# Revolutionizing Palm Dates Harvesting with Multirotor Flying Vehicles
## 2 Proposed Harvesting System
### Quadrotor Flying Vehicle  
The quadrotor is a complex assembly, incorporating various vital components such as a frame, brushless DC motor, electronic speed controllers (ESC), GPS unit, telemetry system, LiPo batteries, and more. In addition to these fundamental elements, the quadrotor is equipped with a Raspberry Pi companion computer, a depth camera, and the requisite electrical components to power both the quadrotor and the Raspberry Pi, as shown in Figure 7 and Table 1. \begin{table}
\begin{tabular}{c c} \hline \hline
**No.** & **Item Description ([[https://www.kdedirect.com/](https://www.kdedirect.com/)]([https://www.kdedirect.com/](https://www.kdedirect.com/)))** \\ \hline \multirow{2}{*}{1} & Tarot X4 Heavy Lift Professional UAV Quadcopter Frame that can carry up to 8 kg payload \\ \hline \multirow{2}{*}{2} & Four brushless DC motors from KDE direct, KDE3510 XF-715. \\ \hline \multirow{2}{*}{3} & Four 55 Ampere electronic speed controllers (ESC) from KDE direct \\  & company, KDEXF-UAS55 \\ \hline \multirow{2}{*}{4} & Four foldable propellers with their adapters from KDE with, \\  & KDE-CF155-DP \\ \hline \multirow{2}{*}{5} & Pixhawk 1 flight controller from Holybro that run PX4 firmware \\ \hline \multirow{2}{*}{6} & M8N GPS from Holybro \\ \hline \multirow{2}{*}{7} & RC receiver from Flysky with its transmitter \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Quadrotor components. Figure 6: The designed winch. To facilitate the secure attachment of the depth camera to the quadrotor frame, a custom mounting solution is developed. This mounting design is meticulously created using 3D modeling software and subsequently realized through the 3D printing technique, employing ABS filament for construction. This approach ensures the precise integration of the depth camera into the quadrotor's structure, enhancing its overall functionality. \begin{table}
\begin{tabular}{c c} \hline \hline
**No.** & **Item Description ([[https://www.kdedirect.com/](https://www.kdedirect.com/)]([https://www.kdedirect.com/](https://www.kdedirect.com/)))** \\ \hline
8 & Four 4S Lipo batteries for powering the motors, with a capacity of 6000 mA \\  & for each battery (high-capacity batteries cannot be imported) \\ \hline
9 & Telemetry \\ \hline
10 & 3S Lipo battery for powering the winch and the RPI \\ \hline
11 & Raspberry PI 4 with 8 GB ram \\ \hline
12 & A 6 Ampere UBEC (Universal Battery Elimination Circuit) to connect the \\  & RPI to the battery to convert the voltage from 11.4 V to 5 V \\ \hline
13 & L298N H-Bridge board (to control the direction and speed of the winch) \\ \hline
14 & Lever wire connectors \\ \hline \hline \end{tabular}
\end{table} 
Table 1: _Cont._  
Figure 7: Top view of the designed quadrotor flying vehicle. The motor-propeller combinations have been carefully selected to deliver the requisite thrust for quadrotor flight. A breakdown of the weights for the various quadrotor components is presented in Table 2.  
The quadrotor, inclusive of the winch, robotic arm, and batteries, exhibits a total weight of 9.7 kg. The motors have been chosen to provide a maximum thrust of 13.44 kg at 100% throttle, and a total thrust of 9.72 kilograms at 75% throttle, as indicated in Table 3. It is noteworthy that during hover, the system operates within a throttle range of 50% to 80% to ensure continuous motor functionality, Table 3.  
While the current motor and propeller configuration proves suitable for the intended purposes of the design quadrotor, there is room for enhancement. Consideration may be given to upgrading to more powerful motors or adopting a hexacopter configuration for the Multirotor Flying Vehicle (MRFV) to potentially enhance its performance and capabilities. Flight time estimation was conducted using the ecalc.ch website [30]. The analysis revealed that the quadrotor, with its existing batteries, can hover for approximately 7.6 min. This duration is relatively short due to the limited capacity of the current batteries.