Fire Fighting Robot

PRESENTED BY:
KHATTAB OMAR FADHIL, ZULFIKAR HADI, & HAMMAM IMAD

2ND STAGE (EVENING STUDY)

DR. OMAR YOUSSEF

TABLE OF CONTENTS:

INTRODUCTION…………………………………………….2-5

REQUIREMENTS ………………………………………………….5

ARDUINO SENSOR SHIELD V5……….…………………………………....6-8

FLAME SENSOR & L298N MOTOR DRIVER……….……….9-12

FLAME SENSOR ……………….……….9

Features ……………….……….10

Specification ……………….……….10

L298N Motor driver ……………….……….10-12

CIRCUIT ……………….……….12

RESULT ………………………………13

CONCLUSION …………….……….14

CODE……………………………………………….…………15-18

[1]
 FIRE FIGHTING ROBOT

INTRODUCTION:

Robot is a machine that looks like a human being and

performs various complex tasks. There are many types of

robots such as fixed base robot, mobile robot, underwater

robot, humanoid robot, space robot and medicine robot

etc. In this paper a FIRE EXTINGUISHING ROBOT is proposed.

This robot is equipped with a single flame sensor used to

sense environmental fire and feed the signals to the

microcontroller in order to trigger the pump which

sprinkles water in order to extinguish the fire. This robot is

controlled using a mobile phone through DTMF tones

decoded by the DTMF decoder. This robot implements the

concepts of environmental fire sensing, proportional motor

control. The motor driver is used for the bidirectional

control of the motors equipped in the robot. Every

instruction for motion control is given to the robot with the

help of DTMF technology. Thus, the robot processes

[2]
information from its various key hardware elements such as

flame sensor, DTMF decoder via Arduino Uno board

(microcontroller). The programming of the robot is done

using the Arduino C which is derived from C and C++

languages. bot is also able to sense a center-front

obstruction by using an ultrasonic sensor. In this study the

researchers did a robot that can extinguish a fire and also

can detect a gas but the researchers add a material that is

the buzzer that when it detects fire it will make a sound as

the latter study don’t have. In rural/urban areas there are

many chances/possibilities a fire accident can happen. For

example, in elastic companies, industries, cotton

mills/industries, garments, fuel industries etc., Electric wire

accidents can lead to colossal damages. This damages lead

to loss of financial and can affect the many mortals in those

places. To protect or to take care of the human lives and

their wealth such that the motto here is to buildup

standalone system. Hence it is capable of doing a

[3]
simulation of the setup. It is a robot which works

automatically navigate through the where the fire or flame

is happening and its setup with an alarm. In case of any

emergency in surroundings its main aim is to extinguish

the fire and send automatic message to a fire station and to

the particular owner of the home. This kind of robot was

very helpful for the people which can save them and their

belongings from the fire accidents. Though it is a robot it

doesn’t lead the flame which rages out of control and

happens less injury to the victims. Since it is a real world

application its main aim is to reduce the air pollution. In

that case if fire originates when the owner of the house is

either sleeping or they may not be in home. By the use of

this robot it reduces a much higher rate with equally

minimum amount of damages caused.

Fire is an unavoidable disaster that occurs suddenly or

intentionally in place or mostly in household residences.

This phenomenon led to loss of properties, risk lives and

[4]
causes a big destruction in a certain place. This led the

researchers to make a Firefighting robot. Wherein, it is

capable of alarming the residents when there is a sudden

occurrence of fire. Fire and Gas sensors are also added in

this prototype that can sense the gas leaks and trigger the

mini pump. It can put off the fire before it gets out of

control. This prototype is useful for somehow; it can

minimize the loss of casualties.

MATERIAL REQUIRED:

• Arduino UNO

• Arduino Uno Sensor Shield

• Flame sensor

• L298N motor Driver module

• Robot chassis

• 2 Motors (45 RPM)

• 5V Submersible Pump

• Single Channel Relay Module

• Connecting wires

• 12v Rechargeable Battery

[5]
 • 9V Battery

ARDUINO SENSOR SHIELD V5:

Arduino Sensor Shield is a low-cost board that allows you

to connect a range of sensors to your Arduino using easy-

to-attach jumper cables.

It’s a simple board with no electronics on it other than a

couple of resistors and an LED. Its main role is to supply

[6]
those header pins to make it easier to attach external

devices like our servo motors.

Features:

• The Arduino Sensor Shield V5.0 allows plug and play

connection to various modules like sensors, servos,

relays, buttons, potentiometers and more

• Suitable for Arduino UNO and Mega Boards

• IIC interface

• Bluetooth module communication interface

• SD card module communication interface

• APC220 wireless RF module communication interface

• RB URF v1.1 ultrasonic sensors interface

• 128 x 64 LCD parallel interface

• 32 servo controller interface

[7]
You can easily connect with usual analog sensors by using

this expansion board, such as temperature sensor. Those

3-way male pins allow you to connect servo motors.

Everything is plug and play, and it's designed to be Arduino

UNO compatible. So all you need to do is to read the data

from the sensors and output PWM to drive the servos by

program in Arduino.

This is the latest version of sensor shield in the market. The

major improvement over its predecessor is the power

source. This version provides an external power connector

so you don't need to worry about overloading the Arduino

micro controller while driving too many sensors and

actuators.

If you remove the pin connector next to the power input,

you can power it externally. You shouldn't power it with

more than 5v or you can damage the Arduino underneath.

[8]
FLAME SENSOR & L298N MOTOR DRIVER:

Flame Sensor

A flame sensor module that consists of a flame sensor (IR

receiver), resistor, capacitor, potentiometer, and

comparator LM393 in an integrated circuit. It can detect

infrared light with a wavelength ranging from 700nm to

1000nm.The far-infrared flame probe converts the light

detected in the form of infrared light into current changes.

Sensitivity is adjusted through the onboard variable resistor

with a detection angle of 60 degrees.

Working voltage is between 3.3v and 5.2v DC, with a digital

output to indicate the presence of a signal. Sensing is

conditioned by an LM393 comparator.

[9]
Features:

• High Photo Sensitivity

• Fast Response Time

• Sensitivity adjustable

Specification:

• Woriking voltage: 3.3v - 5v

• Detect range: 60 degrees

• Digital/Analog output

• On-board LM393 chip

L298N Motor driver:

[10]
The L298N is a dual H-Bridge motor driver which allows

speed and direction control of two DC motors at the same

time. The module can drive DC motors that have voltages

between 5 and 35V, with a peak current up to 2A.

The module has two screw terminal blocks for the motor A

and B, and another screw terminal block for the Ground pin,

the VCC for motor and a 5V pin which can either be an

input or output. This depends on the voltage used at the

motors VCC. The module has an onboard 5V regulator

which is either enabled or disabled using a jumper. If the

motor supply voltage is up to 12V we can enable the 5V

regulator and the 5V pin can be used as output, for

example for powering our Arduino board. But if the motor

voltage is greater than 12V we must disconnect the jumper

because those voltages will cause damage to the onboard

5V regulator. In this case the 5V pin will be used as input as

we need connect it to a 5V power supply in order the IC to

work properly. We can note here that this IC makes a

[11]
voltage drop of about 2V. So for example, if we use a 12V

power supply, the voltage at motors terminals will be about

10V, which means that we won’t be able to get the

maximum speed out of our 12V DC motor.

CIRCUIT DIAGRAM:

[12]
The connection of all the components is as given in the

above circuit Diagram.

UTILIZATION AND RESULT

The researchers did four types of tests with eleven trials.

The first and second test is about the distance of detecting

fire using fire sensor with and without water. The third and

fourth test is about the distance of the in action prototype

F2R: Firefighting Robot in detecting fire using fire sensor

with and without water.

[13]
CONCLUSION:

Based on the findings above, the objectives of the

project are successfully achieved. However, the firefighting

robot has its own limitations. The researchers developed

the Firefighting Robot by gathering all the material needed,

through the planning and conceptualizing the robot. Then

researcher developed the prototype, assembled and

programmed it to its specific functions. The researcher

done the experimentations through the trial and error to

measure its efficiency. The efficiency of the fire sensor has

an average mean of 0.19 mille seconds in detecting the fire

without the presence of water in the mini pump, and 0.25

mille seconds average mean with the presence of water in

the mini pump The mini pump. relies on the detection of

the fire sensor, the efficiency level of the mini pump has an

[14]
average percentage of 82%, since the mini pump relies on

the detection of the fire sensor. Since the fire sensor detect

aggressively therefore the mini pump also reacts

aggressively

CODE:

#include <SoftwareSerial.h>

#define m11 11
#define m12 10
#define m13 8
#define m14 9

#define r 19
#define o 12

#define b 17

SoftwareSerial BT(4, 5); //TX OF BLUETOOTH ON 4

String readvoice;

void setup()
{
pinMode(m11, OUTPUT);
pinMode(m12, OUTPUT);
pinMode(m13, OUTPUT);
pinMode(m14, OUTPUT);

pinMode(r, OUTPUT);
pinMode(o, OUTPUT);
pinMode(b, OUTPUT);

digitalWrite(m11, HIGH);
digitalWrite(m12, HIGH);
digitalWrite(m13, HIGH);
digitalWrite(m14, HIGH);

[15]
 digitalWrite(o, HIGH);

BT.begin(9600);
Serial.begin(9600);

}
//-----------------------------------------------------------------------//

void loop()
{
readvoice = ""; //Reset the variable

if (BT.available())
{
while (BT.available())
{ //Check if there is an available byte to read
delay(10); //Delay added to make thing stable
char c = BT.read(); //Conduct a serial read
readvoice += c; //build the string- "forward", "reverse", "left" and "right"
}
}

if (digitalRead(6) == HIGH)
{
digitalWrite(o, LOW);
}
else
{
digitalWrite(o, HIGH);
}
if (readvoice.length() > 0)
{
Serial.println(readvoice);

if (readvoice == "*forward#" || readvoice == "FF" || readvoice == "FORWARD")

{
digitalWrite(m11, HIGH);
digitalWrite(m12, LOW);
digitalWrite(m13, HIGH);
digitalWrite(m14, LOW);

[16]
 }

else if (readvoice == "BB" || readvoice == "*backward#" || readvoice ==

"BACKWARD")
{
digitalWrite(m11, LOW);
digitalWrite(m12, HIGH);
digitalWrite(m13, LOW);
digitalWrite(m14, HIGH);
Serial.println(readvoice);
}

else if (readvoice == "*right#" || readvoice == "RR" || readvoice == "RIGHT")

{
digitalWrite(m11, HIGH);
digitalWrite(m12, LOW);
digitalWrite(m13, LOW);
digitalWrite(m14, HIGH);

else if ( readvoice == "*left#" || readvoice == "LL" || readvoice == "LEFT")

{
digitalWrite(m11, LOW);
digitalWrite(m12, HIGH);
digitalWrite(m13, HIGH);
digitalWrite(m14, LOW);

else if (readvoice == "*stop#" || readvoice == "SS" || readvoice == "STOP")

{
digitalWrite(m11, HIGH);
digitalWrite(m12, HIGH);
digitalWrite(m13, HIGH);
digitalWrite(m14, HIGH);
}

else if (readvoice == "SWS" || readvoice == "RUN WATER") //

{
digitalWrite(o, HIGH);

[17]
 else if (readvoice == "SwS" || readvoice == "STOP WATER") //
{
digitalWrite(o, LOW);

else if (readvoice == "SUS")

{
digitalWrite(r, HIGH);

}
else if (readvoice == "SuS")
{
digitalWrite(r, LOW);

}
else if (readvoice == "SVS")
{
digitalWrite(b, HIGH);

}
else if (readvoice == "SvS")
{
digitalWrite(b, LOW);

}
}

[18]