Title: ALL TERRAIN QUADCOPTER

Abstracts: A compact “All terrain quadcopter” is to be designed which can negotiate through land,
water and air silently and stealthily for surveillance.
The technology targeted through this model is mobility on air water and land simultaneously, and
possess silent and stealthy platform.
The quadcopter will be capable of providing clear view of the surrounding environment.
SURVEILLIANCE
 For surveillance a camera will be used to provide live telecast of surroundings.
In the prototype we will be using Wi-Fi mode for telecast. The Wi-Fi mode is limited for a short
range, hence the transmission range can be advanced using long range radio transmission.

 It will also transmit its real time geographical location using GPS module which will assist in
navigating the robot at the destination.
FOR AREAL MOVEMENTS:
 We will use four propellers to provide mobility in air. The four propeller will be driven by
coreless dc motors of high RPM.
 The directions of movement and altitude of the vehicle will be controlled by varying angular
speed of propellers using PWM.
FOR MOVEMENT ON LAND:
 For movement on land we will employ transmission belts driven by two coreless motors one on
each side.
 The belt will roll over four gears placed on each side at four corners.
FOR MOVEMENT IN UNDERWATER:
 For underwater movement 4 propellers, (two at front and two at back) will be used which will
control front and back motion and rotation in underwater.
 For controlling depth the propeller which are used in flight will be rotated in clockwise and
anticlockwise direction to provide thrust in required direction.

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3. QUESTIONNAIRE:
a) What is your motivation behind participation?
To strengthen and advance the technology of defence system of our country.
To explore in the world of warfare, and advanced technology.
b) What are your specialized knowledge and expertise?
Knowledge in cad models and in the field of electronics and robotics.
c) Previous participation/awards/recognition if any?
o Participated in WRO(world Robotics Olympiad)
o Participating in Ecokart series 2018 and secured 20th position in its virtual round among
148 teams all around the nation.
o Participated in Formula Bharat 2017(FSAE car)
o Participated in intercollege IPD (innovative project design) EXPO and secured 1st
position in Electronics and 2nd position in Mechanical department.
a) What are you planning to exhibit?
o Innovative ideas, concept through 2D/3D models.

PART B
4. Technical Proposal
Introduction - A quadcopter which can negotiate through all terrains is planned to be designed which
can be used for surveillance on land, air and underwater instead of using individual robots for different
terrains accordingly. The quadcopter will be capable of providing clear view of the surrounding
environment, and will give geographical location.

DESIGN OVERVIEW:

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Components used:
a) Frame: frame will be 3D printed. Using PLA (Polylactic Acid) filament (around 100g)
b) Coreless DC motor x 4
c) Servo motor (SG90) x 4
d) Propeller x 4(for areal movement), x4 for underwater movement
e) Atmega328p (Arduino nano microcontroller) x 2
f) Li-po battery
g) Wi-Fi module (ESP -12) x2
h) Waterproof camera module
i) Raspberry pi microcontroller
j) RF module

1. FRAME:
o Frame will be 3D printed using PLA filament.
o It consist of four arms at each corner of main body.
o Two gears are mounted on each arm at the ends on which the belt will be rolled using
high RPM coreless motors.
o A rough sketch of frame is as follows:

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 2. MOTORS:
o CORELESS DC MOTOR: (to be used for rotating propeller)
We are using coreless DC motors to provide maximum RPM. The speed of motor will be
controlled by PWM using arduino and mosfet to drive high current to motors.
 4 motors for areal propellers-
 2 motors for movement of belt
 4 motors for underwater propellers
MOTORS Quantity Specifications
Weight Dimensions RPM
(in g) (dia x length mm)
Areal propeller 4 5g 8mm x 20mm 50,000
Belt movement 4 5g 8mm x 20mm 50,000
Underwater propeller 4 4g 7mm x 16 mm 50,000

3. PROPELLER:
o For areal movements
Propeller are designed in such a way that can provide
thrust for areal movements as well as for underwater
movement.

o For underwater movement:

For underwater movements propeller as
shown in adjacent fig. will be used, for
providing thrust in water.

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3. TRANSMISSION BELTS:
Transmission belts of rubber material with multiple groves
is used to provide maximum friction for land movements
even in rough terrain.

MOVEMENT MECHANISM:
1. AREAL MOVEMENT:
Quadcopter generally use two pairs of identical fixed pitched propellers; two clockwise (CW) and
two counterclockwise (CCW). These use 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 centre of thrust both laterally and longitudinally; and to create a desired total torque, or
turning force.

Schematic of reaction torques on each motor of a quadcopter aircraft, due to spinning rotors. Rotors 1
and 3 spin in one direction, while rotors 2 and 4 spin in the opposite direction, yielding opposing torques
for control.

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A quadcopter hovers or adjusts its altitude by applying equal thrust to all four rotors.

A quadcopter adjusts its yaw by applying more thrust to rotors rotating in one direction.

A quadcopter adjusts its pitch or roll by applying more thrust to one rotor and less thrust to its
diametrically opposite rotor.

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2. Under water movement
The up thrust against the weight of the quadcopter in water is provided by the propellers used in
areal navigation by rotating in required direction, which will prevent sinking.
Depth can be controlled by varying their speed.
For underwater movements small (red coloured in model) are used, for forward and backward
motion.
Turning can be achieved by making propeller of one side static while other being in motion.
To prevent damage to the electronic circuitry coating of epoxy, and then sealing in an air tight
box.

3. On land movement:
o The propulsion systems, and operational mobility on land makes use of tracks rather than
wheels, which allows the quadcopter to move over rugged terrain and adverse conditions
such as mud, and be positioned on the battlefield in advantageous locations.
o The quadcopter will be highly mobile and able to travel over most types of terrain due to
its continuous tracks and advanced suspension and also will be able to climb over most
obstacles. The tracks disperse the weight of the vehicle over a large area, resulting in less
ground pressure. In addition, rough terrain will effectively limit the quadcopter's speed
through the stress it puts on the suspension.
o This quadcopter will use two identical tracks as shown by the cad model. In this
quadcopter steering is accomplished by changing gears on one and not the other. This
maintains power to both tracks while steering, produces a wide range of turning circles,
and even allows one track to be reversed while the other moves forward, allowing the
tank to turn in place.
o For forward movement both will be rotated in forward direction and similarly in
backward direction for reverse movement.
o For taking right turn the belt at right side will move in backward direction and left side
will keep on moving forward.(similarly in left side turn).
o The belt will also be capable for overcoming small obstacles in front of it(like pebbles,
stones etc. in rough terrain)

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BLOCK DIAGRAM

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Surveillance:
Surveillance will be provided by waterproof camera of high resolution and pixel value to provide clear
and contrast view of surrounding and which can withstand in all terrain.
Along with camera GPS module will also be embedded so as to provide real time location of the
quadcopter which will assist in navigation to the destination easily.
Control and video transmission: For flight controller we are using raspberry pi microcontroller along
with long range RF receiver module and Wi-Fi module.
The transmitter will be made using arduino micro controller and long range RF transmitter module.
In prototype we are using Wi-Fi mode to transmit the data of camera and GPS, which can be advanced
based on the range required.
Features and Advantage
 Belt mechanism is advantageous as it will replace four bulky wheels and the purpose is
solved using two belts.
 Belt mechanism will provide mobility even in rough terrain.
 The quadcopter includes GPS system which will provide ease in navigation.
 High speed in all terrain.

5. If qualified for second level of screening what idea/concept/solution you are planning?
We will realize our concept into a working prototype.

6. If qualified for third level of screening what idea/concept/solution you are planning?
We will add additional innovation in our prototype and will make it more advance.

7. What is your plan for your concept to mature into a realizable prototype?
We are planning to realize the concept into working prototype after qualifying for second level
of screening.

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