17BMC044

DRONE DELIVERY SYSTEM
A PROJECT REPORT
Submitted by
VINODHINI R [17BMC014]
ISTHIAQ HUSSAIN I [17BMC033]
SHRIRAM SG [17BMC044]
KOUSHAL AC [17BMC213]
in partial fulfillment for the award of the degree of
BACHELOR OF ENGINEERING
IN
MECHATRONICS ENGINEERING
KUMARAGURU COLLEGE OF TECHNOLOGY,

COIMBATORE - 641 049
(An Autonomous Institution Affiliated to Anna University, Chennai)
MAY - 2021
DRONE DELIVERY SYSTEM
A PROJECT REPORT
Submitted by
VINODHINI R [17BMC014]
ISTHIAQ HUSSAIN I [17BMC033]
SHRIRAM SG [17BMC044]
KOUSHAL AC [17BMC213]
in partial fulfillment for the award of the degree of
BACHELOR OF ENGINEERING
IN
MECHATRONICS ENGINEERING

COIMBATORE - 641 049
MAY - 2021
COIMBATORE - 641049
BONAFIDE CERTIFICATE
Certified that this project report “DRONE DELIVERY SYSTEM” is the
bonafide work of “SHRIRAM SG, KOUSHAL AC, ISHTHIAQ HUSSAIN
I, VINODHINI R” who carried out the project work under my supervision.
SIGNATURE SIGNATURE
Dr. SARAVANAN MOHAN M Mr. ANUSH P

HEAD OF THE DEPARTMENT SUPERVISOR
DEPARTMENT OF ASSISTANT PROFESSOR
MECHATRONICS ENGINEERING DEPARTMENT OF
KUMARAGURU COLLEGE OF MECHATRONICS ENGINEERING
TECHNOLOGY KUMARAGURU COLLEGE OF
COIMBATORE-641049 TECHNOLOGY
COIMBATORE-641049
INTERNAL EXAMINER EXTERNAL EXAMINER

ABSTRACT
India has a logistics operation of around 100 million package deliveries per
day. Restrictions of Heavy Motor Vehicles (HMV) to commute in cities during the
daytime, Severe vehicle Congestion, inadequate delivery person, leads to the decrease
in productivity of the courier services from 85% to 50%. Motive of this project is to
cut down the operational cost in conventional last mile delivery systems and to
execute timely delivery. Idea is to build a Drone delivery system that provides a
secure and efficient delivery service.
The precise location of the destination point is fed to the drone from Ground
Control Station and with the package placed in the drone, it executes autopilot with
the help of the flight controller. Maneuverability is eased out by flight controller and
collision avoidance system. The package delivery mechanism is aided with an
authentication system to ensure a safe and secure delivery. At the destined location, it
is achieved through scanning the ARTag/QR code which will be sent to the customer
at the time of flight. Package is delivered only when ARTag/QR code matches with
the appended data. Entire process is executed by the integration of the Robot
Operating System and open source autopilot software suite with the hardware.
Drone delivery is a disruptive technology that is redefining the traditional
logistics industry. Drones offer a more cost-effective way to deliver packages by
minimizing operational cost and overhead cost, allowing businesses to grow their
revenues and bottom lines.
Keywords: Robot Operating System (ROS), ARTag, Autopilot.
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ACKNOWLEDGEMENT
It’s an immense pleasure for us to undertake this project. We feel highly about
doing the project entitled - “DRONE DELIVERY SYSTEM”. We are highly indebted
to our beloved principal, Dr. D. SARAVANAN, Kumaraguru College of Technology, for
providing the necessary resources in successful completion of the project. We are also
grateful to our respected head of department Dr. M. SARAVANA MOHAN for aiding
by permitting us to utilize all the necessary facilities of the institution. We express
immense gratitude to our project coordinator Mr. A. RAMKUMAR and to our guide
Mr. P. ANUSH for their valuable suggestions and guidance to carry out this project. We
proudly thank the faculty members of our department for offering their valuable
information to complete this project. We also thank those who have helped us directly
and indirectly. Last but not least, we cherish our friends and parents who have been with
us all the way during the project.
S.NO NAME REGISTER NUMBER SIGNATURE
1 VINODHINI R 17BMC014
2 ISHTHIAQ HUSSAIN I 17BMC033
3 SHRIRAM SG 17BMC044
4 KOUSHAL AC 17BMC213
5
TABLE OF CONTENTS
CHAPTER TITLE PAGE
ABSTRACT iv
LIST OF TABLES ix
LIST OF FIGURES x
NOMENCLATURE xii
1 INTRODUCTION 13
1.1 GENERAL 13
1.2 NEED FOR THE STUDY 14
1.3 OBJECTIVES 14
1.4 SCOPE OF WORK 15
2 LITERATURE REVIEW 16
3 MATERIALS AND METHODS 20

3.1 GENERAL 20
3.2 MATERIALS 20
3.2.1 ACRYLIC SHEET 21
3.2.2 QUADCOPTER FRAME 22
3.2.3 BLDC MOTOR 23
3.2.4 ESC 25
3.2.5 PROPELLERS 26
3.2.6 PIXHAWK 27
3.2.7 RASPBERRY PI 29
3.2.8 PI CAMERA 32
3.2.9 TELEMETRY MODULE 33
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6
3.2.10 GPS MODULE 35
3.2.11 Li-Po BATTERY 36
3.2.12 POWER MODULE 38
3.2.13 BUCK CONVERTER 39
3.2.14 SERVO MOTOR 40
3.2.15 ULTRASONIC SENSOR 42
3.2.16 RACK AND PINION 45
4 SOFTWARES 47
4.1 FUSION 360 47
4.2 ROS 48
4.3 MISSION PLANNER 49
4.4 FLOW DESIGN 50
5 DIAGRAM AND DESIGN 52

5.1 CONCEPT DIAGRAM 52
5.2 BLOCK DIAGRAM 53
5.3 CAD 54
5.4 WIRING DIAGRAM 57
6 CALCULATION 58
6.1 DRAG FORCE CALCULATION 58
6.2 THRUST CALCULATION 59
6.3 FLIGHT DURATION CALCULATION 59
7 FEATURES AND FUNCTIONALITIES 61

7.1 AUTOPILOT SYSTEM 61
7.2 COLLISION AVOIDANCE SYSTEM 61
7.3 REAL-TIME TRACKING 62
7.4 PACKAGE DELIVERY MECHANISM 62
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7.5 ARTag DETECTION 63
8 RESULT AND DISCUSSION 64

8.1 AUTONOMOUS FLIGHT SIMULATION 64
8.2 WIND TUNNEL SIMULATION 65
8.3 ARTag DETECTION 67
8.4 PACKAGE DROPPING MECHANISM 69
9 CONCLUSION AND FUTURE WORK 70
10 REFERENCES 72
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LIST OF TABLES
TABLE TITLE PAGE
3.1 List of Materials 20
3.2 Specifications of Quadcopter Frame 23
3.3 Specifications of BLDC Motor 24
3.4 Specifications of ESC 26
3.5 Specifications of Propellers 27
3.6 Specifications of Pixhawk 2.4.8 29
3.7 Specifications of RPi 4 Model B 31
3.8 Specifications of Pi Camera 33
3.9 Specifications of Telemetry Module 34
3.10 Specifications of GPS Module 35
3.11 Specifications of LiPo Battery 37
3.12 Specifications of Power Module 38
3.13 Specifications of Buck Converter 40
3.14 Specifications of Servo Motor 42
3.15 Specifications of Ultrasonic Sensor 45
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LIST OF FIGURES
FIGURE TITLE PAGE

3.1 Acrylic Sheet 21
3.2 Impact Strength of Acrylic 22
3.3 Quadcopter Frame 22
3.4 Bldc Motor 23
3.5 Electronic Speed Controller (ESC) 25
3.6 Propeller 26
3.7 Pixhawk 2.4.8 27
3.8 Pixhawk 2.4.8 Pin Configuration 28
3.9 Raspberry Pi 29
3.10 Pin Configuration of RPi 4 30
3.11 Pi Camera 32
3.12 Telemetry Module 33
3.13 GPS Module 35
3.14 LiPo Battery 36
3.15 Working of LiPo Battery 37
3.16 Power Module 38
3.17 Buck Converter 39
3.18 Working of Buck Converter 39
3.19 Servo Motor 40
3.20 Close Loop System 41
3.21 Servo Motor Control 41
3.22 Ultrasonic Sensor 42
3.23 Ultrasonic Pulse 43
3.24 Working of Ultrasonic Sensor 44
3.25 Rack and Pinion 45
3.26 Working of Rack and Pinion 46
4.1 Autodesk Fusion 360 Logo 47
4.2 Robot Operating System Logo 48
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4.3 Mission Planner Logo 49
4.4 Autodesk Flow Design Logo 50
5.1 Concept Diagram of Drone Delivery System 52
5.2 Block Diagram 53
5.3 Diagonal View of Design With Dimensions 54
5.4 Side View of Design With Dimensions 54
5.5 Bottom View of Design With Dimensions 55
5.6 Top View of Design With Dimensions 55
5.7 Isometric view of the Drone 56
5.8 Design of Drone with the sample package in it 56
5.9 Wiring Image of Drone Components 57
8.1 Screenshot of Dashboard During Autonomous Flight- 64
-Simulation of Drone in Mission Planner Software
8.2 Screenshot of Dashboard During Simulation of Drone on 64
its Mission
8.3 Screenshot of Wind Tunnel Simulation of 1st Iteration of 65
-Design in Autodesk Flow Design
8.4 Screenshot of Wind Tunnel Simulation of Final Design in 66
-Autodesk Flow Design
8.5 Screenshot of Front View of Wind Tunnel Simulation of- 66
-Designed Drone in Autodesk Flow Design
8.6 Screenshot of ARTag Subscriber Launch File 67
8.7 Photo of Actuation of Relay when ARTag is Detected 67
8.8 Photo of Non-Actuation of Relay when Detected ARTag 68
is Mismatched
8.9 Screenshot of ARTag Visualisation in RVIZ 68
8.10 Screenshot of Actuated Slider Mechanism (Rack And 69
Pinion)
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NOMENCLATURE
ABBREVIATIONS
ARTag - April Tag
BEC - Battery Elimination Circuit
CAD - Computer Aided Design
CAM - Computer Aided Manufacturing
CAE - Computer Aided Engineering
COM - Communication
DGCA - Directorate General of Civil Aviation
ESC - Electronic Speed Controller
ETA - Estimated Time of Arrival
FPV - First Person View
GPS - Global Positioning System
GCS - Ground Control Station
HMV - Heavy Motor Vehicle
Hz - Hertz
Li-Po - Lithium Polymer
ROS - Robot Operating system
RPi - Raspberry pi
UAV - Unmanned Aerial Vehicle
SYMBOLS
= Mass Density of the Fluid (kg/m3)
xii
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CHAPTER 1
INTRODUCTION
1.1 GENERAL
Global markets are expanding beyond borders and re-defining the way demand
and supplies are managed, which forged Supply Chain, the backbone of Business
Organizations today. It is merely known that the supply chain is all about managing
chains of distribution networks involving warehouses, exports to different countries or
local markets, distributors, retailers and finally to the end customer in tandem. But it
is barely known that each node of the supply chain industry faces significant
challenges. Logistics, being a crucial subset of the supply chain industry, lies in top in
the list of challenges faced. In India, the market value of the Logistics industry is
$150 billion. Subsequently, Last Mile Delivery alone accounts for up to $40 billion.
Ranking first in the list of challenges faced by the logistics services is the Last Mile
Delivery itself. Final mile- the journey from a retail store or shipping warehouse to
the end customer’s home. It is the most critical step in the delivery process. While
customers want shipping that’s free and fast, it also happens to be the most expensive
leg of the journey that goods take to reach their ultimate destination and time
consuming part of the shipping process.
It has been a common thing that when the shipment of a package has been
tracked it is found that the out for delivery status was much longer than expected.
This final leg of the shipment usually involves several stops for small deliveries.
In rural areas, delivery points along a particular route could be several
kilometres away, and only one or two packages are left at each destination. In cities,
the picture is not much better. What urban areas compensate for in the proximity of
stops is quickly offset by almost constant traffic delays.
Last mile shipping can account for 53% of a shipment’s total costs. Companies
typically acquire about 25% of that cost themselves, but this number is increasing as
supply chain inefficiencies are becoming more and more costly due to continuous
increase in e-commerce, which has led to a dramatic increase in the number of
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packages delivered each day, as well as customer expectations to include not only fast
delivery but also free.
1.2 NEED FOR THE STUDY

As consumers increasingly turn to e-commerce to meet their purchasing needs,
fast shipping is not simply something they feel good about having. It’s a realistic
expectation in any e-commerce shopping experience. And, for the logistics companies
and their retail partners, these almost immediate shipments have to be the priority.
As a result, companies have long been competing to develop new technologies

and supply chain models that increase package volume, streamline deliveries and
build customer loyalty while trying to reduce costs. Unfortunately, one of their
biggest expenses and challenges is same-day last mile shipping. If we look at the total
cost of shipping, the portion related to the last mile is substantial. It can account for as
much as 53% of the total. And with the boom in free shipping, customers are less
willing than ever to pay a full shipping fee. This forces retailers and their logistics
partners to bear a considerable cost.
This last leg is often the least efficient link in the supply chain, comprising up
to 28% of the total cost of the delivery. The ‘last mile’ problem also includes the
challenges existing in the delivery of goods to urban areas where the hustle and bustle
of the central business district contributes to congestion and can lead to safety issues.
1.3 OBJECTIVES
The objective of the project is all about designing and deploying a drone
delivery system to solve the last mile delivery challenges. Motive of this project is to
cut down the operational cost in conventional last mile delivery systems and to
execute timely delivery. Objective is to deliver the package timely and securely to the
end customer through drones. Central computer in the warehouse commands the
drone and also visualizes live data from the drone. With the help of an collision
avoidance system and on-board computer integrated with the flight controller, the
drone performs an autonomous flight. The drone navigates and stabilises itself with
the input data from sensors embedded into it. The end-to-end goal of destination is
14
attained and the proper delivery of packages to the right user is attained with GPS and
other authentication systems.
1.4 SCOPE OF WORK

For the autonomous navigation, precise location of the destination point is
received from the end customer and fed to the drone through GCS. Stability and
maneuverability is obtained with the integration of a flight controller and an on-board
computer that is programmed to avoid collision with the sensors. For authentication,
digital ARTag/QR code is sent to the end customer that will be verified at the time of
delivery. The package that needs to be delivered is placed in the container attached to
the drone. Live tracking of the drone is visualised in the GCS and as well as in the
dashboard of the end customer to know the location of the drone and estimated time
of arrival. At the destination, it scans and verifies the code. If verification is
successful, it actuates the dropping mechanism and the package is delivered. Post
package delivery, autopilot is enabled again and it returns to the launch location.
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CHAPTER 2
LITERATURE REVIEW
2.1 LAST MILE DELIVERY BY DRONES: AN ESTIMATION OF VIABLE

MARKET POTENTIAL AND ACCESS TO CITIZENS ACROSS CITIES
Author: Roberts LD, Hassall DG, Winegar DA, Haselden JN, Nicholls AW, Griffin JN
Rapid technological developments in autonomous unmanned aerial vehicles

(UAV or drones) and an evolving legislation may soon open the way for their large-
scale implementation in the last mile delivery of products. The use of drones could
drastically decrease labour costs and has been hyped as a potential disruptor to the
parcel delivery industry. Online retailers and delivery companies such as Amazon, are
already filling up patents for the development of multi-level fulfilment centres for
unmanned aerial vehicles or “drone-bee hives” that would allow the deployment of
this technology within the built environment. A substantial amount of research has
been carried out in the last years on the potential use of drones for parcel delivery,
principally in the area of logistic optimisation.
2.2 DRONE-BASED PACKAGE DELIVERY USING THE ROOFTOPS

OF CITY BUILDINGS: MODEL AND SOLUTION
Author: Junsu Kim, Hongbin Moon and Hosang Jung
In general, the demand for delivery cannot be fulfilled efficiently due to the
excessive traffic in dense urban areas. Therefore, many innovative concepts for
intelligent transportation of freight have recently been developed. One of these
concepts relies on drone-based parcel delivery using rooftops of city buildings. To
apply drone logistics systems in cities, the operation design should be adequately
prepared. In this regard, a mixed integer programming model for drone operation
planning and a heuristic based on block stacking are newly proposed to provide
solutions. Additionally, numerical experiments with three different problem sizes are
16
conducted to check the feasibility of the proposed model and to assess the
performance of the proposed heuristic. The experimental results show that the
proposed model seems to be viable and that the developed heuristic provides very
good operation plans in terms of the optimality gap and the computation time.
2.3 PIXHAWK: A SYSTEM FOR AUTONOMOUS FLIGHT USING

ONBOARD COMPUTER VISION
Author: Lorenz Meier, Petri Tanskanen, Friedrich Fraundorfer and Marc Pollefeys
The localization and flight control pipeline is only one of the several onboard
pipelines. As the Pixhawk middleware provides a precise timebase,a standard
textbook estimation and control pipeline already performs well for autonomous
flight.The overall pipeline,including camera interfacing and communication,consumes
only 10–15% of the total CPU power. Other implemented pipelines are stereo
obstacle avoidance and planar pattern recognition.Individual Pipeline can be
activated/ deactivated at runtime and individual pipeline components can be replaced
by different algorithms without changes to the overall system.
2.4 MAVLINK PROTOCOL
Author: Atoev, S., Kwon, K. R., Lee, S. H., & Moon, K. S.
Our MAVLink protocol is a very lightweight message marshalling protocol

optimized for micro air vehicles.It has only 8 bytes overhead per packet, allows
routing at an inter-system or intra-system level and has an inbuilt packet-drop
detection. Due to the low overhead,it is both suitable for UDPand UART/radio
modem transport layers. The efficient encoding also allows the protocol to be
executed on microcontrollers. These Properties Allowed building a ho-mogenous
communication architecture across the PIXHAWK system. MAVLink has been
already adopted by a number other systems (pxIMU autopilot, ArduPilot Mega
autopilot, SLUGS autopilot, UDB autopilot).The MAVLink sentences are generated
based on an XML protocol specification file in the MAVLink format. The code
17
generator ensures well-formed messages and generates C89-compatible C-codeforte
message packs and unpacking. This allows fast and safe extensions and changes to the
communication protocol and ensures that no implementation errors will occur for new
messages. Our current implementation supports the use of the lightweight
communication marshalling library(LCM) or the Robot Operating System(ROS) as
transport layers.
2.5 CONSUMER ACCEPTANCE OF DELIVERY DRONES IN URBAN

AREAS Author: Rabeel Khan, Sadaf Tausif, Ahmed Javed Malik
The concept of drone usage for commercial purposes by retailers worldwide is

still in its early stages, and unheard of in Pakistan. Moreover, research on consumer
perceptions regarding commercial drones in Pakistan and around the world is very
sparse. The purpose of this paper is to gauge the level of acceptability and concerns
Pakistani consumers may have in accepting the drone delivery technology. This study
offers new insights that retailers and delivery companies can use to penetrate target
markets in early stages. The authors have executed a quantitative analysis through the
means of a survey. A sample of middle‐ and upper class residents of two cities in
Pakistan was selected on which purposive sampling technique was applied. A total of
307 responses were collected and these responses were analysed in SPSS. Various
analysis techniques were applied including Cronbach’s alpha, the Pearson correlation
analysis, regression analysis and cluster analysis. The results show that consumers in
Pakistan perceive privacy issues as a primary concern in relation to drone delivery.
The results also shed light on the profile of consumer segments that can be targeted by
retailers who may desire to use the drone delivery technology in the near future.
Using these findings, retailers using the drone delivery mechanism can address
consumer’s fears and ambiguities. Retailers can resolve consumer concerns by
designing pro‐privacy parameters in the initial service design stage and the
infrastructure deployment of drones.
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2.6 DRONE-AIDED ROUTING
Author: Giusy Macrina, Luigi Di Puglia Pugliese, Francesca Guerriero, Gilbert
Laporte
The interest in using drones in various applications has grown significantly in
recent years. The reasons are related to the continuous advances in technology,
especially the advent of fast microprocessors, which support intelligent autonomous
control of several systems. Photography, construction, and monitoring and
surveillance are only some of the areas in which the use of drones is becoming
common. Among these, last-mile delivery is one of the most promising areas. In this
work we focus on routing problems with drones, mostly in the context of parcel
delivery.
2.7 ANALYSIS OF ENVIRONMENTAL IMPACTS OF DRONE DELIVERY

ON AN ONLINE SHOPPING SYSTEM
Author: Jarotwan Koiwanit
In rural areas, drones are designed to replace road deliveries so as to overcome
infrastructure challenges; though drones notably consume less fuel and consequently
have a smaller impact on the environment, their full life cycle assessment should still
be evaluated to comprehensively understand their environmental impact. This study
presents a life cycle assessment study on drone delivery in Thailand using CML2001,
the life cycle impact assessment (LCIA) method, to convert life cycle inventory data
into environmental impacts. The observed results show that an online shopping
system using drone delivery is one of the most environmentally friendly
transportation options throughout a wide range of scenarios. However, the parts
production contributed to significant impacts on environmental issues while the drone
operation showed the least impact to all impact categories. The dominant contributors
to global warming, abiotic depletion (ADP elements and fossil), acidification air,
eutrophication, ozone layer depletion, and photochemical ozone creation impact
categories were the coal mining and electricity generating station operation. However,
the carbon fibers and the battery, are the main contributors to other impact categories,
which include the human toxicity, freshwater aquatic ecotoxicity, marine aquatic
ecotoxicity, and terrestrial ecotoxicity.
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CHAPTER 3
MATERIALS AND METHODS

3.1 GENERAL
The materials are chosen by keeping the cost, affordability, reliability and
performance in consideration as it is intended to serve the researchers for a long time
without any problem in between the operation. The quad-copter is made out of readily
available, simple components so that it is scalable and upgradable whenever needed
by the user.
3.2 MATERIALS
Table 3.1 List of Materials
S.No Material Specification Quantity

1 Acrylic Sheet 500x 600x 3mm 1
2 Quadcopter Frame 450 x 450 x 55 mm 1
3 BLDC Motors 1400kv 4
4 Electronic Speed Controller 30 Amp 4
5 Propeller Plastic (10x4.5) 4(cw-2, ccw-2)
6 Pixhawk 2.4.8 32 bit, 5V 1
7 Raspberry Pi 4 Model B 1
8 Pi Camera 5MP 1
9 Telemetry Module 433Mhz 500mW 1
10 GPS Module Neo-7m 1
11 Li-Po Battery 11.1V 5400MAh 1
12 Power Module XT60 PLUG 28V 90A 1
13 DC-DC Buck Converter LM2596 1
14 Servo Motor 4.8~6.0V 2
15 Ultrasonic Sensor MB1240 4
16 Rack and Pinion ABS Material 2
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3.2.1 ACRYLIC SHEET
Figure 3.1 Acrylic Sheet
3.2.1.1 INTRODUCTION
Acrylic is a thermoplastic homopolymer known more commonly by the trade
name “plexiglass”. The material is similar to polycarbonate in that it is suitable for
use as an impact resistant alternative to glass. It is generally considered one of the
clearest plastics on the market. Acrylic in the modern era and in general is used for a
variety of applications that typically take advantage of its natural transparency and the
impact resistance of certain variants. Common uses include lenses, acrylic nails, paint,
security barriers, medical devices, LCD screens, and furniture. Because of its clarity,
it is also often used for windows, tanks, and enclosures around exhibits.
3.2.1.2 PROPERTIES
● Thermoplastic
● High strength to withstand load
● Easy machinability
3.2.1.3 WHY ACRYLIC?

● It is readily available in various locations at a cheap price
● Very versatile for developing prototype purposes
● For this application, it is weighs less and easy to cut to desired shapes
● It is scratch resistant to certain extent and easy to machine with tools
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Figure 3.2 Impact Strength of Acrylic
3.2.2 QUADCOPTER FRAME
Figure 3.3 Quadcopter Frame
An FPV Drone Frame is like a suit of armour for all of the sensitive electrical
components that constitute a quadcopter. It is essential that a frame is as durable and
rugged as possible, while still accommodating to the needs of the pilot without
hindering the flying experience and the inevitable maintenance that will ensue.
Each frame has a designated size class, based upon the longe as a hexacopter or
tricopter, the size will always be given by the greatest motor-to-motor distance.
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3.2.2.2 DRONE FRAME PURPOSE
The frame gives a drone its shape and holds all of the subsystems in place.
Because it serves a mechanical function, the most important material property for the
frame is strength. For commercial drones, thermoplastics such as variants of nylon,
polyester, and polystyrene, are popular choices because they are inexpensive to make
into complex parts using injection molding processes.Glass Fiber + Polyamide Nylon.
3.2.2.3 SPECIFICATIONS
Table 3.2 Specifications of Quadcopter Frame
S. No Parameter Specification
1 Material Glass Fiber + Polyamide Nylon
2 Wheelbase(mm) 450
3 Arm Size [L x W] (mm) 220 x 40
4 Landing Gear Material ABS Plastic
5 Weight(gm) 330 (Q450 Frame)
3.2.3 BLDC MOTOR
Figure 3.4 BLDC Motor
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The brushless is way more powerful for their weight than brushed motors, and
they last way longer. For bigger quads, no question, brushless is prefered. But for the
micro and nano drones, it's fantastic to have these cheap motors to crash with
confidence.
3.2.3.2 BLDC MOTOR PURPOSE

Without a source of thrust, a drone would never get off the ground. The motors
that drive drones are conventional electric motors with copper windings and
permanent magnets. The housing of the motors can be chosen to minimise weight,
and either thermoplastics or aluminium alloys present good strength-to-weight ratios.
However, motors can generate significant heat. So, materials with high thermal
conductivity, like aluminium, can be used for the housing to help cool the motor.
Table 3.3 Specifications of BLDC Motor
1 Motor KV (RPM/V) 1400
2 Compatible LiPO Batteries 2S~3S
3 Current Handling Capacity (A) 16
4 Max. Efficiency Current (A) 6~12
5 No-Load Current (mA) 700
6 Maximum Efficiency 80%
7 Weight(gm) 72
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3.2.4 ESC
Figure 3.5 Electronic Speed Controller (ESC)
The ESC connects the flight controller and the motor. Given that each
brushless motor requires an ESC, a quadcopter will require 4 ESCs. The ESC takes
the signal from the flight controller and power from the battery and makes the
brushless motor spin.
3.2.4.2 NEED FOR ESC

Motors of this type require careful and continuous regulation of speed and of
the relative direction of rotation. In some cases, the possibility of implementing a real
dynamic brake is needed as well. The circuit responsible for these functions is the
ESC (Electronic Speed Controller), which is typically composed of a power supply
stage, a circuit for detecting the current, a microcontroller and a communication
interface with the flight controller.
3.2.4.3 APPLICATIONS
● System is so efficient
● Minute control
● Power regulation to motor
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Table 3.4 Specifications of ESC
1 Burst Current (A) 40
2 Compatible LiPO Batteries 2S~3S
3 Constant Current (A) 30
4 Battery Elimination Circuit (BEC) Yes (5V/2A)
5 Weight(gm) 23
3.2.5 PROPELLERS
Figure 3.6 Propellers
The rotor blades of drones turn at high speeds, so they tend to absorb the most
wear-and-tear when a drone flies (or crashes). Just like the frame materials, choosing
an optimal rotor blade material is a matter of maximising strength while minimising
weight.
Some rotor blades are made from carbon fiber-reinforced composites.
However, rotor blades are frequently damaged and replaced, so many are made of
thermoplastics to reduce the cost of replacing them when they break.
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Because rotor blades are usually damaged in high-speed impacts while
spinning, an engineer seeking to design a durable rotor blade could filter materials by
impact strength and density to select a suitable material.
Table 3.5 Specifications of Propellers
1 Material ABS Plastic
2 No. of Blades 2
3 Length (Inch) 10
4 Pitch(inch) 4.5
5 Shaft Diameter (mm) 6
6 Total Length(mm) 254
7 Weight(gm) 28
3.2.6 PIXHAWK
Figure 3.7 Pixhawk 2.4.8
The same advancements in microchip technology that created the modern
smartphone make it possible for drones to be flying computers. Many of the same
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chips that can be found in smartphones (Intel, Nvidia, Qualcomm, Arm, etc.) also
appear in drones.
As drones get smarter, they are becoming capable of taking on more
sophisticated tasks with less human control. At present, this means drones can follow
predetermined paths without a human pilot or record measurements from an even
larger array of sensors. But researchers are learning how to program drones to
perform increasingly complex tasks without human help.
3.2.6.2 NEED FOR PIXHAWK
● Software support - as PX4 reference hardware these are our best-maintained

boards.
● Flexibility in terms of hardware peripherals that can be attached.
● Highly customizable in terms of form factor.
● Widely-used and thus well-tested/stable.
● Automated update of latest firmware via QGroundControl (end-user friendly).
3.2.6.3 PIN CONFIGURATION
Figure 3.8 Pixhawk 2.4.8 Pin Configuration
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Table 3.6 Specifications of Pixhawk 2.4.8
1 Input Voltage (V) 7
2 Firmware Mission Planner
3-Axis Gyrometer
Accelerometer
3 Sensors
High-Performance Barometer
Magnetometer
32bit STM32F427 Cortex M4 core
with FPU
4 Processor
The 32-bit STM32F103 failsafe
Co-Processor
5 Weight(gm) 38
3.2.7 RASPBERRY PI
Figure 3.9 Raspberry Pi
29
Raspberry Pi is the name of a series of single-board computers made by the
Raspberry Pi Foundation. All over the world, people use Raspberry Pis’ to learn
programming skills, build hardware projects, do home automation, and even use them
in industrial applications.
The Raspberry Pi 3, with a quad-core ARM Cortex-A53 processor, is
described as having ten times the performance of a Raspberry Pi 1. Benchmarks
showed the Raspberry Pi 3 to be approximately 80% faster than the Raspberry Pi 2 in
parallelized tasks.
Raspberry Pi 4 Computer Model B with 8GB RAM is the latest variant of the
Raspberry Pi 4 Computer series released in June 2019. It has the identical
specification of the other 2 models, Pi 4 2GB RAM and Pi 4 4GB RAM except it has
8 gigabytes of RAM. This is a big news for Raspberry Pi and brings Raspberry Pi
even closer to becoming a serious contender to be a true desktop replacement.
So Raspberry Pi 4 8GB has the same amazing features including Cortex-A72

Quad Core 1.5GHz Processor, Gigabit Ethernet, faster wireless and the ability to run
2x 4K monitors at the same time thanks to the pair of micro HDMI connectors.
3.2.7.2 PIN CONFIGURATION
Figure 3.10 Pin Configuration of RPi 4

30
Table 3.7 Specifications of RPi 4 Model B
Broadcom BCM2711, quad-core Cortex-A72
1 Processor
(ARM v8) 64-bit SoC @ 1.5GHz
2 RAM 4GB LPDDR4 SDRAM
2 × USB 2.0 Ports
2 × USB 3.0 Ports
3 Connectivity 2.4 GHz and 5.0 GHz 802.11b/g/n/ac wireless LAN,
BLE Gigabit Ethernet
Bluetooth 5.0
5V 3A DC via GPIO Header
5V 3A DC via USB Type-C Connector
4 Operating Power
Power Over Ethernet (PoE)–Enabled (requires
separate PoE HAT)
Standard 40-pin GPIO Header
5 GPIO
(Fully backwards-compatible with previous boards)
2 × micro HDMI ports (up to 4Kp60 supported)
2-Lane MIPI CSI Camera Port
6 Video and Sound
2-Lane MIPI DSI Display Port
4-Pole Stereo Audio and Composite Video Port
7 Weight(gm) 52
31
3.2.8 PI CAMERA
Figure 3.11 Pi Camera
A camera is an optical instrument to capture still images or to record moving
images, which are stored in a physical medium such as in a digital system or on
photographic film. A camera consists of a lens which focuses light from the scene,
and a camera body which holds the image capture mechanism.
3.2.8.2 FEATURES AND FUNCTIONALITY OF PI CAMERA

The Raspberry Pi Camera is used to detect/sense the authentication system like
ARTag/QR Code and to send signals to the Rpi. The Raspberry Pi Camera v2 is a
high quality 5 megapixel Sony IMX219 image sensor custom designed add-on board
for Raspberry Pi, featuring a fixed focus lens. It's capable of 3280 x 2464 pixel static
images, and also supports 1080p30, 720p60 and 640x480p60/90 video. It uses the
dedicated CSi interface, designed especially for interfacing to cameras. The board
itself is tiny, at around 25mm x 23mm x 9mm. It also weighs just over 11g, making it
perfect for mobile or other applications where size and weight are important. It
connects to Raspberry Pi by way of a short ribbon cable. The high quality Sony
IMX219 image sensor itself has a native resolution of 5 megapixel, and has a fixed
focus lens on-board. In terms of still images, the camera is capable of 3280 x 2464
pixel static images, and also supports 1080p30, 720p60 and 640x480p90 video.
32
Table 3.8 Specifications of Pi Camera
1 Model OV5647 5MP 1080P IR-Cut Camera
2 Resolution 1080P
3 Camera 5MP
4 CCD Size 1/4inch
5 Focal Length 3.6mm adjustable
6 Output Power for IR LED 3.3~5v
7 Diagonal angle 60 degree
8 Weight(gm) 11
3.2.9 TELEMETRY MODULE:
Figure 3.12 Telemetry Module
This 3DR Radio Telemetry 433MHz 500mW Set allows you to link a flight
controller to a USB or UART equipped device such as a computer, laptop or tablet
supporting a USB connection (OTG). The system utilizes the 433MHz band and
provides a full-duplex link using HopeRF’s HM-TRP modules running custom, open
source, firmware.
33
Table 3.9 Specifications of Telemetry Module
1 Range (m) 2500
2 Frequency Range 433MHz
3 Rated Power (W) 250mW
4 Operating Voltage (VDC) 3~6
5 Max. Operating Current (mA) 500
6 Weight(gm) 33
3.2.9.3 FEATURES
● MAVLink protocol framing status documents
● Frequency modulation and Spread Spectrum (FHSS)
● Self-adaption to time division multiplexing
● Configurable duty cycle
● Built-in error correcting code(up to 25% data bit error)
● AT command configure data transmission
● RT command remote control data transmission
● Interchangeable air and ground 433MHz modules
● 2-way full-duplex communication through adaptive TDM
● UART interface
● Transparent serial link
● Open-source SIK firmware
● Based on the HM-TRP wireless module, with Si1000 8051 microcontroller and
Si4432
34
3.2.10 GPS MODULE
Figure 3.13 GPS Module
The NEO-7 series of standalone GNSS modules is built on the exceptional
performance of the u-blox 7 GNSS (GPS, GLONASS, QZSS and SBAS) engine. The
NEO-7 series delivers high sensitivity and minimal acquisition times in the industry
proven NEO form factor. The NEO-7M is optimized for cost sensitive applications.
Ublox Neo 7M GPS module that includes an HMC5883L digital compass. The new
Ublox NEO 7 series is a high sensitivity, low power GPS module that has 56 channels
and outputs precise position updates at 10Hz. The Ublox Neo 7 module also includes
a rechargeable backup battery to allow for HOT starts and also includes an I²C
EEPROM to store the configuration settings. Out of the box this GPS module is
configured to run at 38400 Baud and is configured to run with APM/Pixhawk
systems.
Table 3.10 Specifications of GPS Module
1 Maximum Altitude (m) 18000
2 Navigation Update Rate 5Hz
3 Position Accuracy (m) 2-2.5
35
4 Maximum Speed 515m/s
5 Capture Time 0.1s Average
6 Input Supply Voltage (VDC) 3.5 ~ 5.5
7 Weight(gm) 26
3.2.11 Li-Po BATTERY
Figure 3.14 LiPo Battery
A lithium polymer battery, or more correctly lithium-ion polymer battery is a
rechargeable battery of lithium-ion technology using a polymer electrolyte instead of
a liquid electrolyte. High conductivity semisolid (gel) polymers form this electrolyte.
These batteries provide higher specific energy than other lithium battery types and are
used in applications where weight is a critical feature like robots, mobile phones, etc.
3.2.11.2 WORKING PRINCIPLE

Just as with other lithium-ion cells, LiPos work on the principle of intercalation
and deintercalation of lithium ions from a positive electrode material and a negative
electrode material, with the liquid electrolyte providing a conductive medium. To
prevent the electrodes from touching each other directly, a microporous separator is in
between which allows only the ions and not the electrode particles to migrate from
one side to the other.
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3.2.11.3 CHARGING THE BATTERY
The voltage of a LiPo cell depends on its chemistry and varies from about 2.7–
3.0 V (discharged) to about 4.2 V (fully charged), for cells based on lithium-metal-
oxides (such as LiCoO2), and around 1.8–2.0 V (discharged) to 3.6–3.8 V (charged)
for those based on lithium-iron-phosphate (LiFePO4).The exact voltage ratings should
be specified in product data sheets, with the understanding that the cells should be
protected by an electronic circuit that won't allow them to overcharge or over-
discharge under use.
Figure 3.15 Working of Battery
Table 3.11 Specifications of LiPo Battery
1 Capacity 6200mAh
2 C-Rating 40C
3 Cell Count 3s
4 Output Voltage (VDC) 11.1V
5 Weight(gm) 446
3.2.11.5 ADVANTAGES
● High energy density.
● Thin thickness.
● Low internal resistance.
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● Customizable shape.
● Good charging and discharging characteristics.
● High voltage.
3.2.12 POWER MODULE
Figure 3.16 Power Module
The APM 2.5.2/2.6/2.8 Pixhawk Power Module is a simple way of providing
APM 2.5 with clean power from a LiPo battery as well as current consumption and
battery voltage measurements, all through a 6-pos cable. This on-board switching
regulator outputs 5.3V and a maximum of 2.25A from 2S-6S LiPo battery. This
Power Module comes completely assembled with Deans connectors, and wrapped in
shrink tubing for protection
Table 3.12 Specifications of Power Module
1 Operating Voltage (VDC) 6 to 28
2 Max input voltage(VDC) 28
3 Max current sensing(A) 90
4 Weight(gm) 24
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3.2.13 BUCK CONVERTER
Figure 3.17 Buck Converter
DC-DC Buck Converter Step Down Module LM2596 Power Supply is a step-
down(buck) switching regulator, capable of driving a 3-A load with excellent line and
load regulation. The LM2596 series operates at a switching frequency of 150kHz,
thus allowing smaller sized filter components than what would be required with lower
frequency switching regulators.
3.2.13.2 WORKING
Figure 3.18 Working of Buck Converter
This is an LM2596 DC-DC buck converter step-down power module with the
high-precision potentiometer, capable of driving a load up to 3A with high efficiency,
which can work with RPi, other companion computers.
39
Table 3.13 Specifications of Buck Converter
1 Input voltage 3-40V
2 Output voltage 1.5-35V(Adjustable)
3 Output current 2A to 3A
4 Conversion efficiency 92%(highest)
5 Switching Frequency 150KHz
6 Weight 11gm
3.2.13.4 ADVANTAGES
● Buck converters offer a more efficient solution with fewer, smaller
external components.
● They are able to step-down voltages using this minimal number of
components while also offering a lower operating duty cycle and higher
efficiency across a wide range of input and output voltages.
3.2.14 SERVO MOTOR
Figure 3.19 Servo Motor
A servomotor is a rotary actuator or linear actuator that allows for precise
control of angular or linear position, velocity and acceleration. It consists of a suitable
motor coupled to a sensor for position feedback. It also requires a relatively
sophisticated controller, often a dedicated module designed specifically for use with
40
servomotors. Servomotors are not a specific class of motor although the term
servomotor is often used to refer to a motor suitable for use in a closed-loop control
system.
3.2.14.2 MECHANISM
A servomotor is a closed-loop servomechanism that uses position feedback to
control its motion and final position. The input to its control is a signal (either
analogue or digital) representing the position commanded for the output shaft.
Figure 3.20 Closed Loop System
The motor is paired with some type of encoder to provide position and speed
feedback. In the simplest case, only the position is measured. The measured position
of the output is compared to the command position, the external input to the
controller. If the output position differs from that required, an error signal is generated
which then causes the motor to rotate in either direction, as needed to bring the output
shaft to the appropriate position. As the positions approach, the error signal reduces to
zero and the motor stops.
Pulse Width Modulated Input
Figure 3.21 Servo Motor Control

41
Table 3.14 Specifications of Servo Motor
1 Operating Voltage (VDC) 3.0 ~ 7.2
2 Operating speed 0.1s/60°
3 Gear Type Glass Fiber
4 Rotation 360°
5 Stall Torque @ 4.8V (Kg-Cm) 1.2
6 Stall Torque @6.6V (Kg-Cm) 1.6
7 Weight (gm) 9
3.2.14.4 ADVANTAGES
● High output power relative to motor size and weight.
● Encoder determines accuracy and resolution.
● High efficiency. It can approach 90% at light loads.
3.2.15 ULTRASONIC SENSOR
Figure 3.22 Ultrasonic Sensor
42
An ultrasonic sensor is an instrument that measures the distance to an object
using ultrasonic sound waves. An ultrasonic sensor uses a transducer to send and
receive ultrasonic pulses that relay back information about an object’s proximity.
High-frequency sound waves reflect from boundaries to produce distinct echo
patterns.
3.2.15.2 MECHANISM
Ultrasonic sensors work by sending out a sound wave at a frequency above the
range of human hearing. The transducer of the sensor acts as a microphone to receive
and send the ultrasonic sound. Our ultrasonic sensors, like many others, use a single
transducer to send a pulse and to receive the echo. The sensor determines the distance
to a target by measuring time lapses between the sending and receiving of the
ultrasonic pulse.
Figure 3.23 UltraSonic Pulse
The working principle of this module is simple. It sends an ultrasonic pulse out
at 40kHz which travels through the air and if there is an obstacle or object, it will
bounce back to the sensor. By calculating the travel time and the speed of sound, the
distance can be calculated.
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3.2.15.3 WORKING
Figure 3.24 Working of Ultrasonic Sensor
Ultrasonic sensors are used for collision avoidance in drones. We have used
ROS and integrated it with the sensor so that the drive can be controlled efficiently.
The Publisher code publishes the sensor reading whereas the subscriber code gets the
values and works with an collision avoidance algorithm.
3.2.15.4 ADVANTAGES
● Wear Free – Ultrasonic sensors have no moving parts; this makes them
completely wear free and gives them a longer life than contacting alternatives.
● Highly accurate – Because of the way they work, Ultrasonic sensors are highly
accurate and can be used to detect very small alterations in position. They can
also measure the thickness of an object as well as the depth of the parallel
surface.
● Shape Detection – Other types of position sensor can detect the position of an
object but, where an ultrasonic sensor excels is that they can also detect sizes
and shapes of objects. This makes them far more flexible in terms of their
application use.
● Detects a range of materials – Ultrasonic position sensors can detect and

measure objects irrespective of their surface or colour.
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Table 3.15 Specifications of Ultrasonic Sensor
1 Operating Voltage (VDC) 3.3 ~ 5.5
2 Average Current Consumption (mA) 3.4
3 Frequency(Hz) 42000
4 Resolution 1cm
5 Read Rate (Hz) 10
6 Max. Sensing Distance (cm) 765
7 Weight (gm) 6
3.2.16 RACK AND PINION
Figure 3.25 Rack and Pinion
A rack and pinion is a type of linear actuator that comprises a circular gear (the
pinion) engaging a linear gear (the rack), which operates to translate rotational motion
into linear motion. Driving the pinion into rotation causes the rack to be driven
linearly. Driving the rack linearly will cause the pinion to be driven into a rotation. A
rack and pinion drive can use both straight and helical gears. Helical gears are
preferred due to their quieter operation and higher load bearing capacity. The
maximum force that can be transmitted in a rack and pinion mechanism is determined
by the tooth pitch and the size of the pinion.
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3.2.16.2 RACK AND PINION USAGE
Rack and Pinion Gear set is used here to open and close the package container
retrofitted to the drone for dropping the package.
3.2.16.3 OPERATION PROCESS
Figure 3.26 Working of Rack and Pinion
Steps in Operation
1. Gear (Pinion) is fixed to servo motor
2. Rotational movement is transferred to the pinion through the servo motor.
3. Pinion transfer the rotational motion into linear motion through the rack
4. Rack is adhered to the package holder and leads to the opening of the
container.
3.2.16.4 ADVANTAGES
● Lighter , Reducing the number of parts in a system also reduces the weight.
● Repairing a rack and pinion steering system tends to be easier than a traditional
system.
● Less Complex (Simple)
46
CHAPTER 4
SOFTWARES
4.1 FUSION 360
Figure 4.1 Autodesk Fusion 360 Logo
4.1.1 INTRODUCTION
Engineer products with a comprehensive set of modeling tools. Ensure form,

fit, and function of your products with various analysis methods.
Fusion 360 is a cloud-based CAD/CAM/CAE tool for collaborative product

development. Fusion 360 combines fast and easy organic modeling with precise solid
modeling, to help you create manufacturable designs. Autodesk software has been
used in many fields, and on projects from the One World Trade Center to Tesla
electric cars.
4.2.3 FEATURES
● 3D Design & Modeling

● Manufacturing
● Electronics
● Data Management
● Collaboration
● Additive Manufacturing
● Generative Design
● Simulation
47
4.2 ROS
Figure 4.2 Robot Operating System

Logo 4.2.1 INTRODUCTION
Robot Operating System(ROS or ros) is robotics middleware (i.e. collection of
software frameworks for robot software development). It provides services designed
for a heterogeneous computer cluster such as hardware abstraction, low-level device
control, implementation of commonly used functionality, message-passing between
processes, and package management. Running sets of ROS-based processes are
represented in a graph architecture where processing takes place in nodes that may
receive, post and multiplex sensor data, control, state, planning, actuator, and other
messages.
4.2.2 APPLICATION
● Advanced perception Path/grasp planning
● Lane detection
● Autonomous robots
● Industrial robotics
4.2.3 FEATURES
● Real time tracking of drone
● ARTag recognition
● Integration of the system
4.2.4 PROCESS WORKFLOW

ROS runs on the onboard computer such as Rpi, Odroid. Camera is integrated
with the companion computer. Communication between Companion computers and
Ground Control Station(GCS) is achieved through the Telemetry Module. Not only
that, it also establishes live communication between Pixhawk and GCS. At the
48
destination, the Camera reads and decodes the ARTag/QR Code from the end
customer which will be sent to the customer at the time of journey. If the decoded
data is subscribed by another node and, if it matches with the feeded data, it actuates
the servo and the package is delivered .
4.3 MISSION PLANNER
Figure 4.3 Mission Planner Logo
4.3.1 INTRODUCTION
ArduPilot is an open source, unmanned vehicle Autopilot Software Suite,

capable of controlling
● Multirotor drones
● Fixed-wing and VTOL aircraft
● Helicopters, Ground rovers
● Boats
● Submarines
● Antenna trackers
autonomously. The ArduPilot software suite consists of navigation software (typically

referred to as firmware when it is compiled to binary form for microcontroller
hardware targets) running on the vehicle, along with ground station controlling
software including Mission Planner, APM Planner, QGroundControl, MavProxy,
Tower and others. Mission Planner is a full-featured ground station application for the
ArduPilot open source autopilot project. Mission Planner can be used as a
configuration utility or as a dynamic control supplement for your autonomous vehicle.
49
4.3.2 FEATURES
● Fully autonomous, semi-autonomous and fully manual flight modes,
programmable missions with 3D waypoints, optional geofencing.
● Stabilization options to negate the need for a third party co-pilot.
● Simulation with a variety of simulators, including ArduPilot SITL.
● Sensor communication via SPI, I²C, CAN Bus, Serial communication, SMBus.
● Failsafes for loss of radio contact, GPS and breaching a predefined boundary,
minimum battery power level.
● Support for navigation in GPS denied environments, with vision-based
positioning, optical flow, SLAM, Ultra-WideBand positioning.
● Support for actuators such as parachutes and magnetic grippers.
● Support for brushless and brushed motors.
● Integration and communication with powerful secondary, or companion
computers
4.4 FLOW DESIGN
Figure 4.4 Autodesk Flow Design Logo
4.4.1 INTRODUCTION
Flow Design is virtual wind tunnel software for product designers, engineers,
and architects. It models airflow around design concepts to help test ideas early in the
development cycle. Flow Design is a 3D virtual wind tunnel for simulating air flow
over and around your designs. With Flow Design, you can import a wide range of
geometry and image formats and visualize flow results in seconds.
Autodesk Flow Design software provides computational fluid dynamics
software features with improved reliability and performance. Compare design
50
alternatives and better understand the implications of your choices before
manufacturing.
4.4.2 FEATURES
● Flow control applications.
● Customised result.
● Intelligent automatic mesh sizing.
● Flexible solving.
51
CHAPTER 5
DIAGRAM AND DESIGN
5.1 CONCEPT DIAGRAM
Figure 5.1 Concept Diagram of Drone Delivery System
The central computing unit at the warehouse, fetches the user’s location and
sends an ARTag (encrypted with a specific numeric code). The package is loaded to
the drone and the user's location is fed to the flight controller of the drone. With the
location and sensors’ data as input, the drone autonomously reaches the user’s
location. At the destination point, if the right ARTag is shown to the camera mounted
on the drone, the package is dropped. Upon successful delivery of the package to the
right user, the drone returns to the launch location.
52
5.2 BLOCK DIAGRAM
Figure 5.2 Block Diagram
The main controlling unit contains the pixhawk as the flight controller unit
with Raspberry pi 4 as the companion processor for higher end processing work.
Pixhawk has the inbuilt GPS, accelerometer, barometer, IMU, gyroscope and
compass. It is connected with an Electronic Speed Controller (ESC) that controls the
BLDC motor speed. It also maintains stability of the drone using the output of the
sensor. Pixhaxk is connected through the communication unit that consists of a
telemetry module that sends the data such as geo location , altitude,etc. to Ground
Control Station(GCS) in our case warehouse. The companion processor is connected
to the proximity sensor, actuations unit and the camera modules. The proximity sensor
in our case ultrasonics sensor is used to keep the drone from the disturbance. The
actuation system contains servo for dropping the package and the camera module is
used for the authentication system using ARTags.
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5.3 CAD
Figure 5.3 Diagonal View of Design With Dimensions
Figure 5.4 Side View of Design With Dimensions
54
Figure 5.5 Bottom View of Design With Dimensions
Figure 5.6 Top View of Design With Dimensions
55
Figure 5.7 Isometric view of the Drone
Figure 5.8 Design of Drone with the sample package in it
56
5.4 WIRING DIAGRAM
Figure 5.9 Wiring Image of Drone Components [Reference 8]
57
CHAPTER 6
CALCULATION
6.1 DRAG FORCE CALCULATION
Drag Force,
Where,
CD = Drag Coefficient (No Unit)
FD = Drag Force (N or Kgm/s2)
= Mass Density of the Fluid (kg/m3)

v = Flow speed of the object relative to the fluid (m/s)
A = Reference Area (m2)

We know that,
= 1.225 … [constant]
kg/m3 CD = 0.63 … [From Wind Tunnel Simulation]
… [From Flight Simulation]
v ≅ 35 kmph or 10 m/s
A ≅ 0.09 m2 …
[From CAD Dimension]
By Applying,
FD = 1 [1.225*100*0.63*0.09]
2
FD = 3.472 N or Kgm/s2
Simulated Value of FD= 3.479 N

… [From
Calculated Value of FD = 3.472 N
Wind Tunnel Simulation] … [From
Hence, Above]
Simulated Value ≅ Calculated Value
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6.2 THRUST CALCULATION
THEORY
1. Whenever thrust produced by the motors is less than the weight of the drone, it
is immobile.
2. Whenever thrust produced by the motors is equal to the weight of the drone, it
hovers.
3. Whenever thrust produced by the motors is greater than the weight of the
drone, it flies. Minimum thrust to weight ratio should be 2:1.
CALCULATION
Weight of the drone with payload ≅ 2000g
… [Considering weight of payload as 700g]

Required thrust = Twice the weight of the drone
≅ 4000g
Thrust per motor = Required thrust ÷ 4 … [as quadcopter is used]
Thrust per motor ≅ 1000g
Outrunner Motor and propeller is chosen based on this calculation.
6.3 FLIGHT DURATION
CALCULATION FORMULA:
* ℎ
Time =
ℎ *1000
Average amp draw =
CALCULATION:
Power = 170W/kg … [From datasheet and bench test]
Battery Voltage = 12.6v … [voltage of fully charged 3s LiPo Battery]
Total weight of Drone ≅ 2kg
… [Calculated by adding weights of components and payload]
59
Average amp draw = 2 * 170 A 12.6
Average amp draw = 26.9 A
* ℎ
Time =
We know,
Battery Capacity = 6200mAh or 6.2 Ah … [Chosen battery capacity]
Discharge percentage = 80%
… [A cell of LiPo battery shouldn’t discharge below
3.3] Average amp draw = 26.9 A
Therefore,
6.2 * 80
Time = 100 * 26.9
hr
Time ≅ 0.1 hr or 12 min with full payload at full throttle
60
CHAPTER 7
FEATURES AND FUNCTIONALITIES
7.1 AUTOPILOT SYSTEM

Autopilot is a feature that performs autonomous flight drones.
7.1.1 FUNCTIONALITY
It is achieved using integration of flight controllers like Pixhawk and ground
station softwares like Mission Planner, QGroundControl. Input data from the user is
added to the drone using the software by operator.
7.2 COLLISION AVOIDANCE SYSTEM

The entire system is divided into two main modules: One for Obstacle
Detection and one for Collision Avoidance.
7.2.1 OBSTACLE DETECTION

In the obstacle detection module, ultrasonic sensors are used to increase
detection resolution and sensor data reliability.The implemented approach uses two
ultrasonic sensors for one half of the same angle.The distance of obstacle is calculated
through sensor data and published.
7.2.2 COLLISION AVOIDANCE:

The collision avoidance module divides the area around the quadrocopter
dependent on the measured distance into three zones for each direction
● Far or safe zone (green)
● Close zone (yellow)
● Dangerous zone (red)
Initially and if the autonomous collision avoidance is off, the quadrocopter is
in state 0. If the autonomous mode is activated, the quadrocopter can switch between
state 1, 2 or 3 depending on the measured distance to a nearby object.
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7.2.3 FUNCTIONALITY:
State 1 (safe zone) is active, if there is no obstacle nearby (object distance >
a+b).If an obstacle is detected in the close zone (a > object distance > a+b), state 2
(close area) is activated and the corresponding pitch or roll angle towards the obstacle
is limited depending on the measured distance reducing the speed of approach. In The
dangerous zone(a < object distance),state 3 is activated and the distance to the
obstacle is controlled using a PID controller, preventing a further approach to the
obstacle.Hence, such a state machine is necessary for every direction.
7.3 REAL-TIME TRACKING

It is an additional feature visualized to the user end through web application or
mobile application to track the live location of the drone and to know the estimated
time of arrival.
7.3.1 FUNCTIONALITY
Raw Data from the telemetry module is received through the COM port of the
central computer and is processed and published in the desired format like in maps
onto web application/mobile application.
7.4 PACKAGE DELIVERY MECHANISM

It is a system which consists of a container to store the package and a dropping
mechanism to deliver the package.
7.4.1 FUNCTIONALITY
It is a package transporting a container made of acrylic sheet which is retrofitted
to the base of the drone. Servo motor is used to actuate the Slider. The mechanism
used here is Rack and Pinion whose output is linear movement and input is circular
movement. Servo and pinion are mounted on the outside of the container and rack is
attached to the slider. So whenever the servo motor rotates, rotational movement is
transferred into linear movement and the slider is opened to drop the package placed
in it.
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7.5 ARTag DETECTION
ARTag is used as an authentication system to ensure the right customer.
7.5.1 FUNCTIONALITY
The authentication system for package dropping is built with an ARTag as the
detection system. The user will be provided with the digital ARTag which is
encrypted with a numerical value. The controller at drone senses the tag through the
camera. Once it matches, a signal is sent to the servo motor to actuate the dropping
mechanism.
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CHAPTER 8
RESULT AND DISCUSSION
8.1 AUTONOMOUS FLIGHT SIMULATION
Figure 8.1 Screenshot of Dashboard During Autonomous Flight

Simulation of Drone in Mission Planner Software
Figure 8.2 Screenshot of Dashboard During Simulation of Drone on its Mission
64
8.1.1 DESCRIPTION
Mission Planner Software is used as a configuration utility, dynamic control

supplement and also as a live dashboard. To deliver the package to a desired location,
initially a mission is planned by entering parameters like latitude and longitude,
altitude etc. and by assigning certain command/modes in order like Take Off,
Waypoint, Delay, Payload Place, Land, Return to Launch. As soon as the operator hits
Mission Start, Drone performs its mission and the live data like speed, altitude,
distance to waypoint, yaw, direction etc. of the drone is updated in the data
dashboard(Figure 8.2). This data can also be pushed to the web application or mobile
application for users for live tracking which is set to be an additional feature and
future work in this project. And this is how Autonomous Flight is achieved in this
project.
8.2 WIND TUNNEL SIMULATION
Figure 8.3 Screenshot of Wind Tunnel Simulation of 1st Iteration of Design in

Autodesk Flow Design
65
Figure 8.4 Screenshot of Wind Tunnel Simulation of Final Design in Autodesk
Flow Design
Figure 8.5 Screenshot of Front View of Wind Tunnel Simulation

of Designed Drone in Autodesk Flow Design
66
It may be noted that in Figure 8.3, Drag Force created is 3.884N. Whereas in
Figure 8.4, with the 2nd iteration of design, Drag Force is slightly reduced to 3.480N.
We practically inferred that as Area increases, Drag Force also increases which obeys
the Drag Force Formula, FD = 12 [ CDv2A] where Drag Force is directly proportional to
Area. Considering these simulation values, Aerodynamics and other parameters, Design
for the package container is finalised. In Figure 8.4 and 8.5, Drone is slightly tilted as
while flying, Pitch angle is almost around 30 degree which is inferred from the data of
Autopilot simulation.
8.3 ARTag DETECTION
Figure 8.6 Screenshot of ARTag Subscriber Launch File
Figure 8.7 Photo of Actuation of Relay when ARTag is Detected

67
Figure 8.8 Photo of Non-Actuation of Relay when Detected ARTag is Mismatched
Figure 8.9 Screenshot of ARTag Visualisation in RVIZ
68
8.3.1 DESCRIPTION
An ARTag is a fiducial marker system to facilitate the appearance of virtual

objects. The authentication system for package dropping is built with an ARTag as the
detection system. The user will be provided with the digital ARTag which is
encrypted with a numerical value. The controller at drone senses the tag through the
camera.
The camera node publishes the raw image data. The ar_track_alvar package
(standard builtin package available in ros wiki) is used to fetch the encrypted numeric
value from raw_image topic and publish the message. The subscriber node is
launched by the track.launch file, which subscribes to the AR code value. The
appropriate motor actuation is done if the correct AR code is detected.
The input ARTag image is sensed by the system successfully and visualized in
RViZ(Figure 8.9). Figure 8.7 shows the actuation of the relay module as the camera
detects the ARTag. LED is on which denotes that the relay is active.
8.4 PACKAGE DROPPING MECHANISM
Figure 8.10 Screenshot of Actuated Slider Mechanism (Rack And Pinion)
69
CHAPTER 9
CONCLUSION AND FUTURE WORK
Different iterations of design and simulation analysis led to progress of

efficient and effective design. Knowledge gained from lab practices and theoretical
courses assisted in doing this project. Also, it led to the deeper understanding of
concepts both practically and theoretically in multiple disciplines. On discussing
various aspects of the working of the drone it can be seen that the drone can be used
to carry the package, with the feeded destination location. The real-time tracking of
the drone can be visualized using a telemetry device where the GPS data is obtained
through the controller. The collision avoidance mechanism is employed making it
easier to navigate through any conditions.
This project is all about delivering the packages to users using drones. The
project aims to build a drone logistic system. The entire device is built in the
middleware ROS to have an integrated system and to implement the master slave
concept.
The ‘last mile’ problem is growing in tandem with soaring e-commerce sales
and, while technology offers better tracking systems and analysis tools that can
optimise the delivery process.
This project is about implementing a drone logistic system with accurate and
secure package delivery service. The proposed solution primarily solves the last mile
problem in urban areas.
As of this writing, the project has returned encouraging results. The project is
not yet complete and is expected to reinforce previously returned results along with
additional valuable design insights upon completion. Due to the necessary scope
reduction brought about by the student, further research is necessary. Some of the
major defects of this project is that it tends to fail in a few areas of implementation
such as stabilisation of drones in varied weather conditions, reaching the destination
accurately in densely packed areas. However, this can be eliminated to a certain
extent by using ARTags for delivering it to the right customer.
70
The future work of this project is making it navigable in all conditions and
testing it in the real world. Future work is going to focus on scaling and including
additional features like live tracking to the end customer. Once it is achieved, the plan
is to deploy it for different use cases like Medicine delivery, Food delivery, cold chain
logistics and many more. Multiple drones can also be made to work as a
network(SWARM) with the master slave concept enabled through ROS. Through
master slave implementation, the drone logistics system could be enhanced and
scaled. One of the biggest show stoppers is the DGCA rules and regulations for flying
commercial drones.
71
CHAPTER 10
REFERENCES
[1] Aurambout, J. P., Gkoumas, K., & Ciuffo, B. (2019). Last mile delivery by
drones: An estimation of viable market potential and access to citizens across
European cities. European Transport Research Review, 11(1), 30.
[2] Kim, J., Moon, H., & Jung, H. (2020). DroneBased Parcel Delivery Using the
Rooftops of City Buildings: Model and Solution. Applied Sciences, 10(12),
4362.
[3] Meier, L., Tanskanen, P., Fraundorfer, F., & Pollefeys, M. (2011, May).
Pixhawk: A system for autonomous flight using onboard computer vision. In
2011 IEEE International Conference on Robotics and Automation (pp. 2992-
2997). IEEE.
[4] Atoev, S., Kwon, K. R., Lee, S. H., & Moon, K. S. (2017, November). Data
analysis of the MAVLink communication protocol. In 2017 International
Conference on Information Science and Communications Technologies
(ICISCT) (pp. 1-3). IEEE.
[5] Khan, R., Tausif, S., & Javed Malik, A. (2019). Consumer acceptance of
delivery drones in urban areas. International Journal of Consumer Studies,
43(1), 87-101.
[6] Macrina, G., Pugliese, L. D. P., Guerriero, F., & Laporte, G. (2020). Drone-
aided routing: A literature review. Transportation Research Part C: Emerging
Technologies, 120, 102762.
[7] Koiwanit, J. (2018). Analysis of environmental impacts of drone delivery on
an online shopping system. Advances in Climate Change Research, 9(3), 201-
207.
[8] https://www.researchgate.net/figure/Wiring-scheme-of-our-
UAV_fig5_338096 276 [access on 20th May, 2021]
72

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DRONE DELIVERY SYSTEM

in partial fulfillment for the award of the degree of

KUMARAGURU COLLEGE OF TECHNOLOGY,

in partial fulfillment for the award of the degree of

KUMARAGURU COLLEGE OF TECHNOLOGY,

Certified that this project report “DRONE DELIVERY SYSTEM” is the

bonafide work of “SHRIRAM SG, KOUSHAL AC, ISHTHIAQ HUSSAIN

I, VINODHINI R” who carried out the project work under my supervision.

Dr. SARAVANAN MOHAN M Mr. ANUSH P

INTERNAL EXAMINER EXTERNAL EXAMINER

secure and efficient delivery service.

collision avoidance system. The package delivery mechanism is aided with an

Drone delivery is a disruptive technology that is redefining the traditional

logistics industry. Drones offer a more cost-effective way to deliver packages by

revenues and bottom lines.

Keywords: Robot Operating System (ROS), ARTag, Autopilot.

to our beloved principal, Dr. D. SARAVANAN, Kumaraguru College of Technology, for

by permitting us to utilize all the necessary facilities of the institution. We express

us all the way during the project.

S.NO NAME REGISTER NUMBER SIGNATURE

2 ISHTHIAQ HUSSAIN I 17BMC033

CHAPTER TITLE PAGE

3 MATERIALS AND METHODS 20

5 DIAGRAM AND DESIGN 52

7 FEATURES AND FUNCTIONALITIES 61

8 RESULT AND DISCUSSION 64

9 CONCLUSION AND FUTURE WORK 70

TABLE TITLE PAGE

3.1 List of Materials 20

3.2 Specifications of Quadcopter Frame 23

3.3 Specifications of BLDC Motor 24

3.4 Specifications of ESC 26

3.5 Specifications of Propellers 27

3.6 Specifications of Pixhawk 2.4.8 29

3.7 Specifications of RPi 4 Model B 31

3.8 Specifications of Pi Camera 33

3.9 Specifications of Telemetry Module 34

3.10 Specifications of GPS Module 35

3.11 Specifications of LiPo Battery 37

3.12 Specifications of Power Module 38

3.13 Specifications of Buck Converter 40

3.14 Specifications of Servo Motor 42

3.15 Specifications of Ultrasonic Sensor 45

FIGURE TITLE PAGE

ARTag - April Tag

BEC - Battery Elimination Circuit

CAD - Computer Aided Design

CAM - Computer Aided Manufacturing

CAE - Computer Aided Engineering

DGCA - Directorate General of Civil Aviation

ESC - Electronic Speed Controller

ETA - Estimated Time of Arrival

FPV - First Person View

GPS - Global Positioning System

GCS - Ground Control Station

HMV - Heavy Motor Vehicle

Li-Po - Lithium Polymer

ROS - Robot Operating system

UAV - Unmanned Aerial Vehicle

= Mass Density of the Fluid (kg/m3)