Final PPT Review

Department of Mechanical Engineering
ME18811 – Project Work

Academic Year – 2021-2022
FUZZY LOGIC BASED FIRE FIGHTING ROBOT

(INHOUSE PROJECT)
Members (G09)
1. BARATH M (181001014)
2. KAVIYARASAN R (181001040)
3. MANOJKUMAR R (181001048)
Project Supervisor
Mr. A. KUMARASWAMY
Assistant Professor
CONTENTS
Click to edit Master title style
 Introduction
 Literature survey
 Scope and objective
 Methodology – Flow Chart
 Components
 Block diagram
 Working Principle
 Calculation
CONTENTS contd…
 Fuzzy Logic
 Flow Chart
 Code Implementation
 Model of the project
 Demonstration of project
 Road map for completion of project
 Reference
INTRODUCTION
 The Fire Fighting Robots are most popularly searched to prevent the fire injuries and to
improve the effectiveness of the robot.
 In order to determine the lead of the fire to the robot , fire (thermal) reflections can be
clued.
 The project aims to design a robotic fire extinguishing vehicle that can be operated both
wirelessly and manually.
 The main objective of the project is to automatically or manually design and implement
a fire fighter robot to extinguish fire.
 The robot is equipped with sensors that help us detect fire in its path or in its
surrounding.
 The proposed vehicle has a gas spray which, compared to water, is able to extinguish
the fire.
LITERATURE SURVEY
Sahil S.Shah et al (2013), Fire Fighting Robot, International Journal Of Emerging Trends
& Technology In Computer Science, Volume 2, Issue 4.
 A robot capable of fighting a simulated household fire will be designed and built. it must be
able to autonomously navigate through a modeled floor plan while actively scanning for a
flame. the robot can even act as a path guider in normal case and as a fire extinguisher in
emergency. robots designed to find a fire, before it rages out of control, can one day work
with fire-fighters greatly reducing the risk of injury to victims. the project will help generate
interests as well as innovations in the fields of robotics while working towards a practical
and obtainable solution to save lives and mitigate the risk of property damage.
LITERATURE SURVEY contd…
Phyowaiaung et al (2014), Remote Controlled Fire Fighting Robot, International Journal
of Scientific Engineering and Technology Research, volume.03, issueno.24.
 It includes two main parts: one is transmitting and another is receiving. in which, two sets
of rf modules are used. one is used to transmit the data to the motor drivers and another is
used to know the condition on fire. the whole system of the fire fighting robot is operated by
the microcontroller pic16f887. in this system, the motors are driven by the l298 and
uln2003 drivers. the operator controls the robot with the aid of wireless camera mounted on
the robot. when the fire is detected, it is extinguished by water in the tank attached to the
robot. but, if the temperature of fire site is above , the alarm will be ringing so that the
operator can control the fire fighting robot go back and avoid the damage of it.
SCOPE AND OBJECTIVE
 Objective:
The main objective of Fire-Fighting robot is to detect flames and extinguishing them successfully.
The motor controller and fuzzy logic code work together to control the movement of the robot. It
can detect the flame more effectively in the buildings and fixed lighting conditions.
 Scope:
The scope of firefighting robot is that it can work with firefighters, which greatly reduce the
danger of injury to victims. It is a innovative work in the field of robotics that operates towards a
sensible and obtainable access to save the lives and prevents the danger to property.
METHODOLOGY
RESEARCH
REQUIREMENTS
DESIGN
IMPLEMENTATION OF
FABRICATION OF
FUZZY LOGIC CODE
PARTS
TESTING
EVALUATION
OF RESULT
COMPONENTS
 Battery
 Arduino UNO
 Permanent magnet D.C motor
 Pump
 L angle
 Shaft
 Water tank
COMPONENTS
 Battery
Weight 2 kg
Depth 6 cm
Output Power Wattage 84 W
Output Voltage 12 V
Width 5 cm
Height 5 cm
Input Frequency 50+/-3hZ
Input Voltage 12 V
Model Number Chloride Safepower 7 Ah
Number of Outlet Plugs 2
Output Frequency 50 +/- 2hZ
COMPONENTS
 Arduino UNO Operating Voltage 5V
Supply Voltage recommended 7-12V DC
Digital I/O Pins 14
Analog Input Pins 6
DC Current per I/O Pin 40 mA
Program Memory Type Flash
Program Memory (KB) 32KB
SRAM 2 KB (ATmega328)
EEPROM 1 KB (ATmega328)
Clock Speed 16 MHz
COMPONENTS
 Permanent magnet D.C motor
Motor Voltage 12V

Speed (Rpm) 55
Power (Watts) 14
Rated Voltage 13.5 V
Current No load 1.5 A
Speed (On load) 38 RPM
COMPONENTS
 Pump
Operating Voltage 12V DC

Initial Current ≤3A
Operating Current 1.5A
Power Rating 12kW
Flow Rate 2200 ml/min
Total head 1 Meter
COMPONENTS
 Flame Sensor
Output Channel 1
Operating Voltage (VDC) 3.3 ~ 5
Mounting Hole(mm) 3
Length (mm) 32
Width (mm) 14
Weight (gm) 3
Dimensions 4 × 2.5 × 2 cm
COMPONENTS
 Relay
COMPONENTS
 L Angle And Shaft
BLOCK DIAGRAM OF FIRE FIGHTING ROBOT
FIRE SENSOR WATER
RELAY
PUMP
MICRO
RELAY
CONTROLLER
MOTOR
RELAY
WORKING PRINCIPLE
Step 1: Fire is detected by the flame sensor. The direction of the fire will also be detected by the
sensor.
Step 2: The signal obtained by the sensor is sent to the amplifier which is the basic information
for the micro controller.
Step 3: After receiving the amplifier signal, based on the signal the Micro Controller executes the
program. Such as
Permanent motor D.C motor – from ON stage to OFF Stage
D.C pump activation

WORKING PRINCIPLE
 The rotary motion of sensor and nozzle is provided by the DC motor fixed at the
rotating shaft of fire fighting robot. The supply of the current is given by the
battery.
 The already energy stored in battery is sent to d.c motor control circuit. The D.C
motor works according to the program written on the microcontroller chip. (i.e.)
rotating motor is ON and D.C water pump is in OFF condition.
WORKING PRINCIPLE
 In our project lead-acid battery is used. The lead-acid batteries output is
given to the control unit. Control unit having three relays, they are
connected to the D.C motor in Forward and reverse rotation of operation
and D.C. water pump.
 Relay 1 - Forward Direction of Rotating Motor
 Relay 2 - Reverse Direction of rotating Motor
 Relay 3 - D.C water Pump
WORKING PRINCIPLE
 The Flame sensor output signal is given to the input signal of the microcontroller unit. The
rotating permanent magnet D.C motor and D.C water pump are connected to the
microcontroller output pins through three relays.
 At first rotating motor is running both the direction and the water pump is in OFF condition.
When the fire signal is received from the Flame sensor unit, the relay 1 and 2 is OFF and
relay 3 is ON so that the motor is in OFF condition and pump is automatically ON.
 The fire is OFF by the water pump and this normal signal is received from the sensor unit.
The microcontroller automatically OFF the water pump and rotating motor is ON after 5-
second delay time. Once again the fire-fighting robot is ready to sensing the fire signal.
ANATOMY OF FIRE FIGHTING ROBOT
CALCULATION
 GEAR CALCULATION:
Specification of 7Sw60 motor
Speed of motor = 55 rpm

Torque = 21Nm
Power = 2π N T / 60
= ( 2π * 55 *21 )/60 = 0.121 kW
No of teeth on Gear1(pinion) = 18
No of teeth on Gear2(Wheel) = 31
Þ Z = Total no. of Teeth = 18 + 31 = 49
Gear ratio i = Z2/Z1 = 31/18 ~ 1.72 : 1
Þ i = 1.78:1 ( Standard gear ratio from PSG data book 8.3 Table- 4)
CALCULATION
No of teeth on Gear1(pinion) = 18
No of teeth on Gear2(Wheel) = 31
Þ Z = Total no. of Teeth = 18 + 31 = 49
Gear ratio i = Z2/Z1

= 31/18 ~ 1.72 : 1
Þ i = 1.78:1 ( Standard gear ratio from
PSG data book 8.3 Table- 4)
CALCULATION
Max safe static stress= 210 N/mm2 PSG data book 1.9
Selection of material:
Both the pinion and wheel are made of steel( C 10 ). Steel is hardened to 200BHN
CALCULATION
Based on Wear and Tear method
Calculation of Ft
Tangential Load Ft = P x / V
V=
=
Substitue ,=18 & = 55
V= 0.0518 m
=1 , for steady load condition
Therefore,
Ft = =
CALCULATION
Calculation of initial Fd :
Fd = Ft / Cv
= =
Calculation of Fs :
Fs = [y
b = Face width = 10m
y = Form Factor
= 0.514 – ( 0.912 / , for 20 0 full depth system
= 210 N/ m2
Fs = m x 10m x 210 x 0.1033 = 681.51 m2

CALCULATION
Calculation of Module :
We know that , Fs > Fd
681.51 m2 >
m > 2.2
From PSG data book Pg No 8.2,
Standard module in mm:-

m = 2.25
Calculation of b,d,a :
b = 10 m = 10 x 2.25
b = 22.5 mm
CALCULATION
Pitch circle Diameter (d1):
d1 = m Z1 = 2.25 x 18
d1 = 40mm
Pitch circle Diameter (d2):
d2 = m Z2 = 2.25 x 31
d2 = 69.75mm
Centre Distance:
a = m (Z1 + Z2) / 2 = 2.25 ( 18+31) / 2
a = 55.125 mm
FUZZY LOGIC
WHAT IS FUZZY LOGIC?
 Fuzzy logic is an approach to variable processing that allows for multiple truth values to be
processed through the same variable i.e. If the fire is not extinguished, the pump continues to
run till the fire is extinguished.
 Fuzzy logic is an innovative technology that enhances conventional system designs with
engineering expertise. The use of fuzzy logic can help to circumvent the need for rigorous
mathematical modeling. Fuzzy logic is a true extension of conventional logic, and fuzzy logic
controllers are a true extension of linear control models.
FLOW CHART
START SENSOR
FIRE FIRE SENSING
ACTIVATION
YES
DETECTION OF FIRE
EXTINGUISHING WATER PUMP

SENSING DC MOTOR OFF
PROCESS ACTIVATION
NO
DEACTIVATION END
CODE
int flame = 6; void setup()
int relay1 = 2; {
int relay2 = 3; pinMode(relay1, OUTPUT);

int sensorValue; pinMode(relay4, OUTPUT);

pinMode(flame, INPUT);
}
CODE
void loop() else
{ {
sensorValue = digitalRead(flame); digitalWrite(relay3, LOW);
Serial.println(sensorValue); digitalWrite(relay1, HIGH);
if (sensorValue==LOW) delay(1000);
{ digitalWrite(relay1, LOW);
digitalWrite(relay1, LOW); digitalWrite(relay2, HIGH);
digitalWrite(relay2, LOW); delay(1000);
digitalWrite(relay3, HIGH); digitalWrite(relay2, LOW);

delay(1000); }
} }
MODEL OF THE PROJECT
DEMONSTRATION OF PROJECT
DEMONSTRATION OF PROJECT
COST ESTIMATION
Components Quantity COST (in Rs)
L-Angle (CAST IRON) 8 2500
Ball Bearing (HSS) 2 1500
Flame Sensor Unit 1 1000
Gear wheel (CAST IRON) 2 2000
D.C motor 1 3500
Front Wheels 2 1000
Rear Wheels 2 1000
Microcontroller 1 2000
Battery 1 1500
Water D.C pump 1 2500
TOTAL 18500
MERITS
 The intelligence of the fire fighter can detect fire for about a distance of one feet .
 The range of detection of fire can be varied.
 Different types of extinguisher can be used here.
 Since the project is based on the Micro controller, it is compact and swift and
response.
 No external devices are used here to control it.
LIMITATIONS
 The nature of the fire cannot be found out.

 Huge fires cannot be extinguished.
 The D.C motor used works only on 12V supply, hence applications are limited.
SCOPE FOR IMPROVEMENT
 The A.I. fire fighter which can detect fire and extinguish the fire this is the main purpose.
 The range of sensor can be improved such that the range of fire detection as well as the fire can be
extinguished properly for a wider range fire accident.
 To detect the intensity and source of fire, analog pins can be used instead of digital pin in arduino.
 However, there has been research on coordination among mobile agents, techniques for detecting
and avoiding obstacles.
 It will be both interesting and challenging to put all this together into a practical, autonomous fire-
fighting services.
CONCLUSION
 The fire fighter which is designed and fabricated is based on artificial intelligence,
which is a branch of computer science involved with the study and creation of
computer system, which resembles human intelligence.
 The firefighter recognize the fire, the direction in which the fire occurs and acts
accordingly to extinguish the fire is artificial intelligence of the fire fighter here used is
fuzzy logic.
ROAD MAP
ACTIVITIES/TIME PERIOD FEB MAR APR MAY JUNE
Literature survey
Reference overview
Material selection
Material purchasing
Design calculation

Fuzzy logic code build using

Arduino
Implementation of code
Fabrication and assembly
Testing
REFERENCE
1. William Dubel, Hector Gongora, Kevin Bechtold and Daisy Diaz, An Autonomous Firefighting Robot; Florida
International University, Mivami, FL 33199. (2013).
2. Himanshu Dedge, Firefighting Robot; A Remotely-Operated Robotic Fire-Fighting Device,STEM Research
Project, Massachusetts Academy of Math and Science, 14/2/2013.
3. Temperature and humidity sensor with RF modules- Geeetech Wiki. http://www.geeetech.com.10/3/2013.
4. http://www.st.com, January 2000.
5. ST Microelectronics GROUP OF COMPANIES, http://www.st.com.
6. Teh Nam Khoon, Patrick Sebastian, Abu Bakar Sayuti Saman. (2012). Autonomous Fire Fighting Mobile
Platform. (IRIS 2012)
7. Taiser T. T. Barros, Walter Fetter Lages. (2012). Development of a Firefighting Robot for Educational
Competitions. RiE 2012, Prague

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Department of Mechanical Engineering

ME18811 – Project Work

FUZZY LOGIC BASED FIRE FIGHTING ROBOT

Motor Voltage 12V

Operating Voltage 12V DC

D.C pump activation

Speed of motor = 55 rpm

Gear ratio i = Z2/Z1

b = Face width = 10m

Fs = m x 10m x 210 x 0.1033 = 681.51 m2

We know that , Fs > Fd

Standard module in mm:-

Pitch circle Diameter (d2):

a = m (Z1 + Z2) / 2 = 2.25 ( 18+31) / 2

EXTINGUISHING WATER PUMP

int relay3 = 4; pinMode(relay2, OUTPUT);

int sensorValue; pinMode(relay4, OUTPUT);

digitalWrite(relay3, HIGH); digitalWrite(relay2, LOW);

 The nature of the fire cannot be found out.

Fuzzy logic code build using

Fabrication and assembly

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