PYROFIGHTER
SHAILENDRA SINGH CHAUHAN
SIKKIM MANIPAL UNIVERSITY, SIKKIM MANIPAL INSTITUTE OF TECHNOLOGY, MAJHITAR, SIKKIM, INDIA.
SHAILENDRA SINGH CHAUHAN
SIKKIM MANIPAL UNIVERSITY, SIKKIM MANIPAL INSTITUTE OF TECHNOLOGY, MAJHITAR, SIKKIM, INDIA.
INTRODUCTION
There are many technologies being produced every day
throughout the world and this development is very well reflected in a country's
defence prowess and a country always tries to protect its citizens at any cost.
But unfortunately there are many soldiers who are martyred many a times. The
defence also is utilized in carrying out Rescue operations and this rescue
operation often turns into a hostage saving situation also and in such scenario
extra care is the utmost priority for which there have been some technological
advancements with few successes. There are often situations faced by the fire
brigade department of a fire breaking out with in house hostages and in such a
scenario both the fire fighter as well as the people inside any building are in
danger of losing their lives. For such risky and daring scenarios technology
has gone to such levels as unmanned rescue operations by utilizing a robot.
This robot or Robo-Arm as commonly known can save many lives without risking
even one. This Robo-Arm can even be utilized in the Armies to protect the lives
of the soldiers who cannot be reached by their fellow soldiers due to
inaccessible terrain. And even can successfully retrieval of ammunition from an
unreachable position often seen in the extensive battle on battlefield without
risking the soldier's life.
ABSTRACT
This pyro fighter robot performs the
operations of firefighting and rescue by virtue of its efficient robotic arm
which facilitates evacuation, advanced temperature sensors to detect the
intensity of fire, high power pump to control the fire using water which is
stored in an storage tank, a camera fitted in front of the robot which aids the
surveillance of critical situations. The robot can be remotely controlled by
dtmf(dual tone multi frequency),transmitter receiver. The grip of the robotic
arm is highly efficient to increase the effectiveness of the robot.the design
of the robot is highly effective and economical as it uses minimum number of
motors to perform its operations effectively.
ROBOTIC ARM
A robotic arm is a programmable control device, usually a
robotic manipulator and derived from the concept of the working of a human arm.
The replacement of human biceps by robotics in the field of electronics and
heavy electrical control system engineering has gained a lot of popularity.
The most essential part of a robotic arm is 1 gear motor
(10 rpm), another gear motor (60rpm), wood laminates and GI sheet. It is
controlled and designed to function through a ATMEL 32 microcontroller which is
fitted to the body of the robotic system.
The robotic arm has been inspired from the concept of
mechanism of the excavators, bulldozers where maximum load work is carried out
using the minimum power or to be more precise minimize the unnecessary use of
more number of motors. Hence, for this purpose the arm has been given the
L-shape. The length of the vertical link is more than the horizontal link. The
end of the links are joint using the fillets to reduce the stress
concentration.
This is a great factor in cost reduction. Even a small
commercial robotic arm is quite expensive due to the practice of installing dc
servos instead of the gear motors which are almost 4 times more expensive. This
robotic arm has proved to be very eco-friendly as it has been developed
completely from the waste scraps thrown away.
Salient Features:-
·
The arm has 2 dc
gear motors which are controlled by the use of only one microcontroller which
is fitted on the body of the robot.
·
The gripper could
be used to grab objects of sizes approximately of 6x4cm2
·
The arm of this
robot is very user friendly because of the computer interface developed. It has
been designed to be accessible for operation ranging from beginner to the
advanced machinist.
·
This lightweight
robotic control system is capable of lifting loads upto 250 grams.
·
The base of the arm
is fixed to the chassis of the robot.
·
Vertical arm
rotates inside the U-block. It is powered with the help of 6Volt dc motor which
is fixed on the one side of the U-bracket.
·
Shaft is connected
with the vertical arm by a pin known as key.
·
In order to keep
the design and the structure of the system analyzable and simple, the gripper
is kept simple keeping in mind the implementation of the gripping mechanism
without using the gear unit.
MOTORS
The motors used in 'pyrofighter' were all "D.C
gear" motors.
These motors, like any other electrical motor, use the
magnetism induced by an electric current to rotate a rotor that is connected to
a shaft .As we know that a coil of wire with current running through it
generates an electro-magnetic field aligned with the center of coil, these
fields generated transfer energy from the rotor to the shaft of each motor
respectively. In a gear motor, the energy output is then used to turn a series
of gear of the motor in an integrated gear train.
There are various types of motors but the most common
motors generally in terms of use are the AC gear motors and the DC gear motors
(AC for alternating current, DC for direct current respectively).
Transmitter and Receivers
A " 434MHZ RF 4CH " wireless remote control was
operated as a transmitter and also as a receiver. This device is a two module-a
transmitter and receiver. Together they make an addressable wireless system
that can range up to 65 meters .This RF module used is compatible to HT12D/12E
standards.
Transmitter :- transmitter of wireless remote control is a powerful transmitter module
based on CMOS technology . There is an internal calibrated crystal oscillator
in module HT12E .This module has 18 pin encoder IC[HT12E] , with which the pin
female connector compatible with 12DRF transmitter antenna is connected and one
8 bit address selected is connected .
8 bit address select gives us the option of isolation the
communication between the transmitter and the receiver module 4 bit data is
available for providing input to the encoder I.C. On board we have a L7808
voltage regulator that regulates the voltage ranging from 3V -24 V.
Receiver end
:- receiver of wireless remote is a powerful transmitter
module base on CMOS technology. There is an internal calibrated crystal
oscillator in module IC HT 12D ,so there is no need to provide crystal
oscillator externally.
This module has 18 pin decoder IC (HT12D), with which 8
pin female connector compatible with 12DRF receiver antenna is connected and 8
bit address select is connected. 8 bit address select gives us the option of
isolating the communication between the transmitter and the transmitter and the
receiver module.4 bit data pins data pins are given for data output . One LED
is connected to denote valid transmission.
DTMF module version
DTMF module version (RM0033) decodes DTMF signal either
from an audio source or phone line to 4 bit binary, TTL (SV) level output. It
also indicates output with LED. It can be used with microcontrollers develop
various DTMF related applications like remote control, caller ID, Auto Dialer.
This module can be easily be used in conjunction with any of the Robosapiens
development boards and develop mobile operated robots and gadgets.
Highly accurate filter circuits are implemented to divide
tone signals into high frequency and low frequency signals. Basically it is an
18 pin IC. The HT9170 series consist of band pass filters and two digital
decoder circuits to convert a tone DTMF signal into some signal output. It has
a built-in amplifier circuit to adjust the input signals. The pre-filter
circuit may filter out the dialing tone of 350Hz to 400Hz signal, and then use
the high-pass and low-pass filters to split into high and low frequency
signals. When the HT9170 receives an effective tone (DTMF) signal. The DV pin
goes high and tone code (DTMF) signal is transferred to its internal circuit
for decoding after setting the OE pin goes high and the DTMF decodes will
appear on pin D0-D3. A standard 3.579545MHz connected to X1 and X2 terminals
implement the oscillatory function.
WIRELESS A/V CAMERA
The Wireless
A/V camera is a high band receiver with sensitivity +18dB, receive signal
picture sound 0.9H/1.2H with high quality output. The RM0100 is a 2.4Ghz
wireless camera that works at 15m baret.It may cause interference with other
wireless equipment that operates at the same band. The camera transmitter with
receiver is set suitable for monitoring robot
,children and elder, and widely used for that presentation, after hour
survelliance, home security, shops , factories, security ;you can view the
cameras on your TV or record directly to VCB.The wireless camera and receiver
will provide a day and night monitoring solution with the convenience of
wireless technology.
FOUR WHEEL ROBOTIC PLATFORM V
1.0(2*4 DRIVE)
In 4 wheel robotic platform v 2.0 have contain two 300
rpm dc geared motor, four double screw mount tire v 2.0 and one small chassis
AVR Controller Board
AVR Controller Board is a
complete starter kit and development system for the AVR Atmega16/32/8535
microcontrollers from ATMEL ® Corporation. It is designed to give designers a
quick start to develop code on the AVR.
AVR Development Board kit
is based on our 40 pin development board which is compatible with many of the
Atmel AVR microcontrollers. This kit is an easy and low cost way to get started
with microcontrollers. Included on board is an Atmega16/32/8535
microcontroller, external crystal with supporting capacitors, AVCC filter
parts, Power supply parts and more. The Controller used is an 8-bit
microcontroller. The versatility of board helps us to avail Programmable 16KB
of flash, 1KB of RAM and Accessible 24C x I2C EEPROM. The board has 32 I/O
lines, one programmable full duplex USART, 4 PWM channels and 8 channel 10-bit
ADC Converter. The board create a perfect platform for operating dual 8-bit
Timers each having separate pre-scalars and compare modes. Additionally, a
single 16-bit timer with a separate pre-scalar, compare and capture mode can be
used. The Atmega16/32 is a feature packed and very versatile microcontroller.
The board takes Input which can be either Analog or Digital in nature. On board
we have PIN extensions of all the parallel I/O line available with the micro
controller to make the peripherals plug n play.
Two L293D ICs are also
available in Atmega-16/32 development board to run 4 different motors
simultaneously. There is 1 DB-9 female connecter also mounted on board for PC
connection. There is one 16 pins LCD connector (female) also available.
There are four PWM channels also available by which we can control
stepper/servo motors. Master/Slave SPI serial interface availability make use
of USBASP programmer to flash program in controller.8 keypad switch and pattern
of 8 different led’s are also available on Atmega-16 board. There are two
different option to provide power supply (DC battery/adapter)to the development
board. It also has 4 Interrupt switches to create interrupts.
int motor = 12;
int sensorPin = 0;
void setup()
{
//Serial.begin(9600);
}
void loop()
{
int reading =
analogRead(sensorPin);
float voltage = reading * 5.0 /
1024;
//Serial.print(voltage);
Serial.println(" volts");
float temperatureC = (voltage) * 100 ;
//Serial.print(temperatureC);
Serial.println(" degress C");
//float temperatureF =
(temperatureC * 9 / 5) + 32;
//Serial.print(temperatureF);
Serial.println(" degress F");
//delay(1000);
if (temperatureC >= 35)
{
digitalWrite(motor,HIGH);
}
if(temperatureC<=25);
{
digitalWrite(motor,LOW);
}
}
LM35 DIODE
FUTURE PROSPECTIVES
·
UNMANNED FIRE
FIGHTING SYSTEMS
·
REMOTE SENSING AND
FIRE TRACKING
·
AUTOMATIC FIRE
EXTINGUISHING SYSTEMS
·
UNMANNED GROUND
RESCUE OPERATIONS
CONCLUSION
Thus this project is a working state-of-art developing
technology in the field of fire extinguishing,military,heat
sensing,tracking,temeperature analysis on a
large scale value. A fully automated system with unmanned and wireless
controls helps in saving time and human power and life at very efficient power scales.
REFERENCES
·
ROBOMART
·
ROBOSAPIENS
·
ARDUINO
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