Module Code & Module Title

CS6P05NI Final Year Project

Assessment Weightage & Type
25% FYP Interim Report
Semester
2021 Autumn
Project Title: Fire Extinguisher Robot Vehicle
Student Name: Bishal Bharati
London Met ID: 19033779
College ID: NP01NT4S200003
Internal Supervisor: Monil Adhikari
External Supervisor: Sushant Joshi
Assignment Due Date: 15/12/2021
Assignment Submission Date: 15/12/2021
Word Count (Where Required):

I confirm that I understand my coursework needs to be submitted online via Google Classroom under the
relevant module page before the deadline in order for my assignment to be accepted and marked. I am
fully aware that late submissions will be treated as non-submission and a mark of zero will be awarded.
Acknowledgement
I take this opportunity to express my special thanks of gratitude to my teachers Mr.
Monil Adhikari and Mr. Sushant Joshi for their exemplary guidance, monitoring,
valuable feedbacks and suggestions regarding the project along with their dedication
and supervision this interim report has been completed. This project helped me in doing
a lot of research and I came to know about so many things.

I would also like to thank Islington College for providing necessary resources for the
continuous progress of this project. I am thankful and fortunate enough to get constant
encouragement, support and guidance from all the teaching staffs of networking who
helped me in successfully completing this report section.
Summary:
This report provides the overview in the progress of the final year project of Fire
Extinguisher Robot Vehicle. Which helps people to overcome the fire accident
situation whereas people doesn’t have to take risk of getting hurt or die while
annihilating the fire.

This report includes the detail description of the progress of the project. This project is
divided into five different chapters which are Introduction, Background/Literature review,
Development to date, Analysis of progress, and Future work. Introduction section has
the brief information of the topic whereas background/literature review has detail
information of which technology and methodology used and it also includes the review
and analysis of similar projects.

Development to date include the progress of the development of the project. Analysis of
progress includes the progress analysis to obtain the information on the state of the
project and how it is developing. This section helps to determine the actual project
progress values. Future work includes the remaining work of the project.
Contents
1. Introduction.................................................................................................................6
1.1. Problem Scenario.................................................................................................6
1.2. Project as a Solution............................................................................................7
1.3. Aims and Objectives.............................................................................................7
1.3.1. Aims..................................................................................................................7
1.3.2. Objectives of this project are pointed out below:..............................................7
1.4. Report Structure...................................................................................................8
1.4.1. Background....................................................................................................8
1.4.2. Development..................................................................................................8
1.4.3. Analysis of progress......................................................................................8
1.4.4. Future Work...................................................................................................8
2. Background/Literature Review:..................................................................................8
2.1. Technology Used:................................................................................................8
2.2. IoT as a platform...................................................................................................9
2.3. Similar Projects:....................................................................................................9
2.3.1. Project 1: Fire Fighting Robot Remotely Operated by Android App.............9
2.3.2. Project 2: GSM based Fire Fighting Robot..................................................10
3. Development............................................................................................................11
3.1. Considered Methodologies.................................................................................11
3.1.1. Waterfall Methodologies..............................................................................11
3.1.2. Agile Methodology.......................................................................................12
3.1.3. Prototype methodology................................................................................13
3.2. Selected Methodology........................................................................................14
3.2.1. Evolutionary Prototyping..............................................................................14
4. Progress Review......................................................................................................15
4.1. Progress Table...................................................................................................15
4.2. Progress Review................................................................................................16
4.2.1. Current Scenario of Progress......................................................................16
4.2.2. Circuit Diagram............................................................................................16
4.3. Required Resources...........................................................................................17
5. Future work...............................................................................................................18
5.1. Phases to Complete...........................................................................................18
5.1.1. Prototype Development...............................................................................18
 5.1.2. Prototype Refinement..................................................................................18
5.1.3. Testing, Implementation, and Documentation.............................................18
6. Bibliography..............................................................................................................19
7. Appendix...................................................................................................................21
7.1. Appendix 1: Milestones Review.........................................................................21
7.2. Appendix 2: Required Resources......................................................................22

Table of Figure
Figure 1 - Fire Fighting Robot Remotely Operated by Android (elprocus, n.d.).............10
Figure 2 - GSM based Fire Fighting Robot (elprocus, n.d.)............................................11
Figure 3 - Waterfall Methodology (Othman, 2021)..........................................................12
Figure 4 - Agile Methodology (Adam, 2021)....................................................................13
Figure 5 - Prototyping Model Phases (Martin, 2021)......................................................13
Figure 6 - Phases of Evolutionary prototyping model.....................................................15
Figure 7 - Circuit Diagram of Fire Extinguisher Robot Vehicle.......................................16
Figure 8 - Diagram of L293 waterpumb Connection.......................................................17

Table of Tables

Table 1 - Advantage and Disadvantage of Evolutionary Prototyping..............................14

Table 2 - Progress Table.................................................................................................15
Table 3 - Hardware Resources........................................................................................24
Table 4 - Software Resources.........................................................................................24
1. Introduction
Human intrusion has becoming less common as robotics has advanced, and robots
are increasingly being used for safety purposes. Fires have become more
widespread in our daily lives, and they can occasionally pose hazards that make it
difficult for firefighters to preserve human life. A robot is used to protect human lives,
property, and the environment from fire mishaps. This advanced firefighting robot
project is designed for safety of human firefighters. (elprocus, n.d.)

Firefighting is a necessary yet hazardous job. Robots developed to locate a fire

before it spreads out of control may one day collaborate with firefighters, drastically
minimizing the danger of injury to victims. With the help of this project human can
easily Extinguisher the fire without getting hurt or have casualties. Our robot will be
using Arduino UNO that could move towards the fire and pump out water around it to
put down the fire. (Engineer, 2018)

1.1. Problem Scenario

According to statistics released by National Emergency Operation Centre of
the MoHA, 87 persons were died and 342 injured in 2,478 incidents of fire
across the country in 2018. Similarly, the fires destroyed and damaged 1,857
and 291 houses respectively. The financial loss or damage caused by the
fires stood around 3.96 billion. The MoHA recorded a total of 92 incidents of
fire, mostly in the valley, over a period of one week (Service, 2019).

Short circuits, electronic equipment overheating, fluctuating voltage and

electric sparks, poor management of burning lamps, and cooking gas leakage
are the leading causes of fires. The Metropolitan Police Office, also known as
the Juddha Barun Yantra, receives two calls per day on average to respond
to fire occurrences in valley regions. Many more occurrences go unreported
because people put out little fires themselves before they spread. After
epidemics, landslides, and floods, fire is the fourth most deadly calamity in the
country, according to data issued by the Ministry of Health in year 2018
(Service, 2019).

Most recent event that occurred was in Meringden rural municipality in the
Taplejung district of northeastern Nepal on March 2, 2021, destroyed 58
 homes. The fire, which began as a result of a short circuit at the house,
quickly spread throughout the neighborhood (Pokharel, 2021).

1.2. Project as a Solution

As the many incident and disaster of fire have occurred in our country Nepal.
Many people have got severely injured or had died while stopping the fire by
getting involved physically. But this project can help the people to get rid of
fire and also they don’t have to worry about getting hurt while in the process
because this Fire Extinguisher Robot Vehicle is automatic and can detect the
fire automatically.

An embedded system is used to develop and build a firefighting robot. It can

navigate alone on a simulated floor while actively scanning for fire flames.
The robot could be employed as a trail guide in a fireplace device or as an
emergency device in the regular situation. This robot is built in such a way
that it can hunt for a fire and put it out before it spreads out of control
(elprocus, n.d.).

This type of firefighting robot will eventually collaborate with firemen,

drastically minimizing the risk of victim injury. Apart from that, this Firefighting
Robotics Project will serve to promote interest in robotics as well as
advancements in the industry, all while working toward a practical and
attainable solution to save lives and reduce property damage (elprocus, n.d.).

1.3. Aims and Objectives

1.3.1. Aims
The aim of the project is to develop a system automation and also to design
an unmanned fire extinguisher robot. Fire Extinguisher Robot Vehicle while
detect the fires that could occur in a closed environment. Designing robot able
to motion by using the rotor motor, beyond the barriers by a sensor, find the
flame by flame sensor, and extinguish the fire by water.

1.3.2. Objectives of this project are pointed out below:

a) To create a wheeled robot with capabilities to detect the fire.
b) Controlling and suppressing fires with water.
c) To make the fire accident situation more safe for firefighters.
 d) To create a more efficient and effective robot vehicle for fire extinguish.

1.4. Report Structure

1.4.1. Background
The background provides a better understanding of the project by clarifying
the requirements and description of the project. It also helps to learn about
similar projects and compare this project with similar projects to provide a
better understanding of the features and components.

1.4.2. Development
Development explains how the project is going to be developed. It explains about
considered and selected the methodologies and analyses different phases of the
selected methodologies. It also shows the different task breakdowns (WBS) that
are carried out and that are to be carried out in a timeline format (Gantt chart)

1.4.3. Analysis of progress

This section explains and analyses the progress to date. It provides the current
scenario of the progress, reviews it and shows the development progress. It
shows the hardware and software development progress with the circuit diagram.
It also explains why the project was lacking behind according to the Gantt chart
of the proposal and provides the action plan to cover the lost time and complete
the project.

1.4.4. Future Work

Future work is the last section that explains the phases (development and
documentation) that are yet to complete and plans for carrying out and
completing the project.

2. Background/Literature Review:
2.1. Technology Used:
This Device helps to manage fire efficiently and meet the sustainability goals.
This Vehicle is primarily designed for the firefighter department of the country
where it helps in controlling the fire when fire incident and accident happens.
Building a robot requires extensive programming. It's all about putting
together systems and connecting motors and wires, among other things. A
firefighting robot is one that is equipped with a miniature fire extinguisher (in
 this case, a water can). The automation put out the fire via human control by
attaching a little fire extinguisher to the robot.

This project focuses on the design and development of a fire-sensing and

extinguishing robot. The robot activates an electrical valve, allowing stored
water to be released over the flame. When it comes to firefighting, firefighters
are put in perilous positions. It is an unavoidable component of being a
firefighter to put out fires and rescue victims. A robot, on the other hand, can
function independently or by remote control, allowing firefighting and rescue
operations to be carried out. Deploying robot technology instead of placing
fire fighters in danger (Bhattacharjee, et al., 2020).

2.2. IoT as a platform

IoT (Internet of Things) means the network of devices that are connected to the
internet, collecting and sharing data. IoT consists of a main device such as
Raspberry Pi and Arduino which can be programmed to perform certain tasks. It
might consist of one or many sensors to interact with the environment and
generate the data (Hassan, 2018). The IoT devices can perform basic to
advance tasks and can be very useful to run various operations because of its
properties of connectivity and the ability to share data (Pal & Purushothaman,
2017).

2.3. Similar Projects:

2.3.1. Project 1: Fire Fighting Robot Remotely Operated by Android App
The main goal of this project is to create a firefighting robot that can be
controlled remotely using an Android application. The firefighting robot has a
water tanker that uses wireless connectivity to pump water and spray it on the
flames. The 8051 microcontroller is used to perform the necessary operation.

An android application is utilized in the suggested system to deliver

commands from the transmitter end to the reception end, controlling the
robot's movement in forward, backward, right, and left directions. Two motors
are interfaced to the 8051 microcontroller on the receiver side, two of which
are utilized to move the vehicle and the remaining one to place the robot's
arm (elprocus, n.d.).
 Figure 1 - Fire Fighting Robot Remotely Operated by Android (elprocus, n.d.)

2.3.2. Project 2: GSM based Fire Fighting Robot

GSM modems have evolved into mass communication public utility items.
This GSM-based firefighting robot is used to keep homes, offices, and stores
safe from fire. This robot walks through a suffocating fire zone in our homes,
offices, retail malls, and other places. This robot can detect fire using infrared
sensors and subsequently extinguish it even when no one is there. It then
delivers the message to a concerned individual right away.

This project is made more efficient by include SIM cards, which allow an SMS
to be sent to a large number of devices and boards in the area utilizing time
division multiple access techniques. These robots can be utilized in a variety
of settings, including factories, homes, and offices. It is possible to control
everything automatically through embedded systems utilizing this GSM-based
firefighting robot. The deployment of embedded systems in communication
has resulted in a slew of intriguing applications that provide safety and
comfort (elprocus, n.d.).
 Figure 2 - GSM based Fire Fighting Robot (elprocus, n.d.)

3. Development
3.1. Considered Methodologies
3.1.1. Waterfall Methodologies
A sequential or linear approach to software development is used in the
waterfall methodology. The project is divided into a series of tasks, with
phases being the highest level grouping. A true waterfall approach
necessitates phases that are completed in order and have formal exit criteria,
such as project stakeholders' approval (Sherman, 2015). This methodology
was explored because all of the user's needs were gathered, however it is not
viable for the project because the user's requirements may change.
 Figure 3 - Waterfall Methodology (Othman, 2021)

3.1.2. Agile Methodology

The Agile methodology is a style of project management that divides a project
into phases. It necessitates ongoing engagement with stakeholders as well as
continual development at each stage. Team’s cycle through a process of
planning, executing, and assessing once the job begins. Collaboration is
essential among team members as well as project stakeholders. This
methodology was considered as various tasks that could be carried out dividing
them into portions but client interaction and involvement in every sprint are not
possible because of which it was not selected (Wrike, 2015).
 Figure 4 - Agile Methodology (Adam, 2021)

3.1.3. Prototype methodology

The prototyping model is a software development method in which a
prototype is created, tested, and changed until it is acceptable. It also serves
as a foundation for the creation of the final system or software. It's best used
in situations where the project's requirements aren't fully understood. It is an
iterative, trial-and-error process that occurs between the developer and the
client (Martin, 2021).

There are four types of Prototyping models. They are as follows:

 Rapid Throwaway prototype.

 Evolutionary prototype.
 Incremental prototype.
 Extreme prototype.

Figure 5 - Prototyping Model Phases (Martin, 2021)

3.2. Selected Methodology
3.2.1. Evolutionary Prototyping
An evolutionary prototype is not the same as a software prototype in the
classic sense; it is a working piece of software, not just a simulation. The first
step in evolutionary prototyping is to create a product that solely fits the
system requirements that are known. It won't fulfill all of the customer's
requirements, but it's an excellent start. As the stakeholders' requirements
become clearer, more features and functions can be introduced. This
prototype's "evolutionary" nature explains this.

In some ways, the first version of an evolutionary prototype is akin to a

minimal viable product (MVP), which is software that has the bare minimum of
features to be useful. The difference is in the way the requirements for the
initial version are chosen (Blog, 2020).

The advantages and disadvantages of evolutionary prototyping are:

Advantage Disadvantage
Ensures client’s satisfaction and Costly and time-consuming.
comfort.

New requirements are welcomed. Frequent changes and high

maintenance cost.

Most needed functionalities are Documentation with the development

integrated first. can be frustrating as the product is
continuously changing.

Flexibility in terms of design. The customer might lose interest if the

first prototype does not satisfy their
expectations.

Table 1 - Advantage and Disadvantage of Evolutionary Prototyping

The four phases of the Evolutionary Prototyping methodology are:

Figure 6 - Phases of Evolutionary prototyping model.

4. Progress Review
4.1. Progress Table
S.N Tasks Status Progress (%)
1 Topic Selection Complete 100%
2 Feasibility Study Complete 100%
3 Cost Estimation Complete 100%
4 Research on similar projects Complete 100%
5 Technical Research Partially Complete 50%
6 Finalize Proposal Complete 100%
7 Gather initial requirement Complete 100%
8 Finalize Interim report Complete 100%
9 Develop an Fire Fighting Robot Incomplete 0%
Vehicle
10 Compilation and testing Incomplete 0%
11 Optimize hardware Incomplete 0%
12 Testing Incomplete 0%
13 Final FYP Report Incomplete 0%
14 Review and refinement Incomplete 0%
Table 2 - Progress Table

(Milestones Review Appendix 1)

4.2. Progress Review
4.2.1. Current Scenario of Progress
The procedure of subject selection and feasibility assessment were carried
out in the early step to determine whether the topic was viable or not. A
survey was done to gather data, and then a client was chosen. An interview
with the client was conducted to acquire the initial need. The cost estimation
was done based on the requirements, and the majority of the hardware
components were obtained to begin the development work. In addition,
research on similar projects, tools, and techniques was conducted in order to
develop a thorough understanding of how to begin working on the project.

After a thorough examination, the evolving prototype process was chosen for
the system's development. Job breakdown structures and Gantt charts were
created to make the development work easier to complete.

4.2.2. Circuit Diagram

Figure 7 - Circuit Diagram of Fire Extinguisher Robot Vehicle.

 Figure 8 - Diagram of L293 waterpumb Connection

4.3. Required Resources

 Arduino UNO
 Fire sensor or Flame sensor
 Servo Motor
 L293D motor Driver
 Bo Motor
 Wheels
 18650 Battery
 Jumber
 Mini Water Pump
 Mini Breadboard
 Container
 Wood Frame
All the Resources are explained in Appendix 2
5. Future work
5.1. Phases to Complete
5.1.1. Prototype Development
I would be responsible for the prototype system's development. Because the
initial requirement collection is already finished in the first phase, i.e. the basic
concept, I would work on the second phase of the evolving prototype process.
The prototype will be based on the Project's core criteria. The system will be
automated using an Arduino Uno, a Fire or Flame sensor, and a small
breadboard.

5.1.2. Prototype Refinement

At this point, the Project's input is gathered, and improvements are made in
accordance with the project interest. The product from the prototype
development phase is tweaked to meet the Project's requirements. The
process of gathering requirements, refining them, and evaluating the project
is repeated until a product that meets the Project's requirements is created.

5.1.3. Testing, Implementation, and Documentation

In the Project environment, the final product is tested and implemented. The
final documentation element of the development is also completed at the
same time as the development.

6. Bibliography
Adam, J., 2021. K&C. [Online]
Available at: https://kruschecompany.com/agile-software-development/
[Accessed 14 12 2021].

arduino, 2021. arduino. [Online]

Available at: https://www.arduino.cc/en/guide/introduction
[Accessed 15 12 2021].

Bhattacharjee, K., Chatterjee, M., Nayek, R. & Ghosh, D., 2020. Fire Fighting Robotic
Vehicle Using Arduino. Fire Fighting Robotic Vehicle Using Arduino, 9(8), p. 1.

Blog, T. A., 2020. The AndPlus Blog. [Online]

Available at: https://www.andplus.com/blog/4-types-of-prototyping
[Accessed 14 12 2021].

elprocus, n.d. elprocus. [Online]

Available at: https://www.elprocus.com/projects-on-fire-fighting-robotic-vehicle/
[Accessed 14 12 2021].

Engineer, A., 2018. duino4projects. [Online]

Available at: https://duino4projects.com/arduino-based-fire-fighting-robot/
[Accessed 14 12 2021].

Martin, M., 2021. Guru99. [Online]

Available at: https://www.guru99.com/software-engineering-prototyping-model.html
[Accessed 14 12 2021].

Othman, S., 2021. agilewolfs. [Online]

Available at: https://agilewolfs.com/what-is-waterfall/
[Accessed 14 12 2021].

Pokharel, G., 2021. Online Khabar. [Online]

Available at: https://english.onlinekhabar.com/dozens-die-in-nepal-fire-incidents-every-
year-but-local-governments-are-ill-equipped-to-control-them.html
[Accessed 14 12 2021].

Service, H. N., 2019. The Himalayan. [Online]

Available at: https://thehimalayantimes.com/kathmandu/87-killed-342-hurt-in-2478-
incidents-of-fire-last-year
[Accessed 14 12 2021].

Sherman, R., 2015. Science Direct. [Online]

Available at: https://www.sciencedirect.com/topics/computer-science/waterfall-
methodology
[Accessed 14 12 2021].

Wrike, 2015. Wrike. [Online]

Available at: https://www.wrike.com/project-management-guide/faq/what-is-agile-
methodology-in-project-management/
[Accessed 14 12 2021].

7. Appendix
7.1. Appendix 1: Milestones Review
  Milestone 1: Topic selection.
 Status: Completed.
 Milestone 2: Proposal Submission.
 Status: Completed.
 Milestone 3: Research on similar projects.
 Status: Completed.
 Milestone 4: Interim report Submission.
 Status: Completed.
 Milestone 5: Develop a Fire Fighting Robot Vehicle.
 Status: Not Completed
 Milestone 6: Completion of Testing.
 Status: Not Completed.
 Milestone 7: Complete the final documentation.
 Status: Not completed.
 Milestone 8: Project submission.
 Status: Not completed.

7.2. Appendix 2: Required Resources

There are various hardware and software tools needed for the completion of the
project.
The hardware requirements are:

Computer A laptop or a desktop computer is required to program the

 Arduino and document the necessary information about
the project. It is also required to build the database and
carry out the research work. A computer with a proper
internet connection is mandatory.

Arduino UNO Arduino is an open-source electronics platform that uses

simple hardware and software to make it easy to use.
Arduino boards can take inputs - such as light from a
sensor, a finger on a button, or a Twitter message - and
convert them to outputs - such as turning on an LED,
triggering a motor, or publishing anything online.
By providing a set of instructions to the board's
microcontroller, you may tell it what to do.
The Arduino programming language (based on Wiring)
and the Arduino Software (IDE) (based on Processing)
are used to accomplish this (arduino, 2021).
Fire sensor or A flame-sensor is a type of detector that is primarily used
Flame sensor to detect and respond to the occurrence of a fire or flame.
The reaction of the flame detector can be affected by the
way it is installed (elprocus, n.d.).
Servo Motor A servo motor is a rotary or linear actuator that can
control angular or linear position, velocity, and
acceleration precisely.
It is made comprised of an appropriate motor and a
position feedback sensor.
Servomotors are utilized in robotics, CNC machines, and
automated manufacturing, among other uses (Sabhadiya,
2021).
L293D motor The L293D is a typical motor driver or motor driver IC that
Driver can drive a DC motor in either direction.
The L293D is a 16-pin IC that can operate two DC motors
in any direction at the same time.
It means that a single L293D IC can operate two DC
motors (RakeshRon, 2013).
 Bo Motor BO (Battery Operated) light weight DC geared motor
which gives good torque and rpm at lower voltages.
This motor can run at approximately 200 rpm when
driven by a single Li-Ion cell. Great for battery operated
light weight robots. It can do reverse and forward
directions.
18650 Battery The term “18650” when referring to an 18650 battery. 
This is not an arbitrary number in regards to batteries, it
has a specific meaning.  The first two numbers refer to
the diameter on the battery in millimetres.   The next
two numbers refer to the length of the battery and the
final number refers to the shape of the battery
Mini Water Pump Submersible pumps in general are designed to be fully
submerged into the water. Submersible pumps are
placed within the reservoir of water that requires
pumping out, which is why they are normally used for
drainage in floods, sewerage pumping, emptying ponds
or even as pond filters.
Mini Breadboard Mini Breadboard is a great way to prototype your small
projects! With 170 tie points there's just enough room
to build and test simple circuits; They're also great for
breaking out DIP package ICs to jumper wires! If you
run out of room, no worries, these mini breadboards
can be snapped together to form larger stretches of
board. It has a peel and stick adhesive backing as well
as two mounting holes for M2 screws so you can
anchor it down.
Table 3 - Hardware Resources

The software requirements are:

C++ C++ is the programming language that will

be used for programming the Arduino Uno
 for the project.

Documentation Software Various software is required for the process

of documentation. Some of them are
Microsoft word, snipping tool, designing
tools (Visio, draw.io), and simulation
software and so on.

Table 4 - Software Resources