Fire Fighting Robot

1. Introduction

Robots are intelligent machines that can be controlled according to need. When fire
occurs in building, factories or any closed spaces, fighting it is quite risky for us as one may
get trapped in such closed spaces in such cases, a robot on the as designed by us, can be very
efficiently use for fire fighting with least risky human intervention. The fire fighting robot
made under this project can move in both forward and reverse direction and can turned in left
and right directions. Thus, we can operate a robot over a very long distance and there is no
need for human to go even near the area on fire.

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2. Objectives

The main objectives of the project are the followings:

 To generate technique to check fires without involving humans directly.

 To create the program for the sensor and motor driver.
 To detect fire in the disaster-prone area.
 To study the mechanical fundamental for the submersible pump and DC motor.
 To study Arduino boards and basic components.

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3. Components List

Table 1 Hardware Components

No. Type Quantity

1 Arduino Uno Board(R3) 1

2 Motor Driver 3

3 Bluetooth sensor 1

4 Servo motor 1

5 Mini DC Submersible Pump 1

6 L298N Motor Driver Module 1

7 18650 Li-on Battery(3x) 1

8 18650 Battery Holder 1

9 USB Cable 1

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4.Hardware Descriptions

4.1. Arduino Uno

The Arduino UNO is a microcontroller board based on the ATmega328P. It has 14

digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16
MHz ceramic resonator, a USB connection, a power jack, an ICSP header, and a reset button.
It contains everything needed to support the microcontroller; simply connect it to a computer
with a USB cable or power it with an AC-to-DC adapter or battery to get started. You can
tinker with your UNO without worrying too much about doing something wrong; worst-case
scenario, you can replace the chip for a few dollars and start over again.

Figure 1: Arduino Uno

4.2. Flame Sensor Module

A flame sensor module, or fire sensor module, is a small size electronics device that
can detect a fire source or any other bright light source. This sensor basically detects IR
(infrared) light wavelengths between 760 nm and 1100 nm that are emitted from the fire
flame or light source. The flame sensor comes with a YG1006 phototransistor sensor, which
has high speed and high sensitivity. There are two types of IR Infrared Flame Sensor Modules
available in the market: one with three pins (D0, Gnd, and Vcc) and another with four pins
(A0, D0, Gnd, and Vcc), both of which can be easily used with Arduino and other
microcontroller boards. Whenever fire is detected by the IR sensor, the LED glows, and the
output pin is set high. The out pin can be given as input to the microcontroller and can be
used for any fire detection application. Whenever the LED is on, it indicates that fire has been
deleted.

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 .

Figure 2: Flame Sensor Module

4.3. Bluetooth sensor

A Bluetooth sensor is a device that utilizes Bluetooth wireless technology to collect

and transmit data from the physical world to other devices such as smartphones, tablets,
computers, or other compatible devices. Bluetooth is a short-range wireless communication
protocol that allows devices to exchange data over relatively short distances without the need
for cables or internet connectivity. Bluetooth sensors come in various forms and serve a wide
range of applications across different industries.

Figure 3: Bluetooth sensor

4.4. Servo motor

A servo motor is a type of motor that can rotate with great precision. Normally,
this type of motor consists of a control circuit that provides feedback on the current position
of the motor shaft. This feedback allows the servo motors to rotate with great precision. If
you want to rotate an object at some specific angle or distance, then you use a servo motor. It
is just made up of a simple motor that runs through a servo mechanism. If a motor is
powered by a DC power supply, then it is called a DC servo motor, and if it is an AC-
powered motor, then it is called an AC servo motor. Servo motors are rated in kg/cm
(kilograms per centimeter); most hobby servo motors are rated at 3 kg/cm, 6 kg/cm, or 12

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kg/cm. This kg/cm tells you how much weight your servo motor can lift at a particular
distance.

Figure 4: Servo motor

4.5. Mini DC Submersible Pump

The DC 5V Mini Submersible Noiseless Water Pump is a low-cost, small-size

submersible pump. It can take up to 150 liters per hour with a very low current
consumption of 300 mA to 1 A max. Just connect the tube pipe to the motor outlet,
submerge it in water, and power it.

Figure 5: Mini DC Submersible Pump

4.6. L298N Motor Driver Module

The L298N Motor Driver Module is a popular electronic component used to control
and drive DC motors and stepper motors. It provides an interface between a microcontroller
and the high-current motors, allowing precise control over their speed and direction. The
L298N Motor Driver module consists of an L298 Motor Driver IC, a 78M05 voltage
regulator, resistors, capacitors, a power LED, and a 5V jumper in an integrated circuit. The
78M05 voltage regulator will be enabled only when the jumper is replaced. When the power
supply is less than or equal to 12 volts, then the internal circuitry will be powered by the
voltage regulator, and the 5-volt pin can be used as an output pin to power the
microcontroller. The jumper should not be placed when the power supply is greater than 12
volts, and separate 5 volts should be given through the 5-volt terminal to power the internal

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circuitry. ENA and ENB pins are speed control pins for Motor A and Motor B, while IN1,
IN2, IN3, and IN4 are direction control pins for Motor A and Motor B.

Figure 6: L298N Motor Driver Module

4.7. 18650 Li-on Battery(3x)

The 18650 Li-ion Battery refers to a type of rechargeable lithium-ion battery that is
cylindrical in shape and is commonly used in a wide range of electronic devices and
applications. The 18650 designation refers to the battery’s dimensions, specifically its
diameter and length. Here’s a breakdown of the key features and characteristics of a typical
18650 Li-ion battery.

Figure 7: 18650 Li-on Battery(3x)

4.8. 18650 Battery Holder

An 18650-battery holder is a device designed to securely hold one or more 18550

lithium-ion batteries in place, providing a safe and convenient way to incorporate these
batteries into various electronic projects, devices, or applications. Battery holders are
commonly used in various electronic projects, devices, or applications. Battery holders are
commonly used to avoid the need for soldering or direct connections, allowing for easier

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battery replacement and maintenance. Here’s an overview of the key features and
characteristics of a typical 18650 battery holder.

Figure 8: 18650 Battery Holder

4.9 USB Cable

USB is an industry standard for connecting, communicating, and charging devices or

accessories. The acronym stands for Universal Serial Bus. Keep reading to learn more about
the different types of USB cables and connectors.

Figure 8: USB Cable

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5. System Design and Implementation

5.1. System Design

Power Supply

VCC GND

VCC Bluetooth
3.3V 5V Vin GND GND
RX Sensor
TX/D0
RX/D1 TX
D2
RESET PWM D3
Pump RESET 2 D4 VCC Flame Sensor
GND VCC ARE PWM D5
Motor 3 GND
N/C PWM D6 A0
Arduino UNO D7 D0
R3 D8
Servo VCC A0 PWM D9
GND SS/PWM D10
Motor A1 VCC Flame Sensor
Ctrl A2 MOSI/PWM D11
A0 2 GND
A3 MISO/D12
SCK/D13 D0
A4/
Left Motors
A5/
+ ICSP2 MISO VCC Flame Sensor
-
ICSP2 GND
ICSP2 MOSI A0 1
D0
Right Motors

+ -
OUT1 IN1
OUT2 IN2
L293D
Battery OUT3 IN3
Motor Driver
OUT4 IN4
+ - VCC VIN GND

Figure 3: Circuit Design of the System

5.2 System Implementation

This system includes an Arduino Uno microcontroller, a Bluetooth sensor, a flame sensor, a
pump motor, a servo motor, DC motors, and a L293D motor driver. A Bluetooth sensor and
flame sensors are used as input devices for the microcontroller. The pump motor and servo
motor are used as output devices to put out the fire. The L293D motor driver is used as the
output device to control the DC motors that drive the cars. The Arduino Uno is used to

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control the processes of a firefighting system. The connection of the microcontroller, input,
and output devices involves the following steps:

Step 1: Connecting the flame sensors to the Arduino

1. Connect the VCC pin of the flame sensors to the positive terminal of the Arduino
(5V) pin.

2. Connect the GND pin of the flame sensors to any GND pin of the Arduino.

3. Connect the D0 pin of the three flame sensors to digital pins 9, 10, and 11 of the
Arduino.

Step 2: Connecting a Bluetooth sensor to the Arduino

1. Connect the VCC pin of the Bluetooth sensor to the positive terminal of the Arduino
(5 V).

2. Connect the GND pin of the Bluetooth sensor to any GND pin on the Arduino.

3. Connect the RX and TX pins of the Bluetooth sensor to digital pins 0 and 1 of the
Arduino.

Step 3: Connecting the L293D motor driver to the Arduino

1. Connect the VCC pin of the L293D to the positive terminal of the battery.

2. Connect the GND pin of the L293D to the negative terminal of the battery.

3. Connect the VIN pin of the L293D to the positive terminal of the Arduino (5 V).

4. Connect the IN1, IN2, IN3, and IN4 pins of the L293D to the Arduino Digital pins 2,
3, 4, and 5, respectively.

5. Connect the left motors to the OUT1 and OUT2 pins of the L293D, and OUT3 and
OUT4 are connected to the right motors.

Step 4: Connecting the servo motor and pump motor to the Arduino

1. Connect the GND pin of the servo motor and pump motor to any GND pin of the
Arduino.

2. Connect the control pin of the servo motor to digital pin 12, and the VCC of the pump
motor is connected to digital pin 7 of the Arduino.

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 3. Connect the VCC pin of the servo motor to the positive terminal of the Arduino (5 V).

Step 5: Programming the Arduino

1. Download Arduino IDE 1.0.6 from https://www.arduino.cc/en/main/software.

2. Connect the Arduino board to the computer using a USB cable.

3. Open the Arduino IDE and select the appropriate board from the Tools menu under
Boards.

4. Choose the correct port from Tools > Serial Port.

5. Copy the following sketch, which appears in your web browser, to your Arduino
sketch page.

6. Click on the Upload icon or go to File > Upload.

7. The final step is to connect the Arduino’s cable to the adapter and then plug it into the
socket.

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5.3. Hardware Implementation

<A jump wire (also known as jumper, jumper wire, DuPont wire) is an electrical
wire, or group of them in a cable, with a connector or pin at each end (or sometimes without
them – simply "tinned"), which is normally used to interconnect the components of a
breadboard or other prototype or test circuit, internally or with other equipment or
components, without soldering.>

Figure 4: Fire Alarm System (off state)

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6. Future Scope/Work
 We can add a keypad to arm or disarm the alarm

 We can determine the position of the intruder and then send a SMS to the concerned
authorities

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7. Conclusion
<In this project we aim to reduce the effect of fires accidents which usually start from
small, therefore people life and money would be saved. The robot can successfully find fire
and reach it without running into obstacle.
to provide security of home, laboratory, office, factory and building which is important to
human life. It is used to solve the problem of the fire extinguisher. It works there, where
human beings are not able to reached.>

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References

[1]

[2]

[3]

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Appendix

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