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REPUBLIC OF TURKEY ADNAN MENDERES UNIVERSITY GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCES MECHANICAL ENGINEERING 2015-M.Sc.-013 THE DEVELOPMENT OF FIRE DETECTION ROBOT Hilmi Saygın SUCUOĞLU Supervisor: Prof. Dr. İsmail BÖĞREKCİ AYDIN iii REPUBLIC OF TURKEY ADNAN MENDERES UNIVERSITY GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCES AYDIN The thesis with the title of “The Development Of Fire Detection Robot” prepared by the H.Saygın SUCUOĞLU, Master Student at the Mechanical Engineering Program at the Department of Mechanical Engineering was accepted by the jury members whose names and titles presented below as a result of thesis defense on January 9th, 2015. Title, Name Surname Institution Signature President :Prof. Dr. Cengiz ÖZARSLAN Faculty of Agriculture Member :Prof. Dr. İsmail BÖĞREKCİ Faculty of Engineering Member: Assoc.Prof.Dr. Pınar Faculty of Engineering DEMİRCİOĞLU This Master Thesis accepted by the jury members is endorsed by the decision of the Institute Board Members with ………Serial Number and ………………..date. Prof. Dr. Aydın ÜNAY Institute Director iv v REPUBLIC OF TURKEY ADNAN MENDERES UNIVERSITY GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCES AYDIN I hereby declare that all information and results reported in this thesis have been obtained by my part as a result of truthful experiments and observations carried out by the scientific methods, and that I referenced appropriately and completely all data, thought, result information which do not belong my part within this study by virtue of scientific ethical codes. 09 / 01 / 2015 Hilmi Saygın SUCUOĞLU vi vii ÖZET YANGIN ALGILAMA ROBOTUNUN GELİŞTİRİLMESİ Hilmi Saygın SUCUOĞLU Yüksek Lisans Tezi, Makine Mühendisliği Anabilim Dalı Tez Danışmanı: Prof. Dr. İsmail BÖĞREKCİ 2015, 211 sayfa Bu tez çalışmasının amacı; özellikle endüstriyel alanlarda, erken yangın algılamada kullanılacak bir yangın algılama robotu tasarlamak ve imal etmektir. Bu robot; önceden belirlenen sanal güzergâh üzerinde engel algılama fonksiyonuyla ve yeniden programlanabilir hareket ünitesiyle devriye gezebilecek ve yangın kaynağını tespit edebilmek için ortam taraması yapabilecek şekilde tasarlanmış ve imal edilmiştir. Sistem; hareket planlama ünitesine tanımlanan programlar ile değişken devriye güzergâhlarını takip edebilme yeteneğine sahiptir. Robotun tasarım ve uygulama süreçleri şu şekildedir; mekanik sistemin tasarımı ve geliştirilmesi, elektronik sistemin tasarımı ve geliştirilmesi ve gerekli yazılımların hazırlanmasıdır. Mekanik sistemin tasarım ve geliştirilme sürecinde; taslak çizimleri, ölçülendirmeler ve üç boyutlu modelleme için bilgisayar destekli tasarım ve katı modelleme programları kullanılmıştır. Robotun taşıyıcı gövdesi; ucuz, sağlam ve kolay işlenebilir malzemeler olan ahşap ve sert plastik köpük kullanılarak imal edilmiştir. Robot sürüş sisteminde diferansiyel metot kullanılmıştır. Yarı otomatik robot dört adet fırçalı doğru akım motoru ile çalışmaktadır. Elektronik sistemin tasarımı ve geliştirilmesi sürecinde; hazır kart almak yerine ihtiyaca uygun elektronik veri kazanım ve kontrol devreleri tasarlanıp üretilmiştir. Bu devrelerin şematik diyagramı ve baskı devresi Proteus elektronik tasarım programı kullanılarak hazırlanmıştır. Bu devreler; motor hareketlerini kontrol etmekte ve dizüstü bilgisayar ile algılama üniteleri arasında bir köprü kurmakta kullanılmıştır. Yazılımların hazırlanma sürecinde; engel algılamada ve güzergâh takibinde kullanılacak akıllı yazılımlar geliştirilmiştir. Ayrıca daha güvenilir yangın algılama sağlamak için; çoklu sensör algılama ve değerlendirme algoritması geliştirilmiştir. Bu tezin sonucunda; özellikle endüstriyel alanlarda kullanılabilecek, çeşitli fonksiyonlara sahip bir yangın algılama robotu tasarlanıp imal edilmiştir. Yapılan testlerle; sistemin en fazla 100 cm mesafedeki yangını, robot 0,5 m/s hızla ilerlerken tespit edebildiği sonucuna varılmıştır. Anahtar Kelimeler: Data kazanım ve kontrol, Diferansiyel sürüş metodu, Yangınla mücadele, Çoklu sensör algılama ve değerlendirme, Sanal güzergâh takibi viii ix ABSTRACT THE DEVELOPMENT OF FIRE DETECTION ROBOT Hilmi Saygın SUCUOĞLU M.Sc. Thesis, Department of Mechanical Engineering Supervisor: Prof. Dr. İsmail BÖĞREKCİ 2015, 211 pages The aim of this thesis is to design and manufacture a fire detection robot that especially operates in industrial areas for fire inspection and early detection. Robot is designed and implemented to track prescribed paths with obstacle avoidance function through obstacle avoidance and motion planning units and to scan the environment in order to detect fire source using fire detection unit. Robot is able to track patrolling routes using virtual lines that defined to the motion planning unit. The design and implementation processes of the robot are as follow; the design and the development of mechanical, electronic systems and software. The design and the development of mechanical system; for the sketch drawings, dimensioning and solid state modeling of the robot, computer aided design and solid modelling computer programs were used. The carrier board of the robot is produced using wooden material and rigid plastic foam which are cheap, strong enough and easy to manufacture. Differential steering method is selected for semi-autonomous robot driving system and it is powered by four brushed DC (direct current) motors. The design and the development of electronic system; electronic circuits were designed and produced, instead of buying a commercial card. Both schematic diagrams and circuits of the data acquisition and control circuits are designed using Proteus electronic design program. These circuits are used to control the motion of the motors and establish a data flow between the laptop and the other peripheral sensing components. Software development; intelligent algorithms for obstacle avoidance and path tracking have been developed. A sensor data fusion algorithm for the sensors was also developed to get more reliable fire detection information. In conclusion; a fire inspection and detection robot with various functions to especially can be used in industrial areas was designed and manufactured. The functions of the robot were tested. It can be concluded that system is able to detect the fire source maximum 100 cm distance away while robot is moving with 0.5 m/s forward speed. Keywords: Data acquisition and control, Differential steering method, Firefighting, Sensor data fusion, Virtual path tracking. x xi ACKNOWLEDGEMENTS I wish to express my gratitude to my supervisor, Prof. Dr. İsmail BÖĞREKCİ who was abundantly helpful and offered invaluable support with his sincerity and belief in me. In addition, I am especially grateful to Assoc. Prof. Dr. Pınar DEMİRCİOĞLU for her useful advices and comments. I wish to acknowledge the efforts of Fatih AKKOYUN. Also, I would like to thank my lovely family, for their invaluable efforts when I felt hopeless and weak in solving problems. Finally, I would like to send my special thanks to my love Duygu for her understanding, help and encouragement and faith in me. Hilmi Saygın SUCUOĞLU xii xiii TABLE OF CONTENT APPROVAL OF THE THESIS ............................................................................. iii SCIENTIFIC ETHICS ............................................................................................. v ÖZET ..................................................................................................................... vii ABSTRACT ............................................................................................................ ix ACKNOWLEDGEMENTS .................................................................................... xi TABLE OF CONTENT ....................................................................................... xiii LIST OF ABBREVIATIONS .............................................................................. xvii LIST OF FIGURES .............................................................................................. xix LIST OF TABLES ............................................................................................... xxv 1. INTRODUCTION................................................................................................ 1 1.1. What is Robot? .................................................................................................. 1 1.2. Problem Description.......................................................................................... 2 1.3. Motivation ......................................................................................................... 2 1.4. Thesis Objectives .............................................................................................. 3 1.5. Overview of Thesis ........................................................................................... 4 1.6. System Overview .............................................................................................. 5 2. LITERATURE REVIEW..................................................................................... 7 2.1. Industrial Fires .................................................................................................. 7 2.1.1. Big Industrial Fires ......................................................................................... 7 2.1.2. Fire and Fire Safety Statistics ........................................................................ 8 2.2. Early Fire Detection Methods and Devices ..................................................... 11 2.2.1. Optical Flame Detectors ..............................................................................
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