FireFire DetectingDetecting RobotsRobots

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introductionintroduction

Fire accidents may occur due to explosive Fire accidents may occur due to explosive or flammable materials.or flammable materials.

They can be prevented by taking safety They can be prevented by taking safety measures.measures.

Robots are very useful in places were the Robots are very useful in places were the working conditions are unpleasant and working conditions are unpleasant and hazardous.hazardous.

To detect the fire and to activate the fire To detect the fire and to activate the fire preventive systems .preventive systems .

Flame sensors and thermistor robots are Flame sensors and thermistor robots are usedused

Robot AnatomyRobot Anatomy

►Robot anatomy is Robot anatomy is physical construction physical construction of body.of body.

► It consists of 4 parts It consists of 4 parts

1)arms1)arms

2)end effecter 2)end effecter

3)links and joints 3)links and joints

4)base4)base

armarm –it transfers objects and tools from one –it transfers objects and tools from one point point

to another as instructed by controllerto another as instructed by controller end effecter-end effecter-it is attached at the end and used it is attached at the end and used

to transfer the parts from point to point. Robot to transfer the parts from point to point. Robot used the end effector is known as gripper.used the end effector is known as gripper.

Links and joints-Links and joints-A joint is part of arm which A joint is part of arm which connects two links and allows relative motion connects two links and allows relative motion between them.between them.

Base- Base- Each robot has base which is fixed to the Each robot has base which is fixed to the wall or floor.wall or floor.

Function of partsFunction of parts

Sequence of operationsSequence of operations

►Non servo controlled robots-Non servo controlled robots- These are generally used for limited sequence and These are generally used for limited sequence and

often referred to pick and place or end point often referred to pick and place or end point robotsrobots

► Servo controlled robots Servo controlled robots ––

the arm and gripper can the arm and gripper can change the directions in mid air without having a change the directions in mid air without having a trip a mechanical switch trip a mechanical switch

ROBOTROBOT CONTROLLERCONTROLLER► The controller is the The controller is the

part of the Robot part of the Robot which operates the which operates the mechanical arm and mechanical arm and maintains contacts maintains contacts with its environment. with its environment. The device is a The device is a computer composed computer composed of hardware and of hardware and software combined to software combined to enable it to carry out enable it to carry out its assigned tasks. its assigned tasks.

sensorssensors►Sensors are used as peripheral devices Sensors are used as peripheral devices

in robotics include both simple and in robotics include both simple and sophisticated types such as machine sophisticated types such as machine vision system.vision system.

► Their function in a robotic work cell is Their function in a robotic work cell is to permit the robots activities to be to permit the robots activities to be coordinated with other activities in the coordinated with other activities in the cell. Sensors are an important cell. Sensors are an important component in a work, control and in component in a work, control and in safety monitoring systems. safety monitoring systems.

ROBOT VISION:ROBOT VISION: ► Robot vision also known as computer or Robot vision also known as computer or

machine vision, defined as the Process of machine vision, defined as the Process of extracting, characterizing and interpreting extracting, characterizing and interpreting information from images of a three information from images of a three dimension world.dimension world.

MACHINE VISION SYSTEM FUNCTIONSMACHINE VISION SYSTEM FUNCTIONSThe operating consists of 3 functions, broadly:The operating consists of 3 functions, broadly:► Sensing And DigitizingSensing And Digitizing► ApplicationApplication► Image Processing and Analysis Image Processing and Analysis Visions can be categorized into two Visions can be categorized into two

groupsgroups 1) Low level vision1) Low level vision 2)High level vision2)High level vision

Low level visionLow level vision

Sensing and Digitizing:Sensing and Digitizing:► Visual information is converted into electrical Visual information is converted into electrical

signals by a visual Sensors. When sampled is spatially signals by a visual Sensors. When sampled is spatially and unitized in, these signals yield a digital image.and unitized in, these signals yield a digital image.

► Image sensing requires some type of imaging Image sensing requires some type of imaging devices and a digitizer that stores video frames in the devices and a digitizer that stores video frames in the computer memory.computer memory.

► Digitizing involves analog to digital Digitizing involves analog to digital conversion by an A/d converter, which is either a part of conversion by an A/d converter, which is either a part of a digital video camera or a front end of the frame a digital video camera or a front end of the frame grabber.grabber.

Vision Cameras:Vision Cameras:► The principle imaging devices used for The principle imaging devices used for

robot visions are TV cameras consisting either of robot visions are TV cameras consisting either of vidicon or CCD. vidicon or CCD.

Preprocessing: Preprocessing: noise reduction noise reduction

HIGH LEVEL VISION:HIGH LEVEL VISION: It includesIt includes► Segmentation Segmentation ► Object DescriptionObject Description► Object RecognitionObject Recognition► InterpretationInterpretation Segmentation:Segmentation:► Segmentation process subdivides a sensed Segmentation process subdivides a sensed

scene into its constituent parts or objects. scene into its constituent parts or objects. Segmentation algorithms are generally based on one of Segmentation algorithms are generally based on one of the two basic principles:the two basic principles:

Object Description:Object Description: ► Description means extracting features from an Description means extracting features from an

object for the purpose of recognition .it is necessary to object for the purpose of recognition .it is necessary to distinguish one Object from other, usually accomplished distinguish one Object from other, usually accomplished by means of features that uniquely characterize the by means of features that uniquely characterize the object.object.

Object Recognition:Object Recognition:► The function of recognition The function of recognition

algorithms is to identify each segmented algorithms is to identify each segmented object in a scene and to assign a label proof object in a scene and to assign a label proof to that object.to that object.

Object Recognition Techniques:Object Recognition Techniques:► Template MatchingTemplate Matching► Structural techniques Structural techniques Interpretation:Interpretation: ► The power of robot vision systems is The power of robot vision systems is

determined by its ability to extract determined by its ability to extract meaningful information from a scene under meaningful information from a scene under the broad range of viewing conditions.the broad range of viewing conditions.

WORKING OF FIRE DETECTING WORKING OF FIRE DETECTING ROBOTSROBOTS

► The robot along with two sensors The robot along with two sensors moves in all the directions from its mounted position, moves in all the directions from its mounted position, so it covers more sensory volume. When the flame so it covers more sensory volume. When the flame or high temperature point was detected, the Robot or high temperature point was detected, the Robot motion was stopped automatically to know the fire motion was stopped automatically to know the fire accident point.accident point.

► Then the Signals from the sensors are sent to Then the Signals from the sensors are sent to

the computer terminal and it activates the fire the computer terminal and it activates the fire

preventive systempreventive system. .

ADVANTAGES OF FIRE DETECTING ADVANTAGES OF FIRE DETECTING ROBOTS :ROBOTS :

► The fire detecting Robots helps to The fire detecting Robots helps to detect the exact direction of the fire source. detect the exact direction of the fire source.

This technique of detecting fire has the This technique of detecting fire has the

following:following: ► Capability of sensing accurately with Capability of sensing accurately with

increased flexibility increased flexibility ► Low cost in the long runLow cost in the long run► Reliable and economicalReliable and economical

This is what my Bot ,by placing sensors appropriately we can efficiently detect the location of fire.

Thank youThank you

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