that it meets its design
specifications. The completely assembled Quadcopter was tested under various environmental
conditions created at Hamdard University Karachi, Islamabad Campus Pakistan. The system was
found to perform satisfactorily under various conditions.

6.2 Flight Test

In this section of the document we will discuss how our initial flight test went and the problems
we encountered during this flight test.

48
6.2.1 Initial Test Flight
After assembling all equipment’s in desired manners the quadcopter is ready for its first flight
test. The quadcopter fly in a very stable manner without any observable oscillations, as can be
seen in figure (6.1).

Figure 6.1: First flight without load

The first landing of the quadcopter was quite bad. The quadcopter landed on the ground with a
strong impact that caused the arms of the frame to broke. After a second test flight, one of the
motor wires came loose causing the motor to turn off and flip the quadcopter. Unfortunately, one
of the motor were damaged which replaced by a new motor. The average flight duration we
could achieve through these tests was 10 minutes. The broken arms would affect the stabilization
of the quadcopter because the motors would not be aligned properly. So we changed the whole
frame of quadcopter which is a big loss to us.

6.2.2 Test flight with load

The flight test with camera and load (a fire ball) was tested this time as shown in the figure. The
flight was stable without any oscillations. When the ball drop mechanism applies to it first time
then we lost stability but second time it was stable during the ball drop process which is our
desired achievement.

49
 Figure 6.2: Flight test with load

6.2.3 Autonomous flight test

This time we go to test our quadcopter autonomously to go with desired location, drop ball there
and come back to initial position. This process is done through a mission planner. We give
coordinates to quadcopter and run it on desired height and speed and it will complete its mission.

Figure 6.3: Balancing

50
 Chapter 7
Conclusion and Future Recommendation
7.1 Conclusion
The goal of this project was to design and construct an autonomous quadcopter with fire
extinguisher mechanism. In this project, we have presented a new intelligent system that will
make the extinguishing process either in forest or in high-rise buildings faster, more accurate and
cost effective. The system will decrease the need for firefighters to get into dangerous areas and
provide an efficient way to reach the affected area within a short period of time.
The system has been designed and implemented using Quadcopter Unmanned Aerial Vehicle.
Accordingly, we have developed the attached technologies that include: Fire Extinguishing Ball,
and a Camera. The overall system performance tests have shown that the drone is able to get
closer to the fire without endangering human lives.
One could argue on the strength of relationship between the number of fires and firefighter
deaths, but even with the Yarnell Hill fire deaths excluded, other variables are involved as well,
even if they are difficult to define. Firefighters receive outstanding training on how to combat
fires. Before ever facing a real fire, firefighters have faced simulated situations that encourage
them to rely on their training. However, the complexity of situations firefighters face is not
linear. Some situations are far more complex than others which result in more risk of injury or
death.
The final intention of this design is to improve the existing ways in which fires are extinguished
using a quadcopter as a vehicle of first fire response. Having this system in place, the fire
department will have the ability of control a fire on high rise buildings by deploying one or more
fire extinguishing balls. In the future, the main goal is going to be that the UAVs with fire
extinguishing purposes are going to be built with compliance of the fire department requirements
for prevention and control of fires on buildings.
This quadcopter can be used easily from any location, which makes it a very useful device in
application like the rescue and fire extinguish. Thus we have proposed in an idea of life saving in
areas which are inaccessible by humans. Even a person sitting in a wheelchair can also contribute
to help people who are stuck in the building. Children can also control it. There is no need of
51
physical fitness of the controller. It can reach high in very less time as compared to the time
taken by human beings. So hence we hope that this project would be useful to the society in
terms of life saving.

7.2 Future Recommendation

The quadcopter have possesses countless possibilities when it comes to functional capabilities.
Some of the expansion we would consider to implement in future, can be summarize as
 Battery will be replaced by high power battery to increase flight time. The Quadcopter is
unable to perform at long distance range due to limited amount of power supply from
Lithium polymer battery. Increment of power source will increase the range.
 The current version is able to carry only one fire extinguishing ball at a time, which will
force the drone to come back to the firefighter in order to continuously reload it with a
new fire extinguishing ball. To overcome this problem, we have presented the concept of
the fuzzy based stabilizer control system that will enable the drone to be equipped with a
tray of four balls.
 Occurrence of collision can be prevented by adding ultrasonic sensors
 We can achieve our goal in rain by using waterproof brushless motor.
 To lift more weight use high quality motor and change the frame size.
 To increase range of quadcopter changes its controller to high quality.

52
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