INTRODUCTION
Probably, no other technique has been and still is more important to humankind's durability, easement, and development than detecting the fire accident area in the rural forest areas. Continuous monitoring of open space is of the utmost importance for the protection of forests against fire. Collected data in real-time provide fast intervention of relevant services to extinguish the fire. Timely information about the appearance of fire reduces the number of areas affected by this fire. It thereby minimizes the costs of fire extinguishing and the damage caused by the importance of the wood to protect forests against fire.
Organized human surveillance requires many subjects whose monitoring will cover only the area within the scope of observation. Automatic control and automatic early fire warning are certainly more advanced approaches in forest fire protection. The duty operator at a particular center uses infrared and TV cameras placed at various locations. He can observe much larger space and emergently notify the authorized services. Such surveillance provides a clear image with the contours of the fire-affected areas, directional movement of the flame front, and other details, which can be used to choose the firefighting tactics.
In addition to preventive measures against forest fire (watch, observation posts, patrols), many countries use the intelligent integrated system for early detection and prediction of the spread of forest fires. Fire departments need early fire detection systems and the necessary details about the fire location and its surroundings. This paper has described and evaluated a new approach for early forest fires detection in field lands. This paper presents an forest fire detection model based on the terrestrial systems that rely on the appropriate cameras, with the aim to provide a reference for the fire which is spreading in the fields can be monitored by the fire escort within his home by providing only the GPS location of the field
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CHAPTER 2
OBJECTIVE
The project's main aim is to detect the fire-prone area and communicate its surface area with the base station with the help of a drone.
2.1 LITERATURE COLLECTION
2.1.1 Fire Detection Based On Image Processing
Fire detection systems are among the most important components in surveillance systems used to monitor buildings and the environment. Due to rapid developments in digital camera technology and video processing techniques, there is a major trend to replace conventional fire detection methods with computer vision-based systems. Computer vision-based fire detection systems generally employ three major stages: fire pixel classification, moving object segmentation, and analysis of the candidate regions.
2.2 EXISTING SYSTEM
A thermal imaging camera on a drone turns it into a powerful tool, which can be used in many sectors from construction, mining, electrical, surveillance, firefighting, search and rescue. Thermal drones, which use vision imaging cameras, have many positive uses by detecting heat coming from almost all objects and materials, turning them into images and video. Hotter objects emit shorter wavelengths, higher frequency radiation. Hotter objects emit shorter-wavelength, higher frequency radiation. As the temperature of an object increases, the wavelengths within the spectra of the emitted radiation also decrease-s
For example, the coils of an electric toaster are considerably hotter than room temperature and emit electromagnetic radiation in the visible spectrum. The coils on the toaster glow red, and we can feel the heat by putting our hands near the coils, providing a convenient warning that the coils are hot. This thermal sensing drone costs around Rs.75,000
Drawbacks
Single rotors are harder to fly than multi-rotor drone types and they can be expensive.
These drones have a higher complexity.
And can be dangerous because of the heavy spinning blade.
2.3 PROPOSED SOLUTION
In this proposed project,the cost and efficiency of the drone, which is used to detect the thermal image of the fire-affected area, are analyzed. It can be viewed on an interfaced laptop using raspberry pi 3 modules with the inbuilt software .
2.3.1 Advantages
Environmentally friendly – battery-powered rather than fuel-hungry.
Cost-effective – can reduce staff costs over time, bringing an ROI.
Always operational – they don't need to sleep or take breaks.
2.4 WORKING PRINCIPLE
Initially, Drones use rotors for propulsion and control. You can think of a rotor as a fan because they work pretty much the same. Spinning blades push air down. However, the net thrust of the four rotors pushing the drone up must be equal to the gravitational force pulling it down. The camera senses the fire, and immediate results will be displayed in our interfaced laptop.
CHAPTER 3
FEASIBILITY STUDY
3.1 ECONOMIC FEASIBILITY
The proposed project is economically feasible. All the components such as Ardopilot controller, Motor driver, web camera, and propeller fins are easily available. Just the condition of execution of drone motion from controller differs from the existing system . So cost-wise, it is economically feasible where the price of the DJI Mavic drone with this additional feature will cost around a lakh.
3.2 OPERATIONAL FEASIBILITY
Since the project possesses only simple additional programming into the Controller, there are no big complications involved in the operation. As thermal sensing happens automatically by raspberry pi 3 module based on color-coding, which is already stored in the controller, and even the human intervention is involved only once that is only when the system has to be set on starting path of the drone. After the starting of the whole unit, each and every system will be autonomous in action.
3.3 TECHNICAL FEASIBILITY
The only extra fabrication needed is to place the GPS module in place that is at the mounting of the aluminum plate whose input is feed to the already present Controller using Mission planar software. The signal transmission is mainly by fly sky transmission & receiver unit (FS-iA 6), which can control the drone and an autonomous drone.
CHAPTER 4
DESIGN SPECIFICATIONS
4.1 BRIEF DESCRIPTION OF THE DESIGN
The setup is broadly divided into three major parts: the mechanical setup involving the aluminum frame, landing gears, and camera holding pinholes. At the same time, the second part is the electrical circuit involving a lipo battery, autopilot controller, raspberry pi3 module and GPS module. The third part is mainly a thermal sensing system involving a camera, and it is interfaced with raspberry pi3 (model B). The three parts work with synergy to perform the thermal sensing drone .Once the inputs from the camera is obtained and on checking the condition with the raspberry pi3 module, the thermal sensing process starts eventually. Table 4.1 shows the components mainly used in the system.
Table 4.1 Components involved in thermal sensing drone
S No
Components
Description
1
Brushless DCMotor
0.5A@10V, 1000 rpm
2
Camera
Thermal sensing camera
3
GPS module
Ublox neo-M8N GPS
4
Raspberry pi 3
Model B
5
Lipo Battery
11.1V,4500 mAh
6
Propeller fins
12inch (2 pairs)
7
Ardupilot
APM 2.8
8
Frame
Aluminum
9
Transmitter & receiver
Fly sky FS i6
10
Bolt and nuts
Low or medium carbon steel
11
Landing gears
Plastic
4.2 COMPONENTS DESCRIPTION
4.2.1 Brushless Dc Motor
We require high-quality, reliable motors with rapid response to control the quadcopter. If one or several of the motors at some point during a flight experience any problems it would be devastating for the quadcopter, and can at worst endanger the quadcopter itself. We also require the motors to have a fast response to ensure a more stable flight. Finally, we require that the motors are close to vibration-free.
Based on these criteria’s we decided to acquire the Ready to sky RS 2212-920kV Brushless Motor. It is a brushless motor designed for remote con-trolled airplanes and quadcopters and is considered highly reliable. Ready to the sky has long experience with motors for RC airplanes and quadcopters, and their motors are known for being vibration-free. According to the specifications, each motor can give a thrust of 0.5 kg at 920-kilo watts, based on our ESC and propellers. This is more than enough to fulfill our requirements, and it follows that we could perform quick movements if necessary, which will make the control sequence more simple
4.2.2 Thermal Imaging Camera
A thermographic camera (also called an infrared camera or thermal imaging camera or infrared thermography) is a device that forms a heat zone image using infrared radiation, similar to a common camera that forms an image using visible light. Their use is called thermography.
A thermal imaging camera on a drone turns it into a powerful tool, which can be used in many sectors from construction, mining, electrical, surveillance, firefighting, search and rescue.
Thermal drones, which use vision imaging cameras, have many positive uses by detecting heat coming from almost all objects and materials, turning them into images and video.
4.2.3 Global positioning system Module (GPS)
The control of any drone always lies with the pilot, who, for lower cost drones, uses visual tracking to determine its position and orientation. Beginner drones usually do not have GPS, but more advanced drones make use of GPS receivers within the navigation and control loop which allows for some smart GPS drone navigation features that include: Position Hold: Allows the drone to maintain a position at a fixed altitude and location Return to Home: The drone remembers the spot from where it took off from, and at the press of the return to the home button, it will automatically return to this spot.
Autonomous Flight: he flight path of the drone can be predetermined by establishing GPS waypoints that define the trajectory. Then upon execution, the drone will use autopilot to follow this path. All of these features require the use of a GPS drone system, so it is important for a drone pilot to have a basic understanding of how GPS works.
The global positioning system is a satellite navigation system that uses a radio receiver to collect signals from orbiting satellites to determine position, speed, and time. This navigation system is more accurate than over forms of navigation and provides position knowledge to within a few meters. Advanced GPS systems can provide even better accuracies to within a few centimeters. The miniaturization of integrated circuits has allows GPS receivers to be highly economical, and available to everyone.
GPS is a broadcast radio system that reaches almost all areas of the planet, so it is highly accessible. The global positioning system is a satellite navigation system that uses a radio receiver to collect signals from orbiting satellites to determine position, speed, and time. This navigation system is more accurate than over forms of navigation and provides position knowledge within a few meters. Advanced GPS systems can provide even better accuracies within a few centimeters. The miniaturization of integrated circuits has allows GPS receivers to be highly economical, and available to everyone. GPS is a broadcast radio system that reaches almost all areas of the planet, so it is highly accessible.
4.2.4 Raspberry Pi3
A Raspberry Pi 3 (model b) is a single circuit computer. Raspberry Pi 3 (rPI3) provides rich support for interfacing external peripherals through a hardware and system software interface. This article will explore various hardware and system software configurations available through rPI3 for the user.
Bus Addresses
Peripherals registers are available through its device i/o address or bus address. Peripherals are available at the 0x7E00_0000 address. These addresses are higher than the physical memory address. Processors generally provide IN/OUT opcode to access the peripherals. Access peripherals using DMA uses bus addressing or direct device addressing.
Physical Addresses
Physical memory is a secondary cache, which is 1GB on a rPI3. All peripheral bus addresses are mapped to physical memory. So, accessing memory mapped addresses in physical memory tends to access the bus addresses. This eliminates using separate op codes usage in bus addressing mode.
Physical addresses start at 0x00000000 for RAM.
The bus addresses for peripherals are set up to map onto the peripheral bus address range starting at 0x7E000000. Thus, a peripheral advertised here at bus address 0x7Ennnnnn is available at physical address 0x3Fnnnnnn. MMU maps bus addresses to a physical address.
Virtual Addresses
A program runs in two parts: user mode and kernel mode. User and kernel programs do not access physical memory by hard addresses; rather, they use soft or virtual addresses. Typically, each application runs on its own virtual address space where the application code in the virtual address takes the lower 3GB, whereas the upper 1GB is occupied by the kernel code (running on behalf of user code). Total 4GB sums to 32-bit complete addressing.
This makes an application independent of real physical (RAM) memory size, and all magic is done through a mediator page table.
4.2.5 Lipo Battery
The quadcopter motors and sensors are all powered by using a battery pack. We require a battery that stays within the input voltage limits of the microcontroller, and that battery provides enough power to sustain a flight for at least 10 minutes. We bought the 4500mAh 3S 25C Lipo Pack delivered by Hobby wing. This is a 4500mAh battery which should allow us to have a normal flight for an estimate of 15 minutes, although the battery voltage needs to be checked in software. The battery is quite heavy, 250g, and when choosing such a powerful battery.
For controlling four motors, four drivers ESC’s are used because each motor driver has two motor channels, and each channel has the capacity to control two dc motors. The main motive of ESC is to regulate the uniform peed across all the motors; thus, the motors can produce an equal amount of thrust.
4.2.6 Propeller Fins
The requirements for the propellers are less strict than those for the motors. We require light propellers with size and lift potential such that the quadcopter can hover at less than 50 % of the motor capacity. It is also preferable if the propeller can survive soft bumps. For our quadcopter, we choose plastic 12X4.5 propellers (304mmx114mm) with their light weight. This is a standard propeller used by many quadcopters. The total length of the propeller is 12inch while the pitch is 114mm.
Figure 4.8propeller with motor
4.2.7 Ardupilot
During our project this fall we estimated that a KK board 2.1.5 would not be
sufficient for our purposes. So, we require a controller board which having high stability to lift a box above a particular distance from the ground for the transport of medicines. We discovered dWe discovered during our development that the KK board lacked the necessary stability to lift the weight and lacks autonomous fly.
For this reason, we needed to upgrade to a more powerful board to ease the development and allow future upgrades to make the drone fly autonomously. We have compared the KK board and the APM board specifications. We can see that the APM has far superior specifications considering high stability, several Digital I/O pins, GPS portability, navigation, and ground control software(Mission Planner).
4.2.8 Aluminum Frame
Aluminum (aluminum in American and Canadian English) is a chemical element with the symbol Al and atomic number 13. It is a silvery-white, soft, non-magnetic and ductile metal in the boron group. By mass, aluminum makes up about 8% of the Earth's crust; it is the third most abundant element after oxygen and silicon and the most abundant metal in the crust, though it is less common in the mantle below. The chief ore of aluminum is bauxite. Aluminum metal is highly reactive, such that native specimens are rare and limited to extreme reducing environments. Instead, it is found combined in over 270 different minerals.
Advantages of Aluminium Frame
Corrosion resistance
High durability
High Torsional Stiffness
Low moment of inertia
Less weight
Table 4.2 Specifications of aluminium frame
Material
Aluminum
Length
304 mm
Quantity
4
4.2.9 Flysky Fs I6
The FlySky FS-i6 is a great entry-level 6-channel telemetry 2.4ghz computer transmitter that uses solid and reliable Automatic Frequency Hopping Digital System (AFHDS) spread spectrum technology. The FlySky FS-i6 has both a nice quality look and feel, while the programming is simple to use.
There are many range of FlySky FS-I6 in India. 2.4GHz 6-Channel Digital Transmitter Receiver Radio Control System Set. Reliable, interference free 2.4GHz AFHDS 2A signal operation.
Spectrum transmitters require receivers that use the DSMX or DSM2 algorithms see less J's answer is the most accurate - this receiver only works with FlySky transmitters (which use the Automatic Frequency Hopping Digital System - AFHDS - algorithm)
4.2.10 Electric Speed Control
An electronic speed control or ESC is an electronic circuit that controls and regulates the speed of an electric motor. It may also provide reversing of the motor and dynamic braking. Miniature electronic speed controls are used in electrically powered radio controlled models. Full-size electric vehicles also have systems to control the speed of their drive motors.
Different types of speed controls are required for brushed DC motors and brushless DC motors. A brushed motor can have its speed controlled by varying the voltage on its armature. (Industrially, motors with electromagnet field windings instead of permanent magnets can also have their speed controlled by adjusting the strength of the motor field current.) A brushless motor requires a different operating principle. The speed of the motor is varied by adjusting the timing of pulses of current delivered to the several windings of the motor.
4.2.11 Bolt And Nut
Bolt - a screw that screws into a nut to form a fastener. Nut - a small (usually square or hexagonal) metal block with internal screw thread fitted onto a bolt. Nuts and bolts are used for connecting the joints. The figure 4.11 represents Bolt and Nut.
The bolt and Nut used for this project are made of Mild Steel. The Mild Steel is ductile and provides easy machinability.
4.3 DESIGN AND SPECIFICATION
4.3.1 Mass of the components:
Material used = Aluminum
Density = 2.7 g/cm^3
Chassis = 600g
4.3.2 Motor Specification
Motor Type = BRUSHLESS DC Motor
Operating voltage = 7.2V to 12V (2 to 3Li-poly or 6to10 NiCad)
No load current = 0.5Amp
Maximum current = 13Amp for 60Sec
Weight of motor = 50-60 grams
Maximum operating
Temperature = + 80°C
Speed of the motor = 1000rpm
4.3.3 Ardupilot Specification
Manufacturer = ARDUPILOT
Model no = ARDUPILOT APM 2.8
Input ports = 8
Output ports = 16
4.3.4 GPS Module Specification
Supply voltage = 3.6V
DC current output = 10mA
Operation limits = Gravity-4g,Altitude-50000m
Operating Range = -40ºC TO 85°C
CHAPTER 5
FABRICATION PROCESS
5.1 CAD MODELLING
Designing is the most important stage of any product. Initially, the part drawings are made to the dimension specified, and then the parts are assembled, as shown in figure 5.1. This drone is designed using solid works software. The reason for choosing solid works over AutoCAD is the wease fease oforking in the former one.
5.2 ELECTRICAL SECTION
The electrical section consists of Ardupilot APM 2.8 circuit, raspberry pi 3 modules, Logitech 720p camera, and LipoBattery. All the circuits are built using aardupilot default program. Based on the values from the camera, the signals are fed to the raspberry pi3, which then converts these signals in the format required for the actuating components, which are propellers . The real-time electrical circuit is shown in the figure 5.2
The power source required for the operation of the motor is provided by the 11.1v and 4500Amph battery. The motor are connected in parallel to the battery to maintain constant voltage and varying Current.
5.3 MECHANICAL SECTION
The mechanical section consists of a frame or chassis, which forms the prototype's base on which the battery and electronics system can be placed. The mechanical section consists of a single frame setup with 4 aluminum rods and 4 plastic landing gears for safety landing purposes to avoid damage to any components while landing. Motors are used for create heavy thrust to lift the whole setup. A motor of 1000rpm/s was selected because high speed is required for the lifting operation. The propellers are attached to the motor with the help of a fixed nut. The Aluminum frame is used to reduce the weight. A separate holder is designed for holding the camera at the bottom of the chassis. The aluminum frame is projected from the side of the chassis to hold the propeller and the ESC module used t's speed to control the propeller's speed. The complete Mechanical setup is shown in figure 5.3
5.4 FABRICATION SECTION
An aluminum frame is used to reduce weight in fabrication, where a GPS module, ardupilot, receiver, camera, and Electric Speed Control are supported. Interfacing the above components with the raspberry pi 3 module results in the thermal detection in the display.
CHAPTER 6
CONCLUSION AND SCOPE FOR FUTURE
6.1 CONCLUSION
The Thermal sensing drone is designed to detect the fire affected area. The ardupilot helps the drone to move to the instructed location in the GPS and the camera senses the fire prone area and communicate it to the base station with the help of program being dumped in raspberry pi 3,so that we will be able to know the fire prone area,by this we can reduce the damage.
6.2 FUTURE SCOPE
This drone can be further improved by incorporating Thermal camera for higher accuracy purpose. This model can detect the fire-prone area at nighttime only, so by incorporating the thermal camera; we can detect the fire-prone area both day and night.
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