ANDROID CONTROLLED FIREFIGHTING

ROBOT USING ARDUINO

Group Members:-
1. Mangesh Shinde
Guided By:- 2. Ganesh Raypure
Omkar Sir 3. Omkar Chikhale
 Contents
1. Introduction
2. Problem Statement
3. Literature Survey
4. Existing System
5. Proposed Model
6. Modules
7. Mathematical Model
8. Advantages
9. Limitations
10. Future Scope
11. Conclusion
12. References
 Introduction
 Develop a fire fighting robot using android application device.
 Fire is detected using various sensors.
 The robotic vehicle is loaded with water tanker and a pump
controlled over bluetooth communication.
 The movement of a robotic vehicle is controlled by Motor
Driver using DC motor.
 Problem Statement
 Develop an Android app which allows the user to sends
commands via Bluetooth to a robot which can receive
commands via Bluetooth and work accordingly for
firefighting purpose.
Literature Survey
Sr. Title Year Summary
No.

1. “ An Autonomous 2015 A recent trend that has become popular is to

use robots instead of humans to handle fire
Fire fighting Robot “ hazards.
IEEE we develop a robot that is able to extinguish
fire

2. "Fire-fighting mobile 2004 To illustrate the benefits of an autonomous

fire-fighting robot
robotics and
interdisciplinary
design-comparative
perspectives,“ IEEE

3. “ Android Phone 2016 This paper deals with the design and control
of automated vehicle type robot which can
controlled Bluetooth move in desired direction and captures
Robot “ IRJET pictures and videos of required location.
Sr. Title Year Summary
No.

4. “Fire Fighting Robot 2016 To develop android application for remote

operation of fire fighter robot. The fire
Controlled Using extinguishing
Android Application” system is activated once the sensors detect
IJIRS the fire.

5. “Android Controlled 2018 Proposed project is designed to build an

android
Fire fighting Robot application which can control operations of
using Arduino” IRJET the fire fighting
robot .
Existing System

Fig.[1]: Existing System

Continue
1.Risk of life.
2.Human efforts.
3.No digital media.
4. No any source to identifying the victims.
Proposed Model

Fig.[2]: Proposed model

Algorithm
Fuzzy logic control:
Tracking fuzzy logic control (TFLC) :
- proposed to move towards the target.
Obstacle avoidance fuzzy logic control (OAFLC):
- proposed to generate control to avoid
obstacles.

-I/P-:angle between target and robot,distance.

Hardware & Software Requirement
 Hardware Requirement:
a. Arduino UNO R3
b. Bluetooth (HC 05)
c. Temperature sensor(LM 35)
d. Motor Driver(L293D)
e. Gear Motor
f. Relay Driver
g. Obstacle sensor (Ultrasonic MZ80)
 Software Requirement:

Embedded C
Android Programming
 Modules

Fig.(a):Arduino UNO R3

 The fire-fighting robot works under the control of the Arduino

UNO R3.
 It is a open source prototype that is based on an easy to use
software and hardware.
 Arduino boards are capable of reading analog or digital input
signals from various sensors and gives output by turning LED
on/off, activating a motor, connecting to the cloud etc.
 Arduino does not need an extra piece of hardware (called a
programmer) unlike most previous programmable circuit boards, in
order to load a new code to the board.
 Fig.(b):HC-05 Bluetooth Module

 The HC-05 Bluetooth Module makes a great solution for wireless

communication.
 The Bluetooth module can transmit and receive data regardless of the
mode it is running in, after the connection is established.
 This module has a default data transmission rate of 9600kbps and the
range for Bluetooth communication is usually 100m or less.
 Fig.(d):Motor Driver IC(L293D)

 L293D is a typical 16-pin Motor driver IC which allows the DC

motor to drive on either direction.
 It can control a set of DC motors in any direction
simultaneously i.e. it can control two DC motor with a single IC
of L293D by the Dual H-bridge Motor
Driver integrated circuit(IC).
 It is widely used in robotic application for controlling DC
motors due to its smaller size.
 Fig.(e):Single Channel Relay Driver

 Single channel relay driver is an electrically operated

device which has a control system and controlled system.
 A control system is also called as input circuit or input
contactor and the controlled system is also called as output
circuit or output contactor that are frequently used in
automatic control of a circuit.
 It has wider application in power protection device,
automation technology, sports, remote control,
reconnaissance and communication and in electro
mechanics and power electronics devices.
 Fig.(f):DC Gear Motor
 The 12V DC gear motors are simply an extension of the DC
motors.
 It consists of a gear assembly attached to the motor.
 The gear assembly is used for reducing the speed and increasing
the torque of the motor.
 The speed can be reduced to any desirable figure by using the
correct combination of gears in a gear motor.
 Gear reduction is the concept where gears reduce the speed of the
vehicle but increase its torque.
 Fig(g). Ultrasonic Sensor

 Ultrasonic Sensor is used for

detection of obstacle.
 Operating voltage: +5V
 Practical Measuring Distance:
2cm to 80cm
 Accuracy: 3mm
 Measuring angle covered: <15°
 Operating Current: <15mA
Usecase Diagram
State Diagram
 Mathematical Model
Mathematical model:
Let S be the proposed system.
S={Input, functions, Output, success, failure}
Where,
Input={I1,I2,I3} where,
I1= command to move by user
I2= the fire is detected
I3= Obstacle is detected in front
Output= {O1, O2, O3, O4} where,
O1= robot stops if obstacle detected
O2= water sprinkler on fire detection
O3= robot moves according to instruction
O4= put off the fire on command
Functions={F1, F2, F3,F4,F5,F6} where,
F1= checkObstacle()
F2= reverse ifObstacle()
F3= moveAccordingToCommand()
F4= detectFire()
F5= startWaterSprinkler()
F6= putOffFire()
Success={S1,S2,S3} where,
S1= obstacle avoided successfully.
S2= fire putted off.
S3= move according to the commands correctly.
Failure={U1,U2} where,
U1= battery limitation of robot.
U2= water finished due to limited capacity.
Advantages
 Patrolling.
 Reduce the danger of injury to victims .
 Intelligent fire detection and suppressions.
 Locate the position of fire origin.
 Protection of property from loss.
 Reduces Manpower.
 Saves life.
Limitations
 The battery life of the robot is limited.
 The water carried by the robot is limited as it
increases the weight on robot.
 Cost of fire register material is high.
 Proper remote handling.
Future Scope
1. It can be used in various industries for picking various objects
where human intervention is not desired.
2. On a large scale, it can be used to develop robots with
military applications. It can be used to target enemy without any
human being crossing the territory.
3. It provides for more development of applications based on
android operating system. Such as , Application based on
sensors (accelerometer , gyroscope) etc.
Conclusion
• Thus we will be developing a robot which will be used for
firefighting purpose.
• This robot will be helpful in automation industry also.
• Proposed approach of modular design strategy was a good
solution in implementing the fire fighting robot to help people
at the critical condition.
 References
[1] Ahmed Hassanein, Mohanad Elhawary, Nour Jaber, and
Mohammed El-Abd , “ An Autonomous Firefighting Robot “, IEEE
proceedings, International Conference of Robotics, September-2015

[2] D. J. Pack, R. Avanzato, D. J. Ahlgren and I. M. Verner, "Fire-fighting

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IEEE Transactions on Education, vol. 47, no. 3, pp. 369-376, Aug. 2004.

[3] K. Altaf, A. Akbar and B. Ijaz, "Design and Construction of an

Autonomous Fire Fighting Robot," IEEE 2007 International Conference on
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[8] Akhmad Alfan Hidayatullah Anik Nur Handayani Muhammad

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[9] www.ieeexplore.ieee.org