Name -id Mobile no prathamesh warekar

Transcription

1 TITLE: - FIRE FIGHTING ROBOT Name -id Mobile no prathamesh warekar Warekarprathamesh@gmail.com Kishan panchal kishanpanchalkishan@gmail.com Vaibhav pawar Sandeep Patel psandeep831@gmail.com INSTITUTE NAME: - VIVA College of Diploma Engineering and Technology. VIRAR (W) ABOUT: - FIRE FIGTING ROBOT basically is a vehicle which is AUTONOMOUS? It is fire extinguisher UNIQUENESS OF PROJECT: - It is AUTONOMOUS and very useful in today s day to day life. The main uniqueness of project is that the robot will go under the situation alone only and the project will be controlled by a team, sitting far away from the ROBOT using FIRE FIGHTING SOFTWARE APPLICATION. Man power is less required. Harm to human being is null. It can investigate. Sends video +audio using RF transmitter, so the operator can understand the situation of fire. It also can save the life of people. APPLICATION:- Military By an organization Private agencies Government

2 STRUCTURE Water pump Spray Gun Water Tank Interfacing hard ware receiver circuit The vehicle is propelled as per the location of the fire point destination. The up and down motion is applied to the water spray gun as per the location of the fire point along Z- axis. The vehicle is propelled along X-axis and Y- axis as per the pre-selected programmed. The signals are sent by the transmitter and receiver via interfacing hardware and soft ware in embedded C.

3 Abstract Cultural property management is entrusted with the responsibility of protecting and preserving an institution's buildings, collections, operations and occupants. Constant attention is required to minimize adverse impact due to climate, pollution, theft, vandalism, insects, mold and fire. Because of the speed and totality of the destructive forces of fire, it constitutes one of the more serious threats. Vandalized or environmentally damaged structures can be repaired and stolen objects recovered. Items destroyed by fire, however, are gone forever. An uncontrolled fire can obliterate an entire room's contents within a few minutes and completely burn out a building in a couple hours. Hence it has became very necessary to control and cease the fire to protect the Life and costlier things. For that purpose we planned to design and fabricate the fire-fighting robot. Autonomous robots can act on their own, independent of any controller. The basic idea is to program the robot to respond a certain way to outside stimuli. The very simple bumpand-go robot is a good illustration of how this works. This sort of robot has a bumper sensor to detect obstacles. When you turn the robot on, it zips along in a straight line. When it finally hits an obstacle, the impact pushes in its bumper sensor. The robot's programming tells it to back up, turn to the right and move forward again, in response to every bump. In this way, the robot changes direction any time it encounters an obstacle. Advanced robots use more elaborate versions of this same idea. Roboticists create new programs and sensor systems to make robots smarter and more perceptive. Today, robots can effectively navigate a variety of environments. Simpler mobile robots use infrared or ultrasound sensors to see obstacles. These sensors work the same way as animal echolocation: The robot sends out a sound signal or a beam of infrared light and detects the signal's reflection. The robot locates the distance to obstacles based on how long it takes the signal to bounce back.

4 More advanced robots use stereo vision to see the world around them. Two cameras give these robots depth perception, and image-recognition software gives them the ability to locate and classify various objects. Robots might also use microphones and smell sensors to analyze the world around them. Some autonomous robots can only work in a familiar, constrained environment. Lawn-mowing robots, for example, depend on buried border markers to define the limits of their yard. An office-cleaning robot might need a map of the building in order to maneuver from point to point. More advanced robots can analyze and adapt to unfamiliar environments, even to areas with rough terrain. These robots may associate certain terrain patterns with certain actions. A rover robot, for example, might construct a map of the land in front of it based on its visual sensors. If the map shows a very bumpy terrain pattern, the robot knows to travel another way. This sort of system is very useful for exploratory robots that operate on other planets (check out JPL Robotics to learn more). An alternative robot design takes a less structured approach -- randomness. When this type of robot gets stuck, it moves its appendages every which way until something works. Force sensors work very closely with the actuators, instead of the computer directing everything based on a program. This is something like an ant trying to get over an obstacle -- it doesn't seem to make a decision when it needs to get over an obstacle, it just keeps trying things until it gets over it.

5 Block Diagram of controlling:- Transmitter Section Buttons RF Transmitter Antenna remote Section Receiver Decoder RF Receiver Antenna Clock Reset Microcontroller Power Supply Relay Driver Relay board Arms & Weapons Motor

6 PRINCIPLE OF OPERATION Terms in which motion is described of controlled: There are also several different ways to describe manipulator motions. The major characteristics of motion description are the coordinate system in which they are expressed, whether they are absolute or relative, and the complexity of the motion description. Principle of Co-ordinate system: The two most important systems are joint angles and Y-axis Cartesian (X,Y,Z) coordinates. Z-axis X-axis A few robots support cylindrical coordinates, but these are probable nod as useful as Cartesian because they are manipulator-centered rather than work space centered. The form of a joint angle description is just a list of the joint angles in all manipulator designs, any such list corresponds universally to one position & orientation of the end effectors. This is typical of simple control systems. If the reference frame in which the Cartesian coordinates are measured in flexed in position in the work space, it is called an inertial reference. A particular inertial frame is usually designated as the default reference frame. It is often called the Base frame, which moves and turns with the object. It is useful in assembly task to be able to specify positions and motions with respect to a tool, fixture, or work piece. For this purpose, it should be possible to define a new reference frame fixed in an object. These auxiliary reference frames should not have to be aligned with the base frame.

7 A frame fixed in the end effectors and rotating with it is also very useful in assembly task for describing reaching motions. For ex. Animation calls this the Tools Frame. Another useful moving frame moves with a conveyor belt. The industrial robot is a programmable mechanical manipulator, capable of moving along several Direct sound equipped as its ends with a work device called the end effectors (or tool) and capable of performing factory work ordinarily done by human beings. The term robot is used for a manipulator that has a built in control system and is capable of stand along operation. Modern robotic systems consist of at two major parts. 1. The manipulator, which is mechanical moving structure. 2. The device to actuate the joints of the manipulator. In general, the structure of a manipulator is composed of a main frame and a wrist with a fool at its end. The tool can be a welding head, a spray gun, a machining tool, or a gripper containing open shut jaws, depending upon the specific applications of the robots. Each of arms practically consists of a sequence or mechanical links connected by joint to the next link. The function of the joints is to control the motion between the links. The motion of the end effect or is generated by controlling the position and velocity of the robots axes of motion. An axis of motion in robotics means degree of freedom in which robot can move. Basically the robot needs six axes of motion (or degree of freedom) to reach an arbitrary point with a specific orientation in space. A different orientation might completely change the position of robot arm. For example to place a weld on the top side of beam requires completely different orientation from the required to place a weld at almost the same point but on the beam and consequently the position of the arm is changed. Typically the arm has three degrees of freedom, the linear or rotary motion and the wrist section contents three rotary motion the combination of these six motions will orient the robots end effectors and position it at the required point in space nevertheless, with increase in the number of freedom, the complexity of the machine increased and so also the cost. Most of the industrial operations may be completed with only 3 to 6 degrees of freedom. ROBOT ACTUATORS: These include pneumatic cylinders or motors, hydraulic cylinders or motors and electric motors. Pneumatic cylinders are cheap and need little maintenance. These are suited for high speed operation with light pay loads. Hydraulic actuators are more costly & need more maintenance. These are ideally suited for heavy loads. Electric motors have moderate

8 costs are easiest to operate and have moderate maintenance cost. These are suited for jobs, which do not require high speed or heavy loads. ROBOT CLASSIFICATION: Industrial Robotic Mobile with gripper may be classified in the following 4 ways: i) According to the order of technology. Thus robots may be classified as low, medium and high technology types. ii) According to the type of controlled group. Thus robots may be classified as nonservo robots and servo controlled robots. iii) According to their axes of movement or their system of co-ordinates. Thus robots may be classified as rectangular robots, cylindrical robots, spherical robots and jointed spherical robots. iv) According to the provision of intelligence. Thus robots may be classified as nonintelligent robots and intelligent robots. The rectangular Robotic Mobile with gripper moves along X, Y and Z axes. As it moves to its extreme positions in linear movements, it describes a rectangle in space, called its work envelope. Parallelism: Parallelism simply means that two or more processes takes place simultaneously. This capability will be very important in manufacturing in order to maximize productivity. Parallelism of a trivial sort exists in any robot that can move more than one of its joints simultaneously. Two kinds of parallelism that will be important are the ability to describe sets of parallel actions in the programming language and the ability to perform different parts of a complex computation simultaneously. Some examples of parallel actions that will be important in manufacturing include carrying an object with two or more arms, simultaneous manufacturing operations by multiplex arms and sensors in shared workplace, and grasping a moving object using visual tracking information. Parallelism may be absolutely necessary in order to accomplish certain tasks but it will often be used simply to reduce the time required.