Professional Documents
Culture Documents
Fire Fighting Robotic Vehicle: Project On
Fire Fighting Robotic Vehicle: Project On
Fire Fighting Robotic Vehicle: Project On
By
SHOUVICK DAS
ROLL NO: 14300310009
-1-
GURU NANAK INSTITUTE OF TECHNOLOGY
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
KOLKATA: 700114
INDIA
CERTIFICATE OF RECOMMENDATION
This is to certify that the work in preparing the dissertation entitled “Project on Fire Fighting Robotic Vehicle”
has been carried out by Shouvick Das under my supervision and may be accepted as a partial fulfilment of the
requirement for the degree leading to Bachelor in Technology on Electronics and Communication
Engineering.
............................................................. ....................................................................
Prof (Dr.) Arun Kumar Mondal Dr. Sunipa Roy
Professor Head,
Department of Electronics and Communication Department of Electronics and Communication
Engineering Engineering
Guru Nanak Institute of Technology Guru Nanak Institute of Technology
Kolkata- 700114 Kolkata- 700114
CERTIFICATE OF APPROVAL
The project is hereby approved as a satisfactory study of an engineering subject carried out to warrant its
acceptance as a pre-requisite to the degree for which it has been submitted. This approval, however, does not
necessarily endorse of accept every statement made or conclusion drawn in the project but approve the project
only for the purpose for which it is submitted.
.....................................................
Project Guide
.....................................................
Examiner
Dated:
-3-
ACKNOWLEDGEMENT
I would like to acknowledge my sincere appreciation to Prof. Dr. Arun Kumar Mondal, Department of
Electronics and Communication Engineering, Guru Nanak Institute of Technology for his immense guidance,
valuable advices and constructive suggestion in carrying out this project work. He directed me very patiently
but with great enthusiasm and concrete interest towards the great efficiency of this work. I also express my
sincere gratitude to him for teaching ma this subject in every possible way. I was fully allowed to have
necessary freedom to exercise thoughtful and scientific approach to this problem.
My sincere thanks go to Dr. S. K. Das, Dean of Guru Nanak Institute of Technology, for the necessary facilities
which were provided to me for carrying out this project.
I am grateful to my group mates for their continuous support and co-operation for carrying out this project
work.
Finally, I would like to thank all persons who have helped me directly or indirectly for the success in my work.
-----------------------------------------------
(SHOUVICK DAS)
-4-
CONTENTS
-5-
LIST OF FIGURES
LIST OF TABLES
-6-
CHAPTER-1
INTRODUCTION
In the age of communication and information technology there are tremendous impacts on globalization that
affect our life. As we move deeper into the 21st century several pressing issues are coming into focus. The
main issues are energy, agriculture and food, disease control, security, and environmental issues. In all these
areas robots can facilitate information gathering, task implementation and safety management. Robots are
autonomous, communication devices, which have a real connection with the environment. They can literally
tirelessly carry out tasks and record information. They can go where people cannot go and into situations
which endanger human life.
In our project, we have used microcontroller-based robot which is controlled by a switching panel. A user will
control the switches for the movement of our robot. We will move the robot in basic four directions- forward,
reverse, left and right. There is another switch for the pump. When the switch is on, pump will suck water
from the container and spread it through the pipe to the fire-attacked zone. During the movement of robot we
can use the pump simultaneously and separately too.
Fire fighting robot can be very much useful for the safety of society. In broader application, we can use this
unmanned vehicle to move it any direction of our desired location and extinguish the fire from a safe zone.
-7-
OBJECTIVE
To build an unmanned vehicle that will spread water from a large distance.
To move the vehicle smoothly in all possible directions through a switch panel.
To gain an idea of designing a fire fighting robot with much more facilities for broader applications.
-8-
CHAPTER - 2
2.1 DESCRIPTION
2.1.1 POWER SUPPLY
The power supply draws power from two 9V batteries in series. The 18V power supply is regulated to 12V
DC output using a 7812 voltage regulator IC. This 12V power supply is required for the motors and the pump.
The 12V power supply is then regulated to a 5V DC output using a 7805 voltage regulator IC. This 5V power
supply is needed for the ATMEGA32 microcontroller IC and the L293D motor driver ICs.
-9-
The ATmega32 AVR is supported with a full suite of program and system development tools including: C
compilers, macro assemblers, program debugger/simulators, in-circuit emulators, and evaluation kits.
CHAPTER-3
- 10 -
COMPONENTS
3.1 SOFTWARE:
1. Proteus 8 professional
2. WinAVR
3. ProgISP 7
4. Programmer’s Notepad
3.2 HARDWARE:
1. ATMEGA32 microcontroller
2. L293 motor driver IC
3. 12 volt DC motor
4. Pump
5. 10K resistors
6. 7805 and 7812 voltage regulator IC
7. Push-button switches
8. Vero board
9. Wheels
10. Track-belt
11. Water-tank
12. Pipe
13. Chassis
14. FRC cable
15. 2-pin and 6-pin socket
16. Jumper wires
17. Batteries
18. Nuts and bolts
CHAPTER-4
- 11 -
ATMEGA32 MICROCONTROLLER IC
4.1 FEATURES OF ATMEGA32
• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture
Mode
– Real Time Counter with Separate Oscillator
– Four PWM Channels
– 8-channel, 10-bit ADC
– 8 Single-ended Channels
– 7 Differential Channels in TQFP Package Only
– 2 Differential Channels with Programmable Gain at 1x, 10x, or 200x
– Byte-oriented Two-wire Serial Interface
– Programmable Serial USART
– Master/Slave SPI Serial Interface
– Programmable Watchdog Timer with Separate On-chip Oscillator
– On-chip Analog Comparator
• Operating Voltages
– 2.7 - 5.5V for ATmega32L
– 4.5 - 5.5V for ATmega32
• Speed Grades
– 0 - 8 MHz for ATmega32L
– 0 - 16 MHz for ATmega32
GND
Ground.
- 13 -
Port A (PA7-PA0)
Port A serves as the analog inputs to the A/D Converter. Port A also serves as an 8-bit bi-directional I/O port,
if the A/D Converter is not used. Port pins can provide internal pull-up resistors (selected for each bit). The
Port A output buffers have symmetrical drive characteristics with both high sink and source capability. When
pins PA0 to PA7 are used as inputs and are externally pulled low, they will source current if the internal pull-
up resistors are activated. The Port A pins are tri-stated when a reset condition becomes active, even if the
clock is not running.
Port B (PB7-PB0)
Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port B
output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs,
Port B pins that are externally pulled low will source current if the pull-up resistors are activated. The Port B
pins are tri-stated when a reset condition becomes active, even if the clock is not running.
Port C (PC7-PC0)
Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port C
output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs,
Port C pins that are externally pulled low will source current if the pull-up resistors are activated. The Port C
pins are tri-stated when a reset condition becomes active, even if the clock is not running. If the JTAG interface
is enabled, the pull-up resistors on pins PC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if a reset
occurs. The TD0 pin is tri-stated unless TAP states that shift out data are entered. Port C also serves the
functions of the JTAG interface.
Port D (PD7-PD0)
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port D
output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs,
Port D pins that are externally pulled low will source current if the pull-up resistors are activated. The Port D
pins are tri-stated when a reset condition becomes active, even if the clock is not running.
RESET
Reset Input. A low level on this pin for longer than the minimum pulse length will generate reset, even if the
clock is not running. Shorter pulses are not guaranteed to generate a reset.
XTAL1
Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.
XTAL2
Output from the inverting oscillator amplifier.
AVCC
AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally connected to VCC,
even if the ADC is not used. If the ADC is used, it should be connected to VCC through a low-pass filter.
AREF
AREF is the analog reference pin for the A/D Converter.
CHAPTER-5
- 14 -
L293D MOTOR DRIVER IC
ELECTRICAL CHARACTERISTICS
Symbol Parameter Test conditions Min. Typ. Max. Unit
Vs Supply Voltage Vss 36 V
Vss Logic Supply Voltage 4.5 36 V
Is Quiescent Supply Current Vi=L; I0=0; Ven=H 2 6 mA
Vi=H; I0=0; Ven=H 16 24 mA
Ven=L 4 mA
Iss Quiescent Logic Supply Current Vi=L; I0=0; Ven=H 44 60 mA
Vi=H; I0=0; Ven=H 16 22 mA
Ven=L 16 24 mA
VIL Input Low Voltage -0.3 1.5 V
VIH Input High Voltage Vss<= 7V 2.3 Vss V
Vss> 7V 2.3 7 V
IIL Low Voltage Input Current VIL= 1.5 V -10 µA
IIH High Voltage Input Current 2.3 V<=VIH<=Vss0.6 V 30 100 µA
Ven L Enable Low Voltage -0.3 1.5 V
Ven H Enable High Voltage Vss<= 7V 2.3 Vss V
Vss> 7V 2.3 7 V
Ien L Low Voltage Enable Current Ven L= 1.5 V -30 -100 µA
Ien H High Voltage Enable Current 2.3V<=VenH<=Vss-0.6 V 10 µA
VCE(sat)H Source Output Saturation Voltage I0= -0.6 A 1.4 1.8 V
VCE(sat)L Sink Output Saturation Voltage I0= +0.6 A 1.2 V
VF Clamp Diode Forward Voltage I0= 600 nA 1.3 V
tr Rise Time 0.1 to 0.9 Vo 250 ns
tf Fall Time 0.9 to 0.1 Vo 250 ns
ton Turn-on Delay 0.5 Vi to 0.5 Vo 750 ns
toff Turn-off Delay 0.1 Vi to 0.5 Vo 200 ns
- 15 -
FIGURE 5.1: PIN DIAGRAM OF L293D
OUTPUT
- 16 -
Output of the driver IC can be taken from four pins- 3, 6, 11, 14
VCC
VCC is the voltage that it needs for its own internal operation 5v; L293D will not use this voltage for driving
the motor. For driving the motors it has a separate provision to provide motor supply VSS (V supply). L293d
will use this to drive the motor. The maximum voltage for VSS motor supply is 36V. It can supply a max
current of 600mA per channel. Since it can drive motors Up to 36v hence you can drive pretty big motors with
this l293d. VCC pin 16 is the voltage for its own internal Operation. The maximum voltage ranges from 5v
and up to 36v. We should not exceed the Vmax Voltage of 36 volts or it will cause damage.
CHAPTER-6
- 17 -
CIRCUIT DIAGRAM
CHAPTER-7
- 18 -
WORKING PRINCIPLE
ATMEGA32 microcontroller IC and L293D motor driver IC are two most necessary elements for the
implementation of our projects. At first proper source code is loaded in the microcontroller through a burner
circuit. ‘Proteus 8 Professional’ software is used for designing the internal circuit and the program is written
in the programmer’s notepad of WinAVR.
5 volt dc supply is fed to the µc through pin 10 and pin 11 is grounded. Input is given through the push button
switches (S1, S2, S3, and S4). These four switches are used for controlling the movement of the vehicle. Pin
14, 16, 15, 17 are used for S1, S2, S3, and S4 respectively. Switch S5 (connected to pin 20) is used for
operating the pump. Switches are also fed by 5 volt dc supply. So, port D is used for input purpose. We receive
respective outputs at different pins of port B. Hence port B is designated as output port. One of two motor
driver ICs is used for the dc motors and the rest one is for the pump.
These dc motors having speed 100 rpm are run by 12 volt dc supply. VCC is used for the driver IC’s internal
operation and use 5 volt dc supply. Now we will show how switches provide different movements.
- 19 -
Only S1 and S2 are closed Forward movement
Only S3 and S4 are closed Backward movement
Only S1 and S4 are closed Left movement
Only S2 and S3 are closed Right movement
Only S1 is closed Forward right movement
Only S2 is closed Forward left movement
Only S3 is closed Backward right movement
Only S4 is closed Backward left movement
Only S5 is closed Pump is on and water is spread out
PIPE
WATER CONTAINER
WHEEL
CHASSIS
TRACK BELT
CHAPTER-8
- 20 -
SOURCE CODE
#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include <util/delay.h>
int main()
{
DDRD = 0xB0;
PORTD = 0x00;
DDRB = 0xFF;
PORTB = 0x00;
while (1)
{
if(PIND == 0b00000101)
PORTB = 0b00001010;
else if(PIND == 0b00001010)
PORTB = 0b00000101;
else if(PIND == 0b00000110)
PORTB = 0b00000110;
else if(PIND == 0b00001001)
PORTB = 0b00001001;
else if(PIND == 0b00000100)
PORTB = 0b00000010;
else if(PIND == 0b00000001)
PORTB = 0b00001000;
else if(PIND == 0b00001000)
PORTB = 0b00000001;
else if(PIND == 0b00000010)
PORTB = 0b00000100;
- 21 -
else if(PIND == 0b01000000)
PORTB = 0b10000000;
else if(PIND == 0b01000101)
PORTB = 0b10001010;
else if(PIND == 0b01001010)
PORTB = 0b10000101;
else if(PIND == 0b01000110)
PORTB = 0b10000110;
else if(PIND == 0b01001001)
PORTB = 0b10001001;
else if(PIND == 0b01000100)
PORTB = 0b10000010;
else if(PIND == 0b01000001)
PORTB = 0b10001000;
else if(PIND == 0b01001000)
PORTB = 0b10000001;
else if(PIND == 0b01000010)
PORTB = 0b10000100;
else
PORTB = 0b00000000;
}
return 0;
}
CHAPTER-9
- 22 -
SCOPE OF THE PROJECT
The bot can be used in future in larger applications with some more modifications.
Instead of using a wired switching panel, wireless technology can be used by controlling the robot by
a remote controller.
More sensors can be used for accurate operation and widening its working in the field.
Cameras can also be implemented for the viewing of fire attacked zone and operation in non LOS
zones.
CHAPTER-10
- 23 -
CONCLUSION
Thus we have presented a brief report on our project “FIRE FIGHTING ROBOTIC VEHICLE”. We have
included a brief description of all the major components used in this project along with a basic block
diagram as well as the different pin configurations of the various components & different circuit diagrams.
We have tried to build a robot that will serve the purpose of fire brigade. It is an unmanned vehicle that will
be helpful to the society as we can extinguish fire from a safe distance and protect people.
CHAPTER-11
- 24 -
BIBLIOGRAPHY
en.wikipedia.org/wiki/Robot
www.atmel.in/Images/doc2503.pdf
www.alldatasheet.com/datasheet-pdf/pdf/77378/.../ATMEGA32.html
www.engineersgarage.com/electronic-components/l293d-motor-driver-ic
atmega32-avr.com/category/avr-ebook
ebookbrowsee.net/mi/microcontroller-atmega32
ebookbrowsee.net/pr/proteus-8
industry.americancss.com/Electronic-communication/The.../941697.html
www.microdigitaled.com/AVR/.../CprogrammingInAVRStudio.pdf
www.electroons.com/ebooks/AVR.pdf
- 25 -