We hereby declare that the work presented in this project is the outcome of the investigation and research work carried out by us under the guidance of Mr. In my capacity as supervisor of the candidates thesis, I certify that the above statements are true to the best of my knowledge. Niloy Sarkar, Lecturer Department of Mechanical Engineering and all the respected teachers of the Department of Mechanical Engineering for their cooperation and meaningful help in completing the thesis work successfully.
It is a mobile robot that consists of a fire detection camera, a motor reducer and a motor driver to move the robot, a relay driver to control the pump, and a bluetooth module that is used to detect and extinguish fire. The entire control is achieved with the help of Arduino, which is connected to the android mobile phone via bluetooth module, so that the control of the robot is also possible from the android mobile phone. However, with advanced techniques, we can build the same robot using an android application to control the actions of the robot.
Our project is designed to create an android application that can control the operation of a fire fighting robot. Chemicals can seriously damage the painter's vision, respiratory system and general health.
Introduction
Theory
Hardware, will be consists of as follows
Software, will required as follows
Microcontroller Module (Arduino Uno R3)
Pin out: Added SDA and SCL pins near the AREF pin and two other new pins placed near the RESET pin, IOREF to allow the shields to adjust to the voltage provided by the board. In the future, the shields will be compatible with both a board using an AVR that runs on 5V and an Arduino Due that runs on 3.3V. You can power the Arduino Uno via a USB connection or an external power supply.
The adapter can be connected by inserting a 2.1mm central positive plug into the power socket of the board. However, if less than 7 V is supplied, the 5 V pin may supply less than five volts and the board may be unstable. The input voltage to the Arduino board when it uses an external power source (as opposed to 5 volts from the USB connection or other regulated power source).
Each of the 14 digital pins on the Uno can be used as an input or output, using the pinMode(), digitalWrite(), and digitalRead() functions. Typically used to add a reset button to shields that block those on the board.
Atmega328P Pin diagram
Rather than requiring a physical reset button to be pressed before loading, the Arduino Uno is designed to allow a software reset running on the connected computer. One of the hardware flow control (DTR) lines of the ATmega8U2/16U2 is connected to the reset line of the ATmega328 via a 100 nanofarad capacitor. This means that the bootloader can have a shorter timeout, as the DTR decrement can be well timed with the start of the bootloader.
The pads on either side of the track can be soldered together to re-enable it. You may also be able to disable the automatic reset by connecting a 110 ohm 5V resistor to the reset line. The Arduino Uno has a resettable polyp that protects your computer's USB ports from short circuits and overcurrent.
If more than 500mA is applied to the USB port, the fuse will automatically disconnect until the short circuit or overload is removed. The maximum length and width of the Uno PCB are 2.7 and 2.1 inches, respectively, with the USB connector and power connector extending beyond the previous dimension.
Bluetooth module (HC05)
Motor Driver (L293D)
In its usual mode of operation, two DC motors can be driven simultaneously, in both forward and reverse directions. The motor actions of the two motors can be controlled by input logic on pins 2 & 7 and 10 & 15. Similarly, when the enable input is low, that driver is disabled and their outputs are off and on state of high resistance.
DC Geared Motor (wheel motor)
Mini Water Pump
Servo Motor
Servos are controlled by sending a variable width electrical pulse, or pulse width modulation (PWM), through the control wire. The neutral position of the motor is defined as the position in which the servo has the same amount of potential rotation in both clockwise and counterclockwise directions. The PWM sent to the motor determines the position of the shaft and is based on the duration of the pulse sent via the control wire; the rotor will turn to the desired position.
The servo motor expects to see a pulse every 20 milliseconds (ms) and the length of the pulse determines how far the motor turns. Shorter than 1.5 ms the servo is moved to 0 degrees, and longer than 1.5 ms the servo is rotated to 180 degrees. When these servos are commanded to move, they will move to the position and hold that position.
If an external force pushes against the servo while the servo is holding a position, the servo will resist moving out of that position. However, Servos will not hold their position forever; the position pulse must be repeated to instruct the servo to stay in position. Bridge rectifier circuit diagram consists of various stages of equipment like transformer, Diode Bridge, filtering and regulators.
The first stage in the circuit is a transformer, which is a step-down type that changes the amplitude of the input voltage. Most of the electronic projects use 230/12V transformer to step down the AC supply from 230V to 12V AC. The next step is a diode bridge rectifier, which uses four or more diodes depending on the type of bridge rectifier.
Choosing a particular diode or any other switching device for a matching rectifier requires some device considerations such as Peak Inverse Voltage (PIV), forward current If, voltage ratings, etc. It is responsible for producing DC or DC current at the load by conducting a set of diodes for each half cycle of the input signal. Since the output to the diode bridge rectifiers is pulsating in nature, and to produce it as a pure DC, filtering is necessary.
LM7805 (Voltage Regulator IC)
Filtering is normally performed with one or more capacitors attached across the load, as you can observe in the figure below in which wave smoothing is performed.
Crystal
The scientific definition of a "crystal" is based on the microscopic arrangement of atoms within it, called the crystal structure.
Resistor
Diode (IN 4007)
Variable Resistor/Potentiometer
Linear Taper Potentiometer: A linear taper potentiometer (linearly describes the electrical characteristic of the device, not the geometry of the resistive element) has a resistive element of constant cross section, resulting in a device where the resistance between a contact (wiper) and one end terminal is proportional to the distance between to them. Linear taper potentiometers [3] are used when the division ratio of the potentiometer must be proportional to the angle of rotation of the shaft (or the position of the slider), such as controls used to adjust the centering of the display on an analog cathode-ray oscilloscope.
Vero Board
Although usually circular in cross-section, wire can be made into square, hexagonal, flattened rectangular or other cross-sections, either for decorative purposes, or for technical purposes such as high efficiency voice coils in the speakers. Edge-wound coil springs, such as Slinky toys, are made of special flattened wire.
LED Indicator
Introduction
Block Diagram
Circuit Diagram & Description
Motor gear step picture outlook and casing
Working Principle
When we press “ARM OUT” and “ARM IN”, the data “T” and “U” are sent to the Bluetooth module to pass the signal to the microcontroller.
Image of the Project
Flow Chart
To determine the mechanical/hydraulic efficiency of a pump, the actual drive torque required and its theoretical torque are compared. 100% mechanical/hydraulic efficiency means the hydraulic pump needs no torque to deliver flow at zero pressure.
Volumetric flow Rate
Parabolic Distance: We have got the parabolic distance (1.38m) of this demo
Result
Advantages
Limitation
Cost Estimation
These two sectors are a very emerging sector for our country where painting and finishing are very important steps of production, so this painting robot is a very good solution for painting and finishing. Instead of paint if we use water in the reservoir tank, it can be very good washing tools (i.e. car wash, building glass wash, etc.) to use.
APPENDIX
- UART_RTS 4
- UART_CTS 3
- UART_RX 2
- UART_TX 1
- SPI_MOSI 17
- SPI_MISO 18
- Test command
- Reset
- Get firmware version
- Get module address
- Set/Check module name
- Get the Bluetooth device name
- Set/Check module mode
- Set/Check device class
- Set/Check GIAC (General Inquire Access Code)
- Set/Check -- Query access patterns
- Set/Check PIN code
- Set/Check serial parameter
- Set/Check connect mode
- Set/Check fixed address
- Set/Check LED I/O
- Set PIO output
- Set/Check – scan parameter
- Set/Check security mode
- Delete Authenticated Device
- Delete All Authenticated Device Command Respond Parameter
- Search Authenticated Device
- Get Authenticated Device Count
- Most Recently Used Authenticated Device
- Get the module working state
- Initialize the SPP profile lib Command Respond Parameter
- Inquiry Bluetooth Device
- Cancel Inquiring Bluetooth Device Command Respond Parameter
- Equipment Matching
- Connect Device
- Disconnect
- Energy-saving mode
Serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. AIO0 9 Bidirectional Programmable input/output line AIO1 10 Bidirectional Programmable input/output line AIO0 23 Bidirectional. PIO4 27 Bidirectional Programmable input/output line PIO5 28 Bidirectional Programmable input/output line PIO6 29 Bidirectional Programmable input/output line PIO7 30 Bidirectional Programmable input/output line PIO8 31 Bidirectional Programmable input/output line PIO9 32 Bidirectional Programmable input/output line PIO10 33 Bidirectional Programmable input/output line PIO11 34 Bidirectional Programmable input/output line RESETB 11 CMOS input with.
ADDR: OK PARAM: address of Bluetooth module Bluetooth address: NAP: UAP: LAP. AT+CMODE= OK Param: 0 - connect fixed address 1 - connect any address 2 - slave loop.
Microcontroller Coding
