PROJECT REPORT

ON

Fire Fighter Robot With Sms Alert

Submitted to

Centurion University of Technology& Management

in partial fulfillment of the requirement for award of the
degree of
B.TECH.
In
COMPUTER SCIENCE & ENGINEERING

Submitted By

Brahmananda Sethi
(200301120114)
Jyotir Aditya Barik
(200301120098)
Abhisek Das
(200301120092)
Jagannath Dansana
(200301120080)

Under the Guidance of

PROF. Biswajit Mallick

DEPT. OF COMPUTER SCIENCE & ENGINEERING

SCHOOL OF ENGINEERING &TECHNOLOGY, CUTM, ODISHA

1
 CERTIFICATE

This is to be certified that the project entitled “Fire fighter robot with sms alert ” has been
submitted for the School of Engineering &Technology, CUTM, Jatni during the academic year
2023-2024 is a persuasive piece of project work carried out by Jagannath Dansana
(200301120080) , Brahmananda Sethi (200301120114), Abhisek Das (200301120092) and
Jyotir Aditya Barik(200301120098) towards the partial fulfillment for award of the degree
(B.Tech.) under the guidance of Prof. Biswajit Mallick and no part there has been submitted
by them for any degree to the best of my knowledge.

Signature of HOD Signature of Project Guide

Prof. Raj Kumar Mohanta Prof. Biswajit Mallick

Signature of Coordinator Signature of Dean, SOET

Prof. Biswajit Mallick b Prof. (Dr.) Sujata Chakravarty

2
 EVALUATION SHEET

Title of the Project: Fire fighter robot with sms alert

1. Year of submission: 2023

2. Name of the degree: B-Tech
3. Date of Examination:
4. Brahmananda Sethi(200301120114), Jyotir Aditya Barik(200301120098),
Abhisek Das(200301120092), Jagannath Dansana(200301120080)
5. Name of the Guide: Prof. Biswajit Mallick
6. Result: (APPROVED/ REJECTED)

Signature of Project Guide Signature of HOD

Prof. Biswajit Mallick Prof.Raj Kumar Mohanta

Signature of Coordinator Signature of External Examiner Signature of Dean, SOET

Prof. Biswajit Mallick Dr. Sujata Chakravarty

3
 CANDIDATE’S DECLARATION

We, Brahmananda Sethi(200301120114), Jyotir Aditya Barik(200301120098),

Abhisek Das(200301120092), Jagannath Dansana(200301120080) School of
Engineering & Technology, CUTM, Jatni, hereby declare that the Project Report
entitled “Fire fighter robot with sms alert” is an original work and data provided in
the study is authentic one. This report has not been submitted to any other Institute for
the award of any other degree by us.

Signature of Student
Jagannath Dansana
(200301120080)
Brahmananda Sethi
(200301120114)
Abhisek Das
(200301120092)
Jyotir Aditya Barik
(200301120098)

Place: Bhubaneswar
Date:

4
 ACKNOWLEDGEMENT

It’s our pleasure to be indebted to various people, who directly or indirectly contributed
in the development of this work and who influenced our thinking, behavior and acts
during the course of study.

We express our sincere gratitude to Prof. (Dr.) Sujata Chakravarty, Dean, SOET for
providing academic support &opportunities.

We extend our sincere appreciation to Prof. Biswajit Mallick Supervisor who provided
her valuable suggestions and precious time in accomplishing our project report.

We also extend our sincere appreciation to Prof. Raj Kumar Mohanta , HoD who
provided her valuable suggestions and precious time in accomplishing our project
report.

We also extend our sincere appreciation to Prof. Biswajit Mallick, Coordinator who
provided his valuable suggestions and precious time in accomplishing our project report.

Lastly, We would like to thank the almighty and our parents for their moral support and
friends with whom We shared our day-to day experiences and received lots of
suggestions those improved the quality of work.

Jagannath Dansana
(200301120080)
Brahmananda Sethi
(200301120114)
Abhisek Das
(200301120092)
Jyotir Aditya Barik
(200301120098)

5
 CONTENTS

 Abstract
 Introduction
 Objective
 Components
 Specifications
 Proposed Work and Working
 Circuit Diagram
 Project Overviews
 Code
 Conclusion
 Future Enhencement

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 ABSTRACT

 The Firefighter Robot with SMS Alert, designed at the intersection

of robotics, C++ programming, and the Robot Operating System
(ROS), presents an innovative solution to the challenges of fire
detection and suppression in indoor environments. Leveraging a
comprehensive set of components, this project showcases a
sophisticated robotic system with the capability to detect fires,
navigate through complex spaces, and deliver real-time SMS alerts
for prompt response.

 The core components of the system include the Arduino Nano

microcontroller, providing compact and efficient control, the L298
Motor Driver for precise motor control, and the ESP NodeMCU for
wireless communication using ROS and C++. These elements form
the foundation of an intelligent and autonomous fire-fighting
platform.

 Sensory perception is enhanced through the integration of an

Ultrasonic Sensor for obstacle avoidance, a Flame Sensor for rapid
fire detection, and both Gear Motors and Servo Motors for agile and
precise movement. This combination ensures the robot's ability to
navigate dynamically changing environments, identify fire incidents
promptly, and respond with agility.

 The power management system relies on a rechargeable 18650

battery, facilitated by the TP4056 charging module, offering a
sustainable and portable energy solution. Additionally, a 12V Relay
Module and relay are incorporated for controlling external devices
such as water pumps or sprinkler systems, enhancing the robot's
capacity for active fire suppression.

 The project employs jumper wires for a tidy and organized circuit
layout, and a Caster Wheel for improved maneuverability. Utilizing
C++ programming language with ROS extends the capabilities of
the robot, providing efficient control and coordination.
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 INTRODUCTION

 The Firefighter Robot with SMS Alert is an innovative and technologically

advanced project aimed at addressing the critical challenges associated with
fire detection and suppression in indoor environments. Harnessing the power
of robotics and the robustness of C++ with the Robot Operating System
(ROS), this project integrates a diverse set of components to create a highly
efficient and responsive fire-fighting system.

 The key components driving the functionality of this robot include the
Arduino Nano microcontroller, L298 Motor Driver for precise motor control,
and the ESP NodeMCU for seamless wireless communication capabilities.
These components form the core control and communication system,
providing the robot with intelligence and autonomy.

 To enhance the robot's sensory perception, the project incorporates an

Ultrasonic Sensor for obstacle avoidance, a Flame Sensor for rapid fire
detection, and a combination of Gear Motors and Servo Motors for precise
and agile movement. The integration of these components ensures that the
robot can navigate through complex indoor environments, identify fire
incidents promptly, and respond effectively.

 Powering the system is a rechargeable 18650 battery, managed by the

TP4056 charging module, offering a sustainable and portable energy solution.
The inclusion of a 12V Relay Module and relay facilitates the control of
external devices such as water pumps or sprinkler systems, providing an
active response mechanism to combat detected fires.

 The systematic use of jumper wires ensures a clean and organized circuit
layout, while the incorporation of a Caster Wheel enhances the robot's
maneuverability. By employing C++ with ROS, the project not only benefits
from the efficiency of the programming language but also taps into the
powerful capabilities of ROS for robotic control and coordination.

 This Firefighter Robot with SMS Alert project represents a significant

advancement in fire safety technology, combining the principles of robotics,
the efficiency of C++ programming, and the versatility of ROS to create an
intelligent, adaptable, and communicative system for timely fire detection,
suppression, and alerting.

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 OBJECTIVE

1. **Autonomy and Navigation:**

- Develop an autonomous fire-fighting robot capable of navigating
indoor environments efficiently and safely.

2. **Fire Detection:**
- Implement a robust fire detection system using the Flame Sensor for
swift and accurate identification of fire incidents.

3. **Mobility and Maneuverability:**

- Integrate Servo Motors, Gear Motors, and a Caster Wheel to ensure
agile and precise movement, allowing the robot to navigate through
various obstacles.

4. **Wireless Communication:**
- Utilize the ESP NodeMCU for wireless communication, employing
C++ programming with the Robot Operating System (ROS) to enable
seamless interaction and control.

5. **Motor Control:**
- Implement the L298 Motor Driver to ensure precise control over the
motors, facilitating smooth and responsive movement.

6. **Power Management:**
- Utilize a rechargeable 18650 battery with a TP4056 charging
module for sustainable and portable power management.

7. **Obstacle Avoidance:**
- Integrate an Ultrasonic Sensor to enable obstacle avoidance during
robot navigation, enhancing safety and preventing collisions.

8. **Relay System for Fire Suppression:**

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 - Incorporate a 12V Relay Module and relay to control external
devices, such as water pumps or sprinkler systems, for effective fire
suppression.

9. **Efficient Circuit Layout:**

- Implement a well-organized circuit layout using jumper wires to
ensure efficient connectivity and ease of troubleshooting.

10. **Customization and Expandability:**

- Design the robot with modularity, allowing customization based on
specific needs and easy integration of additional components for future
expansion.

11. **Safety Features:**

- Integrate safety protocols to ensure the robot's secure operation
during fire-fighting activities, prioritizing the safety of both the robot
and its surroundings.

12. **Real-time SMS Alerts:**

- Develop a system for real-time SMS alerts to designated recipients
upon detecting a fire incident, providing timely notification for
immediate response.

13. **Documentation and User Interface:**

- Create comprehensive documentation for setup, usage, and
maintenance.
- Implement a user interface for convenient control and monitoring
of the robot.

14. **Efficient Fire Suppression Mechanism:**

- Implement an efficient and controlled fire suppression mechanism
to enhance the robot's effectiveness in extinguishing fires.

15. **System Performance Monitoring:**

- Develop capabilities for real-time monitoring and logging to assess
the system's performance during fire-fighting operations.

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 COMPONENTS USED:

1) Arduino Nano
Arduino Nano:

The Arduino Nano is a compact and versatile microcontroller board that belongs
to the Arduino family. It is based on the ATmega328P microcontroller, providing
similar functionalities to the Arduino Uno but in a smaller form factor. The Nano
is widely used in various electronics projects due to its ease of use, flexibility,
and a rich ecosystem of libraries and community support.

**Key Features:**

1. **Microcontroller:** The heart of the Arduino Nano is the ATmega328P

microcontroller, which runs at 16MHz and has 32KB of flash memory. This
microcontroller is responsible for executing the code uploaded to the Arduino.

2. **Compact Size:** One of the significant advantages of the Nano is its small
size, making it suitable for projects with limited space requirements or those
where a compact form factor is essential.

3. **I/O Pins:** The Nano features a variety of digital and analog input/output
pins, providing flexibility for connecting sensors, actuators, and other electronic
components.

4. **USB Connectivity:** It can be easily connected to a computer via USB for

programming and power supply. The onboard USB-to-serial converter simplifies
the programming process.

5. **Voltage Regulator:** The Nano includes a voltage regulator that allows it to

be powered from a USB connection or an external power source within a
specified voltage range.

6. **Integrated Development Environment (IDE):** Like other Arduino boards,

the Nano is programmed using the Arduino IDE, providing a user-friendly
interface for writing, uploading, and debugging code.

7. **Compatibility:** Despite its smaller size, the Nano maintains compatibility

with many Arduino Uno shields and libraries, making it a versatile choice for
various applications.

**Typical Applications:**

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- **Embedded Systems:** Used in a wide range of embedded systems and
electronic projects due to its small size and ease of integration.

- **Prototyping:** Ideal for prototyping electronic circuits and testing ideas

before deploying them on a larger scale.

- **Education:** Widely used in educational settings to teach programming and

electronics due to its simplicity and accessibility.

- **IoT Devices:** Suitable for developing Internet of Things (IoT) devices and
projects where a compact form factor is crucial.

- **Robotics:** Often used in robotics projects for controlling motors, sensors,

and other components.

2) L298 Motor Driver

L298 Motor Driver:

The L298 is a popular dual H-bridge motor driver integrated circuit (IC) used to
control the direction and speed of DC motors. It is widely employed in robotics,
mechatronics, and various electronic projects requiring motor control. The L298
allows bidirectional control of two DC motors or the control of one stepper motor.

**Key Features:**

1. **H-Bridge Configuration:** The L298 IC is configured as an H-bridge,

which allows it to control the direction of a DC motor by changing the polarity of
the applied voltage.

2. **Dual Motor Control:** It can control two DC motors independently, making

it suitable for applications like robot movement or any system requiring precise
motor control.
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3. **High Current Capability:** The L298 is capable of handling relatively high
currents, making it suitable for driving motors with higher power requirements.

4. **Built-in Diodes:** The IC includes built-in freewheeling diodes, providing a

path for the current to circulate when the motor is turned off, which helps protect
the circuit from voltage spikes.

5. **Built-in Voltage Regulator:** Some versions of the L298 may include an

onboard 5V voltage regulator, simplifying the connection of control circuitry.

6. **Thermal Protection:** Some variants of the L298 come with thermal

protection mechanisms to prevent the IC from overheating during prolonged use.

7. **Versatility:** Suitable for various motor types, including DC motors and

stepper motors.

**Typical Applications:**

- **Robotics:** Used to control the movement of robots by driving the motors

that control wheels or other locomotion mechanisms.

- **Remote-Controlled Vehicles:** Employed in the control systems of remote-

controlled cars, planes, or boats.

- **Automation Systems:** Applied in systems that require precise control of

motors, such as conveyor belts or automated machinery.

- **DIY Projects:** Utilized in various do-it-yourself (DIY) electronics projects

where motor control is necessary.

3) Esp node Mcu

ESP8266 NodeMCU:

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The ESP8266 NodeMCU is a low-cost open-source IoT platform based on the
ESP8266 Wi-Fi module. It combines the capabilities of a microcontroller
(ESP8266) and a Wi-Fi module, making it suitable for a variety of IoT
applications. The NodeMCU firmware is built on the Lua scripting language, but
it can also be programmed using the Arduino IDE, making it accessible to a
broad range of developers.

**Key Features:**

1. **Wi-Fi Connectivity:** The ESP8266 NodeMCU comes equipped with built-

in Wi-Fi capabilities, allowing it to connect to Wi-Fi networks and communicate
with other devices over the internet.

2. **Microcontroller:** It features an ESP8266 microcontroller with a Tensilica

L106 32-bit RISC processor, offering sufficient processing power for IoT
applications.

3. **USB-to-Serial Interface:** The NodeMCU includes a USB-to-serial

converter, simplifying the programming process and enabling easy
communication with a computer.

4. **GPIO Pins:** It provides a number of General Purpose Input/Output (GPIO)

pins for interfacing with sensors, actuators, and other electronic components.

5. **Analog Pins:** In addition to digital GPIO pins, it offers analog pins for
reading analog sensor values.

6. **NodeMCU Firmware:** The NodeMCU firmware is built on the Lua

scripting language, providing an easy-to-use scripting environment for IoT
projects. However, it can also be programmed using the Arduino IDE, making it
compatible with the vast Arduino ecosystem.

7. **OTA (Over-The-Air) Updates:** It supports over-the-air firmware updates,

allowing developers to update the firmware without the need for physical access
to the device.

8. **Integrated Development Environment (IDE) Support:** While it supports

Lua scripting, many developers use the Arduino IDE for programming the
ESP8266 NodeMCU. This allows for easy integration with existing Arduino
projects.

**Typical Applications:**

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- **IoT Projects:** Ideal for a wide range of IoT applications such as home
automation, smart agriculture, and industrial monitoring.

- **Wi-Fi-enabled Devices:** Used in devices that require Wi-Fi connectivity,

such as Wi-Fi-controlled switches, sensors, and actuators.

- **Prototyping:** Suitable for prototyping and developing IoT projects due to

its ease of use and rapid development capabilities.

- **DIY Electronics:** Popular in the maker community for various do-it-

yourself electronics projects.

4) Relay
Relay:

A relay is an electromechanical device used to control or switch high-power

electrical circuits with a low-power signal. It consists of a coil and one or more
sets of contacts, which can open or close when the coil is energized. Relays are
commonly employed in various applications where the control of high-voltage
devices by low-voltage circuits is necessary.

**Key Features:**

1. **Electromagnetic Coil:** The relay's coil is the component that, when

energized, generates a magnetic field, causing the contacts to move and change
their state.

2. **Contacts:** Relays have one or more sets of contacts, including normally

open (NO), normally closed (NC), and common (COM) contacts. These contacts
determine the switching behavior of the relay.

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3. **NO (Normally Open) Contacts:** In their default state (when the coil is not
energized), NO contacts are open, interrupting the flow of current.

4. **NC (Normally Closed) Contacts:** In their default state, NC contacts are

closed, allowing the flow of current. They open when the coil is energized.

5. **Switching Voltage and Current Ratings:** Relays are designed to handle

specific voltage and current ratings, making them suitable for a wide range of
applications, from low-power electronics to high-power industrial systems.

6. **Form Factor:** Relays come in various form factors, including plug-in,

PCB mount, and socket mount, allowing for flexibility in installation.

**Typical Applications:**

- **Home Automation:** Used in smart home systems to control appliances,

lighting, and other devices.

- **Industrial Automation:** Commonly employed in industrial control panels to

switch high-voltage equipment.

- **Automotive Systems:** Found in vehicles to control various electrical

components, such as headlights, fans, and fuel pumps.

- **IoT Devices:** Integrated into Internet of Things (IoT) projects to remotely

control appliances and devices.

- **Security Systems:** Utilized in security systems to control access points,

alarms, and other security-related components.

5) Ultrasonic Sensor
Ultrasonic Sensor:

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An ultrasonic sensor is a device that uses ultrasonic waves for distance
measurement and object detection. It emits ultrasonic pulses and measures the
time it takes for the pulses to bounce back after hitting an object. This
information is then used to calculate the distance to the object. Ultrasonic sensors
are commonly employed in robotics, automation, and various applications where
non-contact distance measurement is required.

**Key Features:**

1. **Transducer:** The ultrasonic sensor consists of a transducer that can emit

and receive ultrasonic waves. The transducer is typically made of piezoelectric
materials.

2. **Ultrasonic Waves:** The sensor emits ultrasonic waves (sound waves with
a frequency above the human hearing range) and measures the time it takes for
these waves to reflect off an object and return to the sensor.

3. **Distance Calculation:** Using the speed of sound in air, the sensor

calculates the distance to the object based on the time it takes for the ultrasonic
waves to travel to the object and back.

4. **Detection Range:** Ultrasonic sensors come in various models with

different detection ranges. Common ranges are from a few centimeters to several
meters.

5. **Accuracy:** The accuracy of ultrasonic sensors is generally high, and they

can provide precise distance measurements.

6. **Wide Applicability:** Used in a wide range of applications, including

obstacle detection in robotics, liquid level measurement, parking assist systems in
vehicles, and more.

**Typical Applications:**

- **Robotics:** Employed for obstacle avoidance and navigation in robotics and

autonomous vehicles.

- **Industrial Automation:** Used for object detection and distance

measurement in manufacturing and assembly lines.

- **Proximity Sensors:** Applied as proximity sensors in various devices, such

as automatic doors, faucets, and hand sanitizers.

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- **Parking Assist Systems:** Found in vehicles to assist drivers in parking by
detecting obstacles.

- **Liquid Level Measurement:** Used to measure the level of liquids in tanks.

- **Security Systems:** Integrated into security systems for intrusion detection

and perimeter monitoring.

6) Servo motor
Servo Motor:

A servo motor is a type of rotary actuator that allows for precise control of
angular position. It consists of a motor, a feedback system, and a controller.
Servo motors are widely used in various applications where accurate and
controlled movement is required, such as robotics, automation, and remote-
controlled vehicles.

**Key Features:**

1. **Rotary Actuator:** Servo motors are rotary actuators, meaning they provide
rotational motion.

2. **Feedback System:** Most servo motors include a feedback system

(potentiometer or encoder) that continuously monitors the motor's position. This
feedback is sent to the controller, allowing for precise control of the motor's
position.

3. **Closed-Loop Control:** The feedback system enables closed-loop control,

where the controller adjusts the motor's position until it reaches the desired angle.

4. **Torque:** Servo motors are designed to provide high torque at various

speeds, making them suitable for a wide range of applications.

5. **Positional Accuracy:** They offer high positional accuracy, allowing for

precise control over the motor's angle.

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6. **Limited Range of Motion:** Servo motors typically have a limited range of
motion, usually around 180 degrees, although continuous rotation servos are also
available.

7. **PWM Control:** Servo motors are controlled using Pulse Width

Modulation (PWM) signals, where the width of the pulse determines the motor's
position.

**Typical Applications:**

- **Robotics:** Used in robotic arms, grippers, and other mechanisms where

precise control of position and movement is essential.

- **RC Vehicles:** Commonly employed in remote-controlled cars, planes,

boats, and other vehicles to control steering and other movements.

- **Automation:** Found in industrial automation for controlling valves,

conveyor belts, and other moving parts.

- **Camera Stabilization:** Utilized in camera gimbals to provide stable and

controlled movement for cameras.

- **Aerospace:** Used in aircraft for controlling various components, including

flaps and landing gear.

- **3D Printing:** Employed in 3D printers to control the movement of the print

head and build platform.

7) Gear motor
Gear Motor:

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A gear motor is a type of electric motor integrated with a gearbox that allows for
the adjustment of speed, torque, and direction. The gearbox contains a set of
gears that can amplify or reduce the motor's rotational speed and increase its
torque. Gear motors are commonly used in applications where controlled and
precise motion is required, such as in robotics, automotive systems, and industrial
machinery.

**Key Features:**

1. **Electric Motor:** The core component is an electric motor that provides the
rotational power. Common types include DC motors, stepper motors, and AC
motors.

2. **Gearbox:** The gearbox, consisting of gears of different sizes and

configurations, is connected to the motor's shaft. It determines the output speed
and torque of the motor.

3. **Speed Reduction or Increase:** Gears in the gearbox can be configured to

reduce the motor's speed while increasing torque (gear reduction) or increase
speed while reducing torque (gear increase).

4. **Torque:** Gear motors are known for their high torque output, making them
suitable for applications requiring a significant amount of force.

5. **Direction Control:** The gearbox allows for the control of the motor's
rotational direction, providing bidirectional motion.

6. **Compact Design:** The integration of the motor and gearbox into a single
unit results in a compact and space-efficient design.

**Typical Applications:**

- **Robotics:** Used in robotic arms, wheels, and other moving parts to provide
controlled and precise motion.

- **Automotive Systems:** Employed in various automotive applications, such

as windshield wiper systems, power windows, and power seats.

- **Industrial Machinery:** Found in conveyor systems, packaging machinery,

and other industrial equipment where controlled movement is crucial.

- **Home Appliances:** Used in appliances like washing machines, blenders,

and electric fans.

20
- **Aerospace:** Applied in aerospace systems for tasks such as controlling
flaps and actuators.

- **Medical Devices:** Utilized in medical equipment for controlled movement

of components.

8)18650 battery
The 18650 battery is a cylindrical lithium-ion rechargeable battery that is 18mm
in diameter and 65mm in length, hence the name "18650." These batteries have
become widely used in various electronic devices due to their compact size and
high energy density. Here are key features and characteristics of 18650 batteries:

1. **Size:** The 18650 battery is a standardized size, measuring approximately

18mm in diameter and 65mm in length.

2. **Chemistry:** It typically uses lithium-ion (Li-ion) or lithium-ion polymer

(Li-Po) chemistry, offering a high energy density and rechargeable capabilities.

3. **Voltage:** The nominal voltage of an 18650 battery is usually 3.7 volts.

However, Li-ion batteries can have a voltage range of 2.7V to 4.2V during
discharge and charging.

4. **Capacity:** 18650 batteries come in various capacities, typically ranging

from around 1000mAh to 3500mAh or more. Capacity is a measure of how much
energy the battery can store.

5. **Rechargeable:** One of the significant advantages of 18650 batteries is

their rechargeable nature, allowing for multiple charge and discharge cycles.

6. **Applications:** 18650 batteries are used in a wide range of applications,

including laptops, power tools, flashlights, electronic cigarettes, portable
electronic devices, and electric vehicles.
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7. **Protection Circuit:** Some 18650 batteries come with built-in protection
circuits to prevent overcharging, over-discharging, and short circuits, enhancing
safety during use.

8. **Standardization:** The 18650 form factor is standardized, making it easier

for manufacturers to design products that can accommodate these batteries.

9. **Versatility:** Due to their popularity and availability, 18650 batteries have

become a standard power source in many consumer electronics and DIY projects.

10. **Charging:** Specialized chargers designed for 18650 batteries are

commonly used to recharge them. It's essential to use chargers specifically
designed for lithium-ion batteries to ensure safe and efficient charging.

When using 18650 batteries, it's important to handle them with care, follow
proper charging and discharging guidelines, and avoid exposing them to extreme
temperatures to maximize their lifespan and safety.

8) Jumper wire

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9) 12V Relay Module
A 12V relay module is an electronic device that includes a relay and associated
components on a single circuit board. It is designed to control high-power
electrical devices using a low-voltage signal. Here are the key features and
characteristics of a 12V relay module:

1. **Relay:** The module incorporates a relay, an electromechanical switch,

capable of controlling circuits with higher voltage and current than the input
signal.

2. **Coil Voltage:** The relay coil operates at a 12V voltage level, making it
compatible with 12V DC power sources.

3. **Switching Capacity:** The relay has a specified switching capacity,

indicating the maximum voltage and current it can handle.

4. **Signal Input:** The module typically accepts a low-voltage control signal,

often from a microcontroller or other electronic components, to activate the relay.

5. **Signal Isolation:** Some modules include optocouplers or other means of

electrical isolation between the control signal and the relay circuit, enhancing
safety and preventing interference.

6. **Terminal Blocks:** The module usually includes terminal blocks for

convenient and secure connections, allowing easy integration into electronic
projects.

7. **LED Indicators:** Many 12V relay modules feature LED indicators to show
the relay's status, making it visually clear whether the relay is active or inactive.

23
8. **Applications:** 12V relay modules are commonly used in home automation,
robotics, industrial control systems, and various electronic projects where low-
voltage control signals need to switch higher-voltage devices.

9. **Versatility:** Due to their compatibility with 12V systems, these relay

modules are versatile and widely used in automotive applications, power supply
control, and other scenarios where a 12V relay is required.

10. **Convenience:** The module simplifies the integration of relays into

electronic circuits, providing an easy-to-use and compact solution for controlling
electrical devices.

When working with a 12V relay module, it's important to adhere to the
manufacturer's specifications and guidelines to ensure proper operation and
prevent any damage to the module or connected devices.

10) Flame Sensor

A flame sensor is a specialized electronic component designed to detect the
presence of an open flame or fire. It is commonly used in fire detection and safety
systems. Key features of flame sensors include:

1. **Infrared Detection:** Flame sensors typically utilize infrared (IR) detection

to identify the unique wavelength emitted by flames.

2. **Photodiode Receiver:** The sensor consists of a photodiode that receives

the infrared radiation emitted by flames and converts it into an electrical signal.

24
3. **Analog or Digital Output:** Flame sensors may provide either analog or
digital output signals, depending on the specific model. Digital sensors often
provide a simple on/off signal when a flame is detected.

4. **Rapid Response:** Flame sensors are designed for rapid response to the
presence of flames, enabling quick detection in critical applications.

5. **Sensitivity Adjustment:** Some flame sensors allow for sensitivity

adjustment to adapt to varying environmental conditions and different flame
intensities.

6. **Versatility:** Flame sensors find applications in various fields, including

fire detection systems in buildings, industrial facilities, and robotics.

7. **Integration with Microcontrollers:** Flame sensors can be easily integrated

into microcontroller-based projects for automated fire detection and response.

8. **Reliability:** Due to their accuracy and reliability, flame sensors play a

crucial role in enhancing safety by providing early detection of fire incidents.

When using a flame sensor, it's essential to follow the manufacturer's guidelines
for installation and calibration to ensure optimal performance and reliability in
fire detection applications.

11) TP4056
The TP4056 is a popular lithium-ion battery charging module commonly used in
electronic projects. It provides a simple and efficient way to charge lithium-ion or
lithium polymer batteries, making it widely used in portable devices, power

25
banks, and other battery-powered applications. Key features of the TP4056
include:

1. **Single-Cell Charging:** The TP4056 is designed for single-cell lithium-ion

or lithium polymer batteries.

2. **Micro USB Input:** It typically features a Micro USB port for easy
connection to a power source, such as a USB wall adapter or a computer.

3. **Battery Protection:** The module includes built-in protection features, such

as overcharge protection, over-discharge protection, and short circuit protection,
ensuring the safety of the connected battery.

4. **Constant Current and Voltage Charging:** The TP4056 charges the battery
using a constant current and constant voltage charging algorithm, optimizing the
charging process for lithium-ion batteries.

5. **Charging Indicator:** Many TP4056 modules include an LED indicator that

changes color to signify different charging states, making it user-friendly.

6. **Small Form Factor:** The module is compact and easy to integrate into
electronic projects, providing a convenient solution for battery charging.

7. **Low Heat Generation:** The TP4056 is designed to generate low heat

during the charging process, contributing to its overall efficiency.

8. **Widely Used:** Due to its ease of use, reliability, and low cost, the TP4056
has become a popular choice for DIY electronics enthusiasts and professionals
alike in various battery-powered applications.

When using the TP4056 module, it's important to follow the manufacturer's
specifications and guidelines to ensure proper charging and to avoid any issues
related to battery safety and performance.

26
12)Caster Wheel

27
 SPECIFICATIONS:

1. **Microcontroller:**
- Arduino Nano for compact control and programming flexibility.

2. **Motor Control:**
- L298 Motor Driver to ensure precise control of motors.
- Integration of Servo Motor and Gear Motor for agile and accurate
movement.

3. **Wireless Communication:**
- ESP NodeMCU for wireless communication capabilities using C++
programming with the Robot Operating System (ROS).

4. **Sensors:**
- Ultrasonic Sensor for obstacle avoidance during navigation.
- Flame Sensor for rapid and accurate fire detection.

5. **Power Management:**
- Rechargeable 18650 battery for sustainable and portable power.
- TP4056 charging module to efficiently manage battery charging.

6. **Relay System:**
- 12V Relay Module for effective control of external devices, such as
water pumps or sprinkler systems, enhancing fire suppression
capabilities.

7. **Circuit Connectivity:**
- Jumper wires for a tidy and organized circuit layout.

8. **Mobility:**
- Caster Wheel to improve the robot's maneuverability within indoor
environments.

9. **Programming Language and Framework:**

- Utilization of C++ programming language for efficient and versatile
code.

28
 - Integration with the Robot Operating System (ROS) for enhanced
robotic control and coordination.

10. **Fire Suppression Mechanism:**

- Development of an efficient fire suppression mechanism,
potentially involving the controlled release of a fire-suppressing agent.

11. **Autonomous Navigation:**

- Implementation of algorithms for autonomous navigation within
indoor spaces, considering obstacle avoidance and efficient path
planning.

12. **Customization and Expansion:**

- Design with modularity to allow customization based on specific
requirements.
- Consideration for future expansion of functionalities, sensors, or
communication modules.

13. **Safety Protocols:**

- Integration of safety features to ensure the robot's safe operation
during fire-fighting activities.

14. **Real-time Monitoring:**

- Implementation of real-time monitoring and logging capabilities
for system performance assessment.

29
 PROPOSED WORK:

Proposed Work for Firefighter Robot with SMS Alert:

1. **System Optimization:**
- Conduct thorough optimization of the existing system to enhance
overall efficiency, reduce power consumption, and improve response
times.

2. **GSM Module Integration:**

- Integrate a GSM module to enable real-time SMS alerts, allowing
the robot to notify designated recipients promptly upon detecting a fire
incident.

3. **Communication Protocol Enhancement:**

- Explore and implement advanced communication protocols within
the ROS framework to ensure seamless interaction and coordination
with external systems.

4. **Machine Learning Algorithms:**

- Investigate the potential implementation of machine learning
algorithms for improved fire detection accuracy, enabling the robot to
distinguish between various fire intensities and types.

5. **Path Planning Algorithms:**

- Implement advanced path planning algorithms to enhance the
robot's navigation capabilities, ensuring optimal routes during fire-
fighting operations and obstacle avoidance.

6. **Remote Monitoring and Control:**

- Develop a robust system for remote monitoring and control,
enabling users to oversee the robot's activities and intervene if
necessary through a user-friendly interface.

7. **Dynamic Fire Suppression Mechanism:**

- Explore and implement a dynamic fire suppression mechanism,
allowing the robot to adapt its approach based on the nature and size of
the fire, ensuring efficient and controlled extinguishing.
30
8. **Battery Management System Enhancement:**
- Enhance the battery management system to optimize energy usage,
implement smart charging algorithms, and explore alternative power
sources for prolonged and sustainable operation.

9. **Sensor Fusion:**
- Investigate the fusion of sensor data from multiple sources, such as
the Ultrasonic Sensor and Flame Sensor, to improve the robot's
situational awareness and decision-making capabilities.

10. **Collaborative Robotics:**

- Explore the potential for collaborative robotics by integrating
multiple robots, enabling them to work together cohesively in fire-
fighting scenarios for increased coverage and effectiveness.

11. **Environmental Adaptability:**

- Enhance the robot's adaptability to various indoor environments by
implementing features such as adjustable height and terrain-specific
navigation strategies.

12. **Autonomous Recharging Station:**

- Investigate the feasibility of implementing an autonomous
recharging station where the robot can recharge its battery between
operations, ensuring continuous availability.

13. **Comprehensive Documentation:**

- Develop comprehensive documentation that includes detailed
technical specifications, setup procedures, and guidelines for users,
enabling easy replication and maintenance.

14. **Community Engagement:**

- Engage with the robotics and fire safety communities to gather
feedback, insights, and potential collaborations for the ongoing
improvement of the Firefighter Robot.

15. **Continued Innovation:**

31
 - Foster a culture of continued innovation by regularly reviewing
emerging technologies and integrating relevant advancements to keep
the Firefighter Robot at the forefront of fire safety solutions.

This proposed work aims to enhance the Firefighter Robot with SMS
Alert by integrating new features, improving existing functionalities,
and exploring innovative approaches to make the system more efficient,
adaptable, and effective in addressing the challenges of fire detection
and suppression in indoor environments.

32
 WORKING:

Working of Firefighter Robot with SMS Alert:

1. **Initialization:**
- The system initiates by initializing the Arduino Nano
microcontroller, establishing communication with the ROS framework.

2. **Power Management:**
- The 18650 battery, managed by the TP4056 charging module,
provides the necessary power for the robot's operation.

3. **Navigation System:**
- The Ultrasonic Sensor continuously scans the surroundings,
generating real-time data to facilitate autonomous navigation through
indoor environments.

4. **Obstacle Avoidance:**
- Utilizing the data from the Ultrasonic Sensor, the robot employs
obstacle avoidance algorithms to adjust its path, ensuring collision-free
movement.

5. **Fire Detection:**
- The Flame Sensor actively monitors the environment for signs of
fire. Upon detection, the robot initiates the fire response mechanism.

6. **Fire Suppression Mechanism:**

- The L298 Motor Driver controls the Gear Motors and Servo Motors,
positioning the robot for effective fire suppression.
- The Relay System triggers external devices, such as water pumps or
sprinkler systems, for controlled fire extinguishing.

7. **Wireless Communication:**
- The ESP NodeMCU facilitates wireless communication, using C++
programming with the ROS framework for efficient control and
coordination.

8. **Real-time SMS Alerts (GSM Integration):**

33
 - In a version with GSM integration, the robot sends real-time SMS
alerts to designated recipients upon detecting a fire incident, ensuring
prompt notification.

9. **Circuit Connectivity:**
- Jumper wires are utilized for a well-organized circuit layout,
ensuring seamless connectivity between components.

10. **User Interface:**

- A user interface, either physical or remote, allows users to monitor
the robot's status, control its operations, and receive real-time alerts.

11. **Safety Measures:**

- The robot incorporates safety protocols to ensure secure operation
during fire-fighting activities, prioritizing the safety of both the robot
and its surroundings.

12. **Customization and Expandability:**

- The modular design allows for customization based on specific
needs, supporting the integration of additional sensors or features for
future expansion.

13. **Documentation:**
- Comprehensive documentation guides users through setup,
operation, and maintenance, ensuring ease of use and troubleshooting.

14. **GSM Module Status Monitoring:**

- In versions with GSM integration, the system actively monitors the
status of the GSM module to ensure reliable communication.

15. **Autonomous Recharging (Future Enhancement):**

- For future versions, explore the implementation of an autonomous
recharging station where the robot can recharge its battery between
operations, ensuring continuous availability.

The Firefighter Robot with SMS Alert, utilizing robotics, C++

programming, and ROS, operates as an intelligent and adaptable
system for autonomous fire detection, suppression, and real-time

34
communication, providing a comprehensive solution for enhancing fire
safety in indoor environments.

35
CIRCUIT AND WORKING DIAGRAM:

36
PROJECT OVERVIEW

37
38
39
 CODE:

Main code:

#include <NewPing.h>
#include <Servo.h>

#define trigger_pin A0
#define echo_pin A1
#define max_distance 200

int motor1_1 = 2;
int motor1_2 = 3;
int motor2_1 = 4;
int motor2_2 = 5;
int motor1_en = 10;
int motor2_en = 11;

NewPing sonar(trigger_pin, echo_pin, max_distance);

Servo myservo;

boolean moving_forward = false;

int distance = 100;

void setup() {

pinMode(motor1_1, OUTPUT);
pinMode(motor1_2, OUTPUT);
pinMode(motor2_1, OUTPUT);
pinMode(motor2_2, OUTPUT);
pinMode(motor1_en, OUTPUT);
pinMode(motor2_en, OUTPUT);

myservo.attach(9);
myservo.write(90);
delay(2000);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
}

40
void loop() {
int right_distance = 0;
int left_distance = 0;
analogWrite(10, 255);
analogWrite(11, 255);

delay(40);

if (distance <= 20)

{
move_stop();
delay(100);
move_backward();
delay(300);
move_stop();
delay(200);
right_distance = look_right();
delay(200);
left_distance = look_left();
delay(200);

if (right_distance >= left_distance)

{
turn_right();
move_stop();
} else
{
turn_left();
move_stop();
}
} else
{
move_forward();
}
distance = readPing();
}

int look_right()
{
myservo.write(40);
delay(500);
41
 int distance = readPing();
delay(100);
myservo.write(90);
return distance;
}

int look_left()
{
myservo.write(140);
delay(500);
int distance = readPing();
delay(100);
myservo.write(90);
return distance;
delay(100);
}

int readPing() {
delay(50);
int dist_cm = sonar.ping_cm();
if (dist_cm == 0)
{
dist_cm = 250;
}
return dist_cm;
}

void move_stop() {
digitalWrite(motor1_1, LOW);
digitalWrite(motor1_2, LOW);
digitalWrite(motor2_1, LOW);
digitalWrite(motor2_2, LOW);
}

void move_forward() {

{
moving_forward = true;
digitalWrite(motor1_1, LOW);
digitalWrite(motor1_2, HIGH);
digitalWrite(motor2_1, HIGH);
digitalWrite(motor2_2, LOW);
42
 }
}

void move_backward() {
moving_forward = false;
digitalWrite(motor1_1, HIGH);
digitalWrite(motor1_2, LOW);
digitalWrite(motor2_1, LOW);
digitalWrite(motor2_2, HIGH);
}

void turn_right() {
digitalWrite(motor1_1, LOW);
digitalWrite(motor1_2, HIGH);
digitalWrite(motor2_1, LOW);
digitalWrite(motor2_2, HIGH);
delay(1000);
digitalWrite(motor1_1, LOW);
digitalWrite(motor1_2, HIGH);
digitalWrite(motor2_1, HIGH);
digitalWrite(motor2_2, LOW);
}

void turn_left() {
digitalWrite(motor1_1, HIGH);
digitalWrite(motor1_2, LOW);
digitalWrite(motor2_1, HIGH);
digitalWrite(motor2_2, LOW);
delay(1000);
digitalWrite(motor1_1, LOW);
digitalWrite(motor1_2, HIGH);
digitalWrite(motor2_1, HIGH);
digitalWrite(motor2_2, LOW);
}

43
For notification:

#include <ESP8266WiFi.h>
#include <WiFiClient.h>
#include <ESP8266WebServer.h>

const char* ssid = "fire";

const char* password = "123456789";

const char* host = "api.pushingbox.com";

const char* devid = "vC5BEB7FC5FF8C30";

void setup()
{
Serial.begin(115200);
delay(10);

// We start by connecting to a WiFi network

Serial.println();
Serial.println();
Serial.print("Connecting to ");
Serial.println(ssid);

WiFi.begin(ssid, password);

while (WiFi.status() != WL_CONNECTED) {

delay(500);
Serial.print(".");
}

Serial.println("");
Serial.println("WiFi connected");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
}

int value = 0;

44
void loop()
{
delay(5000);
value = digitalRead(16);

if(value ==1){ //value from sensor if dry

Serial.println(value);

Serial.print("connecting to ");
Serial.println(host);

// Use WiFiClient class to create TCP connections

WiFiClient client;
const int httpPort = 80;
if (!client.connect(host, httpPort)) {
Serial.println("connection failed");
return;
}

// We now create a URI for the request

String url = "/pushingbox";
url += "?devid=";
url += devid;

Serial.print("Requesting URL: ");

Serial.println(url);

// This will send the request to the server

client.print(String("GET ") + url + " HTTP/1.1\r\n" +
" " + host + "\r\n" +
"Connection: close\r\n\r\n");
unsigned long timeout = millis();
while (client.available() == 0) {
if (millis() - timeout > 5000) {
Serial.println(">>> Client Timeout !");
client.stop();
return;
45
 }
}

// Read all the lines of the reply from server and print them to Serial
while(client.available()) {
String line = client.readStringUntil('\r');
Serial.print(line);

Serial.println();
Serial.println("closing connection");
}else{;}
}

46
 CONCLUSION

 In the development of the Firefighter Robot with SMS Alert,

leveraging a combination of robotics, C++ programming, and the
Robot Operating System (ROS), a comprehensive and intelligent
fire-fighting solution has been realized. The integration of various
components such as the Arduino Nano, L298 Motor Driver, ESP
NodeMCU, and others has resulted in a versatile and efficient robot
designed for indoor fire detection and suppression.

 The utilization of the Ultrasonic Sensor enables the robot to

navigate autonomously, while the Flame Sensor ensures swift and
accurate detection of fire incidents. The robotic system, powered by
the 18650 battery and managed by the TP4056 charging module,
exhibits a sustainable and portable power solution. The combination
of Gear Motors and Servo Motors, controlled by the L298 Motor
Driver, allows for agile and precise movement, enhancing the
robot's maneuverability during fire-fighting operations.

 The 12V Relay Module, in conjunction with the relay, forms a

crucial part of the fire suppression mechanism, enabling the
controlled activation of external devices such as water pumps or
sprinkler systems. The incorporation of jumper wires ensures a neat
and organized circuit layout, contributing to efficient connectivity
and troubleshooting.

 While this iteration does not include a GSM module for real-time
SMS alerts, the design remains adaptable for future integration,
providing an opportunity for enhanced communication capabilities.
The ESP NodeMCU, coupled with C++ programming and ROS,
facilitates wireless communication for efficient control and
coordination.

 The modular design of the robot allows for customization based on

specific needs and the potential for the integration of additional
sensors or features for future expansion. The inclusion of safety
protocols ensures the secure operation of the robot during fire-
fighting activities, prioritizing the safety of both the robot and its
surroundings.
47
 FUTURE ENHENCEMENT:

Future Enhancements for Firefighter Robot with SMS Alert:

1. **Multi-Robot Collaboration:**
- Explore the implementation of collaborative robotics by integrating
multiple robots, allowing them to work together in a coordinated
manner during large-scale fire incidents.

2. **Advanced Fire Detection Algorithms:**

- Investigate and implement advanced algorithms, possibly
leveraging machine learning, to enhance the Flame Sensor's ability to
identify various fire intensities and types with increased accuracy.

3. **AI-Based Path Planning:**

- Integrate artificial intelligence (AI) algorithms for dynamic path
planning, enabling the robot to adapt its navigation strategy based on
real-time environmental changes and emergency scenarios.

4. **Smart Charging Algorithms:**

- Enhance the TP4056 charging module with smart charging
algorithms, optimizing battery charging based on usage patterns and
ensuring prolonged battery life.

5. **Automated Battery Swapping System:**

- Explore the implementation of an automated battery swapping
system to minimize downtime, allowing the robot to replace depleted
batteries independently during extended operations.

6. **Real-time Video Streaming:**

- Implement a real-time video streaming system to provide remote
operators with visual information about the fire scene, facilitating more
informed decision-making and monitoring.

7. **Environmental Sensing Suite:**

- Integrate additional environmental sensors (e.g., temperature,
humidity) to provide a comprehensive understanding of the fire scene,

48
enabling the robot to adapt its strategy based on environmental
conditions.

8. **Humanoid Robot Adaptability:**

- Investigate the development of a humanoid robot version with
dexterous manipulators, enabling more complex interactions such as
opening doors, handling objects, or assisting occupants during
evacuation.

9. **Voice Command Integration:**

- Implement voice command functionality for human-robot
interaction, allowing users to issue commands or receive status updates
through vocal instructions.

10. **Machine Learning for Dynamic Obstacle Avoidance:**

- Utilize machine learning algorithms to enable the robot to
dynamically learn and adapt its obstacle avoidance strategies based on
its operational history and evolving environments.

11. **Autonomous Recharging Station:**

- Develop an autonomous recharging station where the robot can
autonomously navigate to recharge its battery, ensuring continuous
availability for emergency response operations.

12. **Communication Redundancy:**

- Introduce communication redundancy mechanisms to ensure
reliable communication even in challenging environments, enhancing
the robot's resilience during critical operations.

13. **Adaptive Fire Suppression Strategies:**

- Explore the implementation of adaptive fire suppression strategies,
allowing the robot to adjust its approach based on the specific
characteristics and challenges presented by different fire scenarios.

14. **Enhanced Safety Features:**

- Integrate advanced safety features such as enhanced obstacle
detection, emergency shut-off mechanisms, and improved fail-safe
systems to ensure safe operation in dynamic and unpredictable
environments.
49
15. **Integration with Building Management Systems:**
- Collaborate with building management systems to enable seamless
integration and communication, allowing the robot to receive real-time
information about the building layout and emergency protocols.

These future enhancements aim to propel the Firefighter Robot with

SMS Alert towards increased sophistication, adaptability, and
effectiveness in addressing the complexities of fire-fighting scenarios,
demonstrating the continuous evolution of robotics and technology in
the field of emergency response.

50