Embedded System in fire controlling Mobile Robot

Transcription

1 Volume 118 No , ISSN: (printed version); ISSN: (on-line version) url: ijpam.eu Embedded System in fire controlling Mobile Robot D.Sridhar raja 1,T.Vijayan 2,B.Kalaiselvi 3 1,2, 3 Assistant professor Department of Electronics and Instrumentation Engineering BIST, Bharath Institute of Higher Education and Research, Bharath University Chennai Abstract This project is designed to develop a fire fighting robot using IR technology for remote operation. The robotic vehicle is equipped with water source and pump which is controlled over wireless communication to throw water. Arduino is used for the desired operation. At the transmitting end using push buttons, commands are sent to the receiver to control the movement of the robot either to move forward, backward and left or right etc. At the receiving end three motors are interfaced to the Arduino, where two of them are used for the movement of the vehicle and the remaining one to position the arm of the robot. The arm is programmed to rotate for the desired spraying action. The IR remote used for the control action that has the advantage of adequate range (up to 15 meters), while in the receiver end IR Receiver detects and decodes the signal before feeding it to the Arduino to drive DC motors via motor driver IC for necessary work. Water is taken from the small tank placed in robot and thrown using a spray motor is mounted on the robot body and its operation is carried out from the Arduino output through appropriate signal from the transmitting end. The whole operation is controlled by Arduino Leonardo. A motor driver IC is interfaced to the controller through which the controller drives the motors. Index Terms Transceiver, Wireless Personal Area Network, Arduino, Motor Driver, Stepper Motor, Spray Tank. I. INTRODUCTION A robot is a mechanical or virtual artificial agent, usually an electro-mechanical machine that is guided by a computer program or electronic circuits. Robots can be autonomous or semi-autonomous. The branch of technology that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing is robotics. These technologies deal with automated machines that can take the place of humans in dangerous environments. Firefighting is the act of extinguishing fires. A firefighter suppresses and extinguishes fires to protect lives and prevent the destruction of property and the environment. One of the major hazards associated with firefighting operations is the toxic environment created by combusting materials. The four major hazards associated with these situations are smoke, the oxygen deficient atmosphere, elevated temperatures, and toxic atmospheres. Additional risks of fire include falls and collapse. By using the latest technological advancement to provide safety during these situations we are using this robot[1-9]. It is operated from a remote location, thus by the humans who are trying to put of the fire are at safe distance. This project got inspired and developed after going through a journal published in IEEE by members Daniel J. Pack, Robert Avanzato, David J. Ahlgren, and Igor M. Verner. This paper was published to help students how to design, operate and application of a fire fighting robot. We made few changes while incorporating this project like use of IR technology, circuits and design modification. It uses Arduino since lot of components has to interface. Program is designed and developed using C compiler is built in with Arduino Software. It uses IR technology for remote operation. It uses dc motor for driving the robotic vehicle. Car wiper and spray motor system is used for the arm movement. It is programmed to oscillate continuously for various degrees[10-15]. The arm is used to throw out the water to put off the fire. Its design is important, so that it could combat fire in any type of situations and place. It has a elevated design in the front. A wheel in the front grips the slope surface, so it can be moving in slopes too. It is made heavier by enclosing the circuits in a sealed box made of sheet metal of 1.5mm thickness to withstand the force of the water and to protect the circuits from heat. The water is taken from the storage option provided in tank and pump pressurizes the water and it is thrown out. This robot can perform under robust conditions, but It can t go into the fire. It helps in saving human life while extinguishing fire. No human loss and errors can occur[16-21]. It is easy to operate and the user can operate from a safe remote location. It can perform better than other fire fighting robots. It requires 503

2 a constant water supply. It can be rectified and enhance in future by installing a water storage tank and wireless camera to function inside of the room or buildings. getting damaged from heat. A heat resistant paint coating is given over the sheet metal so as to avoid the maximum amount of heat transferred to the circuit board. II. HARDWARE SETUP The hardware setup plays a vital role in the designing process of this robot vehicle. The following are the building blocks of the vehicle. They are: ARUDINO Microcontroller. IR SENSOR. MOTOR DRIVER. 16x2 LCD Display. DC MOTOR. RELAY. SPRAY MOTOR. In this project of developing a fire fighting robotic vehicle we use Arduino, DC Motors, Sheet Metal, Transmitting & Receiving modules, Motor driver circuits, pump. C programming software is use to provide the instructions to carry out the operation given by user. The device consists of a transmitting section and a receiving section. The transmitting section encodes the instruction given by the user and transmits it through a transmitting antenna and in the receiver end, main process taking place[22-26]. The IR receiver placed in this end receives the signal from the transmitting end where the signal is decoded and sends it to the Arduino where the instruction to perform is given and in turn it sends the signal to the parts which has to be activated. The motor driver circuit is placed in the receiving block converts the signal to the proper electrical to run the motor. 6v and 12v battery is used in the transmitting and receiving section to give supply for the components in it. Regulator/ Diode used to stop the voltage drop in the circuit and back EMF to the battery[27]. Two DC motors used for driving the robotic vehicle has high torque and high RPM. The DC Motors has speed of 100RPM and 0.36kgcm torque. For pumping the water to put off the fire Car wiper motor setup is used which is of 400 RPM and has flow rate.5 to 2 Liters is used. To drive the robot, a wheel is mounted on the motor shaft, so that it gets a even contact with the surface. The device is enclosed with the box made of sheet metal. The thickness of the sheet metal is approximately 1.5mm thickness. It is enclosed to avoid the electronic components III. BLOCK DIAGRAM DESCRIPTION ARDUINO Microcontroller Arduino is an open-source computer hardware and software company, project and user community that designs and manufactures kits for building digital devices and interactive objects that can sense and control the physical world. Arduino boards may be purchased preassembled, or as do-it-yourself kits; at the same time, the hardware design information is available for those who would like to assemble an Arduino from scratch. Fig ARDUINO UNO The system is based on a family of microcontroller board, using various 8-bit Atmel AVR microcontrollers or 32-bit Atmel ARM processors. These systems provide sets of digital and analog I/O pins that can be interfaced to various extension boards and other circuits[28]. The boards feature serial communications interfaces, including USB on some models, for loading programs from personal computers. For programming the microcontrollers, the Arduino platform provides an integrated development environment (IDE) based on the Processing project, which includes support 504

3 for C and C++ programming languages. ARDUINO SPECIFICATION NAME Microcontroller Operating Voltage Input Voltage (recommended) Input Voltage (limits) Digital I/O Pins Analogue Input Pins DC Current per I/O Pin DC Current for 3.3V Pin Flash Memory SRAM EEPROM Clock Speed Length Width Weight ARDUINO SOFTWARE SPECIFICATION ATmega328 5V 7-12V 6-20V 14 (of which 6 provide PWM output) 6 40 ma 50 ma 32 KB (ATmega328) of which 0.5 KB used by boot loader 2 KB (ATmega328) 1 KB (ATmega328) 16 MHz 68.6 mm 53.4 mm 25 g The Arduino integrated development environment (IDE) is a cross-platform application written in Java, and derives from the IDE for the Processing programming language and the Wiring projects. It is designed to introduce programming to artists and other newcomers unfamiliar with software development. It includes a code editor with features such as syntax highlighting, brace matching, and automatic indentation, and is also capable of compiling and uploading programs to the board with a single click[29]. A program or code written for Arduino is called a sketch. Arduino programs are written in C or C++. The Arduino IDE comes with a software library called "Wiring" from the original Wiring project, which makes many common input/output operations much easier. Users only need define two functions to make a runnablecyclic executive program The open-source Arduino Software (IDE) makes it easy to write code and upload it to the board. It runs on Windows, Mac OS X, and Linux. The environment is written in Java and based on Processing and other open-source software. This software can be used with any Arduino board.. DC MOTOR A DC motor is a class of electrical machines that converts direct current electrical power into mechanical power. The most common types rely on the forces produced by magnetic fields. Nearly all types of DC motors have some internal mechanism, either electromechanical or electronic; to periodically change the direction of current flow in part of the motor. Most types produce rotary motion; a linear motor directly produces force and motion in a straight line[30]. A DC motor's speed can be controlled over a wide range, using either a variable supply voltage or by changing the strength of current in its field windings. Small DC motors are used in tools, toys, and appliances. Fig DC MOTOR 505

4 IR SENSOR An infrared sensor is an electronic device, that emits in order to sense some aspects of the surroundings. An IR sensor can measure the heat of an object as well as detects the motion. These types of sensors measures only infrared radiation, rather than emitting it is called as a passive IR sensor. IR sensor tuned to 38 KHz, perfect for receiving commands from a TV remote control. Runs at 3V to 5V so it's great for any microcontroller[31-32]. 6 th & 7 th port from the arduino are connected to the motor driver circuits. The supply voltage pin of the IR receiver pin is connected 5V port in the arduino. The 2 DC Motors of 12V and 100 RPM is connected to the motor output ports from the Motor driver (L293D). The enable pins of the of the driver circuit are connected together to the 5V supply port to the arduino. The 2 nd pin from the arduino is connected to the transistor and with the relay, in order to operate the wiper and spray motor system. The spray motor is attached to the water source in the robot. It pressurizes the water and sprays it[33-34]. The output pipe from the spray motor is attached to the wiper motor since it oscillates continuously providing the better way to put of the fire. For turning actions the one motor is made to turn clockwise and the other rotates in opposite direction. In this we apply the logic of 01 & 10.. V. CONCLUSION FIG IR SENSOR IV. TEST SETUP The first thing is to get the particular code of the corresponding button from the remote for giving commands accurately and make it working. We have to upload IR detector program to the arduino and open the serial plotter from the arduino tool list. Then we have to decide the buttons for the control action, once we decide it and press the buttons we will get the corresponding button value in the screen. Then we have to attach the button values in the main program. In the second step we have to attach the corresponding button value to the main program. Then we have to burn the program to the arduino. The components are placed in the dot board and soldered according to the circuit diagram. From the remote buttons, command is transferred through Infrared light rays. The transmitted signal is received with the help of the IR receiver. It is shown in the below diagram. The ground pin is connected to the ground port in the arduino. The data pin of the IR receiver is responsible for the giving the command as input to the arduino for various control actions, it is connected to the 11 th port in the arduino. Then the 4 th, 5 th, This paper has presented a unique vision of the concepts which are used in this particular field. It aims to promote technology innovation to achieve a reliable and efficient outcome from the various instruments. Experimental work has been carried out carefully. The result shows that higher efficiency is indeed achieved using the embedded system. With a common digitalized platform, these latest instruments will enable increased flexibility in control, operation, and expansion; allow for embedded intelligence, essentially foster the resilience of the instruments; and eventually benefit the customers with improved services, reliability and increased convenience[35-36]. The day is not far when this technology will push its way into your house hold, making you more lazy. This paper presents the major features and functions of the various concepts that could be used in this field in detail through various categories. Since this initial work cannot address everything within the proposed framework and vision, more research and development efforts are needed to fully implement the proposed framework through a joint effort of various entities. REFERENCES 1. Hameed Hussain J., Anbazhgan G., Improve of the cop of vapour compression refrigeration system by using thermoelectric cooler, 506

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