IRJET- Industrial Disaster Control System using Hanging Robot
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This document describes an industrial disaster control system using a hanging robot. The proposed system uses a hanging robot that can travel along rope paths to continuously monitor industries. The robot is equipped with gas, temperature, and light sensors to detect abnormal conditions. If sensor values exceed thresholds, an alert is sent to authorities and a buzzer is activated. The system also includes a ground unit with a fire extinguisher that is activated if a fire is detected, helping prevent further damage. The hanging robot design aims to detect issues early and minimize industrial damage from disasters.
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2131
INDUSTRIAL DISASTER CONTROL SYSTEM USING HANGING ROBOT
A. Devi priya1, A.R. Gayathri2, U. Keerthana3, M. Selvaraj4
1,2,3Student, Department of ECE, Valliammai Engineering College, Tamilnadu, India
4Assistant Professor, Department of ECE, Valliammai Engineering College, Tamilnadu, India
----------------------------------------------------------------------***---------------------------------------------------------------------
Abstract - Industrial disasters are increased in number
causing more damage to human as well as industries. This
project is proposed to detect the abnormal changes in the
industries that causes damage so that we can prevent it at the
earliest stage. Here we design a hanging robot model system
for monitoring the industries continuously. Thehangingrobot
travels over the rope path controlled from the base station.
The sensors like gas, temperature, LDR senses and sends the
information continuously to the base station. In case, if any
unexpected sensor values are received, the alert is sent to the
authority persons and the buzzer is produced. When the
buzzer sound is produced, the fire extinguisher placed in the
ground unit is turned on. Thus preventing the industries from
occurrence of causing more damage.
Key Words: Arduino UNO, Actuator, Hanging robot,
Sensors, Zig-bee.
1. INTRODUCTION
Robots all have different kinds of structure designed to
achieve the assigned task more effectively and efficiently. In
our project we propose a hanging robot for monitoring the
industries continuously without human interruption. The
hanging robots can move from one place to another place
through the rope path with the help of motor rotation with
respect to forward and reverse direction. These hanging
robots are controlled by passing commandsthroughZig-bee
pair. The sensors like gas, temperature, LDR are used to
measure the gas level, temperature level and the light
intensity level of the environment respectively. If the gas
value and temperature value increases than the normal
value, then alert signal is automatically sent to buzzer and
the authority persons. The lightdependentlevel ismeasured
using LDR sensor in case of fire. With the help of
microcontroller, the gas, temperature and fire sensor values
will be continuously observed. If the fire (light) is detected,
the RF transmitter connected to the microcontroller sends
the signal to the RF receiver in the ground unit. When the RF
receiver receives the signal, it automatically presses the
actuator to emit the spray whichactsasthefire extinguisher.
This prevents the industries from the damage thatmayarise
due to abnormal changes in the environment. Thus the
hanging robots aredesigned mainlytopreventtheindustries
from severe damage. The reasons for the disaster are found
earlier using the hanging robots and thus prevents the
industrial damages.
2. LITERATURE SURVEY
Unmanned aerial vehicles or drones require advanced
planning and navigation algorithm s to enable themtosafely
move through and interact withtheworldaroundthem.This
paper presents anextended potential fieldcontrollerenables
an aerial robot, or drone, to safely track a dynamic target
location while simultaneously avoiding any obstacles in its
path [1]. High-voltage inspection robot can detect and
identify various obstacles while it is walking long the high-
voltage line and plan specific bypassingstrategyfordifferent
types of obstacles. In this paper vision-based obstacle
recognition algorithms are studied based on visual sensors
specifically for the unique features of 500kv high-voltage
wire [2]. Pipeline is an efficient way totransferoil,waterand
gas but recently many plants pipeline became old so wired
robots were considered to inspect but they require heavy
power supply so adapting wireless robot is meant to be
better solution. A robot that supports image transmission
with outstanding mobility was developed. This robot can
withstand many tough condition in pipeline and safety
various requirements. In this experiment it is clear that
robot can be driven as wireless communicationthencollects
some images and othersignalssuccessively[3].Inindustries,
measuring the parameters of machines is still a tedious
process which is carried out byhumanpersonnel.Thispaper
mainly focuses on the remedial measures made to reduce
human interaction with machines by using industrial
monitoring robot [4]. The development of a mobilerobot for
autonomous installation and removal of aircraft warning
spheres on overhead wires of electric power transmission
lines [5]. A mobile robot based on novel line-walking
mechanism is proposed for inspecting power transmission
lines. The novel mechanism enablesthecentroidofthe robot
to concentrate on the hip joint to minimize the drive torque
of the hip joint and keep the robot stable when only one leg
is hung on line [6]. An approach based on visual tracking
using particle filtering where the equations of motion of the
object are included in the filtering algorithm. A robotic
solution method for interaction of an industrial robot and a
free swinging object [7].
Limb mechanism robot are used to detect Grid-Like
structure and Hooking area join compliance by using foot
forcing sensor [8]. A robot which is equipped with Hybrid
camera approach real time estimation of the pose of
particular target object visual servoing in industry [9].](https://image.slidesharecdn.com/irjet-v6i2419-190722110934/85/IRJET-Industrial-Disaster-Control-System-using-Hanging-Robot-1-320.jpg)
IRJET- Industrial Disaster Control System using Hanging Robot
- 1. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2131 INDUSTRIAL DISASTER CONTROL SYSTEM USING HANGING ROBOT A. Devi priya1, A.R. Gayathri2, U. Keerthana3, M. Selvaraj4 1,2,3Student, Department of ECE, Valliammai Engineering College, Tamilnadu, India 4Assistant Professor, Department of ECE, Valliammai Engineering College, Tamilnadu, India ----------------------------------------------------------------------***--------------------------------------------------------------------- Abstract - Industrial disasters are increased in number causing more damage to human as well as industries. This project is proposed to detect the abnormal changes in the industries that causes damage so that we can prevent it at the earliest stage. Here we design a hanging robot model system for monitoring the industries continuously. Thehangingrobot travels over the rope path controlled from the base station. The sensors like gas, temperature, LDR senses and sends the information continuously to the base station. In case, if any unexpected sensor values are received, the alert is sent to the authority persons and the buzzer is produced. When the buzzer sound is produced, the fire extinguisher placed in the ground unit is turned on. Thus preventing the industries from occurrence of causing more damage. Key Words: Arduino UNO, Actuator, Hanging robot, Sensors, Zig-bee. 1. INTRODUCTION Robots all have different kinds of structure designed to achieve the assigned task more effectively and efficiently. In our project we propose a hanging robot for monitoring the industries continuously without human interruption. The hanging robots can move from one place to another place through the rope path with the help of motor rotation with respect to forward and reverse direction. These hanging robots are controlled by passing commandsthroughZig-bee pair. The sensors like gas, temperature, LDR are used to measure the gas level, temperature level and the light intensity level of the environment respectively. If the gas value and temperature value increases than the normal value, then alert signal is automatically sent to buzzer and the authority persons. The lightdependentlevel ismeasured using LDR sensor in case of fire. With the help of microcontroller, the gas, temperature and fire sensor values will be continuously observed. If the fire (light) is detected, the RF transmitter connected to the microcontroller sends the signal to the RF receiver in the ground unit. When the RF receiver receives the signal, it automatically presses the actuator to emit the spray whichactsasthefire extinguisher. This prevents the industries from the damage thatmayarise due to abnormal changes in the environment. Thus the hanging robots aredesigned mainlytopreventtheindustries from severe damage. The reasons for the disaster are found earlier using the hanging robots and thus prevents the industrial damages. 2. LITERATURE SURVEY Unmanned aerial vehicles or drones require advanced planning and navigation algorithm s to enable themtosafely move through and interact withtheworldaroundthem.This paper presents anextended potential fieldcontrollerenables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path [1]. High-voltage inspection robot can detect and identify various obstacles while it is walking long the high- voltage line and plan specific bypassingstrategyfordifferent types of obstacles. In this paper vision-based obstacle recognition algorithms are studied based on visual sensors specifically for the unique features of 500kv high-voltage wire [2]. Pipeline is an efficient way totransferoil,waterand gas but recently many plants pipeline became old so wired robots were considered to inspect but they require heavy power supply so adapting wireless robot is meant to be better solution. A robot that supports image transmission with outstanding mobility was developed. This robot can withstand many tough condition in pipeline and safety various requirements. In this experiment it is clear that robot can be driven as wireless communicationthencollects some images and othersignalssuccessively[3].Inindustries, measuring the parameters of machines is still a tedious process which is carried out byhumanpersonnel.Thispaper mainly focuses on the remedial measures made to reduce human interaction with machines by using industrial monitoring robot [4]. The development of a mobilerobot for autonomous installation and removal of aircraft warning spheres on overhead wires of electric power transmission lines [5]. A mobile robot based on novel line-walking mechanism is proposed for inspecting power transmission lines. The novel mechanism enablesthecentroidofthe robot to concentrate on the hip joint to minimize the drive torque of the hip joint and keep the robot stable when only one leg is hung on line [6]. An approach based on visual tracking using particle filtering where the equations of motion of the object are included in the filtering algorithm. A robotic solution method for interaction of an industrial robot and a free swinging object [7]. Limb mechanism robot are used to detect Grid-Like structure and Hooking area join compliance by using foot forcing sensor [8]. A robot which is equipped with Hybrid camera approach real time estimation of the pose of particular target object visual servoing in industry [9].
- 2. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2132 3. PROPOSED SYSTEM In this project, we propose hanging robot for industrial monitoring. The hanging robots can travel from one site to other site. The hanging robot is controlled by passing command through Zig-bee pair. With the help of microcontroller, the gas, temperature and fire sensor values will be observed and the information is continuously updated to the base station. If the sensor value for gas (CO2) and temperature increases, then the alert signal is automatically sent to the buzzer and authority persons. The light dependent level is measured using LDR sensor in case of fire. If the fire (light) is detected, the RF transmitter automatically sends the signal to the RF receiver in the ground unit. The receiverunitonreceivingthesignal presses the actuator to emit spray which acts as fire extinguisher. Thus the changes in the sensor values alerts the authority persons to take necessary action and incase offiredetection, the fire extinguisher is turned on. Thus the industrial damage may be minimized to a larger extent with this hanging robot. 3.1 Advantages Doesn’t harm human lives. Suitable for precarious sites. Can automatically send the sensorinformationtomore number of places using Zig-bee mesh network. Earliest detection offire, emitsspray(fire extinguisher) causing less damage. 3.2 Block Diagram Fig -1: Transmitter unit Fig -2: Receiver unit Fig -3: Ground unit 3.3 Hardware Requirements Arduino Uno DC Motor Relay Buzzer Power supply Gas sensor Temperature sensor Fire sensor UART ZigBee Actuator RF TX and RX 3.4 Software Requirements Arduino IDE Embedded C Proteus 4. COMPONENTS OF THE SYSTEM 4.1 Arduino Uno An Arduino is actually a microcontroller based kit which is used in communications and in controlling or operating many devices. It features the ATmega8U2 programmed as a USB-to-serial converter. The power for Arduino board is obtained by connecting it to a computer through USB or through a battery. 4.2 Relay Relays are switches which consists of an electromagnet and also a set of contacts. The electromagnet is used to perform Gas sensor (MQ4) Temperature sensor (LM34) Fire sensor (LDR) ARDUINO Relay DC Motor Relay DC Motor Robot model Buzzer UART Zig-bee RFTX Power supply Base station UART Zigbee module RF RX Actuator Spray
- 3. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2133 switching mechanism in relays. There are also other operating principles for its working. But they differ according to their applications. Most of the devices have the application of relays. 4.3 DC Motor DC motors were the first type widely used, since they could be powered from existing current lighting power distribution systems. A DC motor’s speed can be controlled over a wide range, using either a variable supply or by changing the strength of current in its field windings. 4.4 Buzzer A buzzer or beeper is a signaling device, the word “buzzer” comes from the rasping noise that buzzers made when they were electromechanical devices, operated from stepped- down AC line voltage at 50 or 60 cycles. A Piezo electric buzzer can be driven by an oscillating electronic circuit or other audio signal source. 4.5 UART The Universal Asynchronous Receiver/Transmitter (UART) is used for serial communication. UART is also a common integrated feature in most microcontrollers. The data is transmitted as bits in sequence and at receiver end the bits are reassembled into original data. This method is cost effective than parallel transmission of data. Communication can be “full duplex” (both send and receive at thesametime) or “half duplex” (devices take turns transmitting and receiving). 4.6 Zig-Bee ZigBee is a mesh network specification for low power wireless local area networks(WLANs)thatcovera largearea. High data throughput is obtained with the help of ZigBee. ZigBee has low power consumption.Itispowered bybattery. ZigBee operates on the IEEE 802.15.4 physical radio specification and in unlicensed radio frequency bands, including 2.4GHz, 900MHz and 868MHz. 4.7 RF TX and RX RF transmitter and receiver are used to transmitandreceive signals over 433MHz frequency. When logic zero is sent, no power is drawn by transmitter and carrier is fully suppressed. When logic one is sent carrier is fully on to about 4.5mA with a 3volts power supply. The information is communicated between transmitter and receiver. Transmitter and the receiver are duly interfaced to two microcontrollers for data transfer. It covers the range of 2-3 meters. 4.8 Gas sensor Gas sensor is a chemical optical sensor utilizing the acidic nature of CO2 for detection. It consists of a gas-permeable membrane in which a pH-sensitive luminescence dye is immobilized together with a buffer and an inert reference luminescent dye. The internal pH of the buffer is changed when CO2 gas penetrates the layer. With this changes the luminescence of the pH-sensitive dye. Together with the inert reference dye internal referencing is made for detection of the luminescence lifetime of the sensor. 4.9 Temperature sensor Temperature sensor is used to convert temperaturevalue to an electrical value. Temperature sensor contains sensing element and with the help of conditioning circuits, the sensor will reflect the change ofenvironmental temperature. In LM34 series output voltage is linearly proportional to the Fahrenheit temperature. Thus they are more advantageous. 4.10 Fire sensor A fire sensor is used to detect the fire or light. Thefiresensor responds instantaneously to the fire detection. On detecting fire, the alert is sent. A flame detector can often respond faster and more accurately than a smoke or heat detector due to the mechanism it uses to detect the flame. Fig -4: Circuit diagram Fig: simulation output of hanging robot
- 4. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2134 Table -1: Observed values Result values observed S.No Measuring Parameters Normal Range Abnormal Range 1. Temperature sensor Room temperatur e Above C 2. Gas sensor 1-150 ppm Above 150ppm 3. Fire sensor 0-3 MΩ Above 3 MΩ 5. CONCLUSION In industries to reduce manual overhead we have implemented a system using ZIGBEE in industry to monitor as well as to inform the responsible person to take appropriate measures. The hanging robot is a real-time monitoring system developed with simple hardware which simplifies the possibility of error free security system. Thus industrial monitoring robot used to monitor the abnormal conditions and parameters of the industry. A new RF for transfer of parameters from robot to base station. The actuator presses the fire extinguisherincaseoffiredetection in industries. Thus prevents the industries from severe damage. REFERENCES 1) Alexander c. woods and hung m. la, senior member,”A novel potential field controller for use on aerial robots”,ieee transactionsonsystems,man, and cybernetics: systems July 2017. 2) Yanhuan Zhu, Xin wang* and Bo Xu.” Design of visionbased obstacle crossing of high-voltage line inspection robot”, ieee international conference on cyber technology in automation, control and intelligent systems June 19-22, 2016. 3) “Defect identification in pipelines using inspection robot” D. Jayakumar, RJaganath, R. Selvarasu 2 6. 4) “Design and implementation of hanging robot for industry monitoring and safety Measurements”, Sheela.G, Priya.S, Suresh.A, IEEE 2018. 5) Mario F. M. Campos, Member, IEEE, Guilherme A. S. Pereira, Member, IEEE, Samuel R. C.Vale, Alexandre Q. Bracarense, Gustavo A. Pinheiro, and Maurício P. Oliveira,”A Robot for Installation and Removal of Aircraft Warning Spheres on Aerial Power Transmission Lines”, IEEE Transactions on power delivery, VOL. 18, NO. 4, October 2003. 6) Ludan Wang, Fei Liu, Zhen Wang, Shaoqiang Xu, Sheng Cheng, and Jianwei Zhang, Development of a Practical Power Transmission Line Inspection Robot Based on a Novel Line Walking Mechanism, IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010. 7) Askew a. Transeth applied cybernetics sintef ict, “loading of hanging trolleys on overhead conveyor with industrial robots”, IEEE transactions on systems ©2015 IEEE. 8) Kenji Inoue, Taisuke Tsurutani, Tomohito Takubo, Tatsuo Arai, “Omni-directional gait of limb mechanism robot hanging from grid-likestructure”, international conference on intelligent robots and systems, October 2006. 9) v. lippiello, b. siciliano, and l. villani,“position-based visual servoing in industrial multirobotcellsusinga hybrid camera configuration,” ieee transactions on robotics, vol. 23, no. 1, pp. 73–86, 2007. 10) Geetesh Chaudhari, Sudarshan Jadhav, Sandeep Batule, Sandeep Helkar, “Industrial Automation Using sensing based application for Internet of Things”, IARJSET,Vol.3, Issue 3, March 2 6. 11) Ashwini Deshpande, Prajakta Pitale,Sangita Sanap”, “Industrial Automation using Internet of Things(IOT)”, IJARCET, Volume 5, Issue 2, February 2016. 12) Dr.V.Ramya, G. Thirumalai Rajan, “Raspberry Pi Based Energy Efficient Industrial Automation System”, IJIRCSE, Volume 2, Issue , January 2016. 13) Ayman Sleman and Reinhard Moeller, “Integration of Wireless Sensor Network Service into other Home and Industrial Networks”, IEEE paper, April 2008.