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1. Graduation Project
Plant diseases drone detector

2. Objective : fix the main tools that’s we need to start the
project
Introduction
in this presentation we will see how can we make our own
plant diseases drone detector

3. stacks
How drone works a general
• how drone works
• overview mechanical modeling
Embedded stack
• peripherals used
• sensors
• control methodology
intelligence artificial
• peripherals used
• AI technique used

4. Brushless motor
Electronics speed control
Atmega 32 microcontroller
Raspberry pi
4 brushless motors with 1000kv able to
overcome the drag force
1000 rpm / min with 1 volt
4 electronics speed control to generate a
PWM and control the speed of the motor
Arduino microcontroller with atmega 32
CPU
System on chip Rasp for diseases detection
model
Gyro IMU
Batterie
Radio transmitter
Radio receiver
Gyro module for drone status control
Batterie as a source of power
Radio receiver with 4 channels at least
Radio transmitter with 4 channels at least
Embedded stack

5. Drones tools
• Brushless motor A2212 /13T 1000KV 1000KV 1000 rpm/min/ 1 volt
• Thrust 800 gram for 1 motor 3200 gram total load
• Thrust to weight ratio at least 2
• Total load 3200/2 = 1600 gram
• Load drone can lift 1600 – (motor weights frame ….)
• 13 amp max current
• Body frame
• Motor Frame size depend

6. Drones tools
• Electronic speed control we need
current Esc > motor current
• Gyroscope with the
PID control

7. Ardopilot
ArduPilot is an open source, unmanned vehicle Autopilot
Software Suite, capable of controlling autonomous: •
Multirotor drones • Fixed-wing and VTOL aircraft •
Helicopters • Ground
PixHwak
PixHWAK is an open source, unmanned vehicle Autopilot
Software Suite, capable of controlling autonomous: •
Multirotor drones • Fixed-wing and VTOL aircraft •
Helicopters • Ground
Naza
Naza is an open source, unmanned vehicle Autopilot
Software Suite, capable of controlling autonomous: •
Multirotor drones • Fixed-wing and VTOL aircraft •
Helicopters • Ground
Arduino uno
The Arduino Uno is an open-source microcontroller board
based on the Microchip ATmega328P
Firmware control

8. How drone works
• Overcome the drag force to move up • Left motors higher speed than right motors • Right motors higher speed than right motors
• Back move • Stable • Rotating

9. Thrust in the z axis and drag forces
𝑡ℎ𝑟𝑢𝑠𝑡 𝑓𝑜𝑟𝑐𝑒 = 𝑘 ∗ 𝑤2
𝑎𝑛𝑑 𝑘 𝑖𝑠 𝑡ℎ𝑒 𝑙𝑖𝑓𝑡 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
Drag force =
1
2
*ρ*C*A*𝜈2
= b * 𝑤2
and b is the drag constant
Each motor provides a thrust force :
𝐹𝑧 = 𝐹 ∗ (𝑤1
2
+ 𝑤2
2
+ 𝑤3
2
+ 𝑤4
2
)
Spin around x, y axis
We need three rotational movements :
roll x = 𝑙 ∗ 𝑘 (𝑤4
2
− 𝑤2
2
)
pitch y = 𝑙 ∗ 𝑘 (𝑤3
2
− 𝑤1
2
)
yaw z = b * (𝑤1
2
− 𝑤2
2
+ 𝑤3
2
- 𝑤4
2
)
We can t induce force in the y and x axis
We can get the force in the x axis and y axis using the
rotational
Movement equation

10. Movement equation
Positions and velocity
• x , y , z
• Ф σ Ψ
• y 𝑧 𝑥
• Ф σ Ψ
The angular speed
•
𝑤𝑏𝑥
𝑤𝑏𝑦
𝑥𝑏𝑧
=
1 0 sin σ
0 cos Ф 𝑐𝑜𝑠σ𝑠𝑖𝑛Ф
0 cosФ 𝑐𝑜𝑠σcosФ
∗
Ф
σ
Ψ
Kinetic energy and potential energy
• T =
1
2
∗ 𝑚 ∗ (𝑥 2
+ 𝑧 2
+ y2
) +
1
2
( 𝑖𝑥𝑥* 𝑤𝑏𝑥
2
+ 𝑖𝑦𝑦* 𝑤𝑏𝑦
2
+ 𝑖𝑧𝑧 * 𝑤𝑏𝑧
2
)
• V = m * g
Lagrange equation
• l = t– v
•
𝑑
𝑑𝑡
𝑑𝑙
𝑑𝑞
−
𝑑𝑙
𝑑𝑞
= 𝑓𝑒 = thrust * r – drag

11. Drone control
Drone
Control
Develop the firmware to control the Dorn based on
pulse position modulation ,the interrupt technique in
the atmega32 microcontroller , using gyro and
module and PID control

12. Drone controller
move 1
move 2
move 3
move 4
 Roll for right and left
 Pitch for forward and backward
 Yaw for CW and CCW
 Throttle for up and down
 Range

13. IA Stack
Plant diseases model
 Raspberry pi
 CNN
 YOLO
 Camera

14. Thank you