Engineering Design and Modelling

Presentation on…

M.F.S.R
Multi-Functional Fire Suppressant
Robot

Presented to: Dr. Abhishek Shrivastava

 Who’s Presenting

Adarsh Kanungo Saksham Bajpai Sumit Sinha Ashutosh Patel

21BCE11188 21BCE10321 21BCE10437 21BCE10313

Akash Kant
21BCE11188
 Table of contents
Rising of Existing
01 Introduction 02 03 approaches and
Robots
limitations

04 M.F.S.R 05 Benefits 06 Prototype

07
Hardware 08
Software 09
Mathematical
Implementation Implementation Implementation

Advantages
10 Components 11 12 Future Scope
and Novelty
 01 Introduction
Preface-
 Fire incident is a disaster that can
potentially cause the loss of life ,property
damage.
 Fire fighters are often exposed to higher
risks when extinguishing fire; Ex: in hazardous
environments like nuclear power plant,
petroleum refineries ,gas tanks.
 Difficulty also arises when fire occurs in
narrow and restricted places with less movement
available.
 02 The Rising of Robots ⟶ Benefits
 With the advancement in the field of mechanical
technology, human interruption has become less and
robots are being utilized for various works and for
welfare of beings.
 An automated fire extinguishing robot which can
detect flame and extinguish the flame is built.
 When fire occurs in the house, the fire extinguishing robot will be able to
sense the flame and move to the fire location. After fire location is locked
and flame distance is measured, extinguishing material is being pumped out
from the tank and fire is extinguished completely.
 Since such robots, fire identification and rescue activities can be done
with better accuracy without placing fire fighters at high risk and
dangerous conditions.
 A compact size and automatic control also allows the robot to be used when
fire occurs in small and narrow spaces with hazardous environments such as
tunnels or nuclear power plants
 03 Existing Approaches and Limitations

 Thermite and FireRob are two current available

fire fighter robots that have been used widely in
industry.

 Thermite is a firefighting robot that uses a

remote control and can operate as far as 400 m. It
can deliver up to 1200 gpm of water or 150 psi of
foam. This robot powers up to 25 bhp using a
diesel engine. The main component in the design of
this robot are multi-directional nozzle that is
backed by a pump that can deliver 2271.25 l/min.
This robot is designed for use in extreme danger
areas, such as planes fires, processing factories,
chemical plants or nuclear reactors.
So what’s the solution ?
 04 M.F.S.R
Multifunctional Fire Suppressant Robot

 Most robots assist only in small ways,

helping fight fires from a distance or
monitoring outside fire scenes.

 The vast majority of the work on fire

fighting robots is focused on fire
detection algorithms and less on the
mobility inside the building such as
climbing stairs and obstacles.

 Fighting fire within the building

requires good thermal protection of the
electronic components of the robots.
 05 Benefits
 It can be useful in certain types of
incidents where the environment will be
very dangerous for the humans such as the
hazardous materials, the radioactivity or
the propane tank which can explode.​

 Our product can be used to fight the fire

where the humans can not enter, It can
identify the fire location and it is
loaded with fire extinguishing balls to
suppress fire and cut the oxygen supply.​

 Our product helps to detect the exact

direction of the fire source, It has the
capability of sensing accurately with
increased flexibility.​
 Types of Fire Extinguishers and Classes of Fire

 Traditional Fire suppressant bots have a drawback

that they use either standard water or CO2 or
Foam to extinguish all types/classes of fire.
 The biggest disadvantage of traditional fire
fighting robots that automatically start the
water pump without having knowledge of fire type.
 For example- In case of fire type B, water will
not only defend the fire extinguishing process
but also will increase the fire as oils are less
dense than water so ends up floating on them.
Therefore, wherever the water flows, the fire
keeps spreading with it.
 Thus, a fair knowledge of the type of fire based
on CO2 content and the live inputs are necessary
to make a choice for the type of fire
extinguisher to be used.
 06 Prototype A: Co2 and dry Powder based

 It makes Four-wheeled differential drive robot, flame

sensors, ultrasonic sensors and Arduino IDE.
 The main operation of the robot is to detect and
extinguish the fire source with the input from the flame
sensors and extinguishing flames with CO2 and ABC
powder.
 It has a 180º field of view to detect flames with
obstacle avoidance to maneuver in the surroundings.
 This is achieved by integrating 3 flame sensors capable
of detecting flames into the robot 60° apart in order to
achieve an 180° field of view.
 By using three sensors, a general direction of flame can
be computed by the data read from each sensor.
 07 Hardware Implementation

• The robot consists of Arduino Yun and Arduino uno

microcontroller, flame sensor, temperature
sensor ,web cam, ultrasonic sensor, chassis, pair of
motors, pair of; wheels, H-bridge, extinguishing pump
and nozzle.
1. Arduino Yun This microcontroller based on the
Atmega32u4 and the Atheros AR9331. The Atheros
processor supports a Linux distribution
2. Arduino Uno It is a microcontroller based on
Atmega328P. It has 14 digital input/output pins, 6 analog
inputs, a USB connection, a power jack and a reset button.
Sensors and their Interaction
Flame Sensor

Flame sensor is used to detect the present of flame.

The flame sensor is sensitive to the wavelength of
760nm to 1100nm. The detection angle and distance
are roughly 60 degrees and 100 cm respectively.
Flame sensor has two signal pins that are Digital
Output (DO) and Analog Output (AO). DO pins will
give two kind of information that it’s has flame or
non-flame while AO pins will detect exact
wavelength of different light.

There are 3 Flame sensor elements in the M.F.S.R

These flame sensors are place in-front of the robot in
the position of left, center and right
Sensors and their Interaction
Ultrasonic Sensor

It is one of the most critical electronic parts that

provide a very easy method of distance measurement.
It used to detect and measure the distance to targets.

Ultrasonic sensors generate high-frequency sound

waves and evaluate the echo which is received back
When only the left sensor detected the present
by the sensor, measuring the time interval between of flame, the motor is trigger to move left.
sending the signal and receiving the echo to When only the right sensor detected the
present of flame, the motor is trigger to move
determine the distance to an object. right.
The flame sensor used to detect fire and its location
while the ultrasonic sensor used to detect the
obstacles around the robot in order to avoid them

Ultrasonic sensor detects the objects based on

the inputs received and flame sensor checks
for instances of flame present in the area.
Sensors and their Interaction
Temperature Sensor
The LM335AZ is very easy to use an analog
temperature sensor .The sensor can operate
continuously from −40°C to 500°C. Using this sensor
to measure the temperature of the area and gives this Temperature Sensor
information to the control room. ​

Dc Motor with Wheel

This DC motor are suitable to replace 2 WD and 4 WD
car chassis. The working voltage for DC motor is
around 5V to 10 V DC.​

DC Motor with wheel

Mechanical Improvements
In-order to improve the robustness of the robot, the
standard 4 wheel drive can also be swapped with the
crawlable mechanism . This will allow the robot to be
able to crawl over debris with much ease , climb
stairs and navigate through various materials .

The basic platform frame comprises of an aluminum profile which is lighter for its size,
durable. The most fundamental feature of this system is the transformable crawler. The
flexibility of the chain allows to change the shape of the track using a spring and
tension control module .Springs are used to control the shaft distances between the two
sockets which can change depending on the compression of the spring. ​

In the transformable crawler system, the compression in the spring is stronger when the
track position is in its triangular shape than when in its straight position.
Alternative Materials & Coating
Instead of using standard materials like
Aluminum, Silver which have limited temperature
range and certain limitations depending on the
environment.
The thermal insulation and the overall
robustness of the robot body is drastically
increased when we use 3d printed materials to
make the body and the insulation system ;using
the resins to make the protective covering .
Materials like Carbon fiber, Wood filament
metal filament (Titanium, Stainless steel,
Nickel alloys) have a high melting and boiling
points
Resins under category of High impact strength
(Tough 2000),
Heat deflection graded (High temp resins),high
tensile strength (Rigid resins)
 Name Boiling Point Melting Point
Polyacetic acid (PLA) 220 to 250 °C 130-180 °C
Acrylonitrile butadiene styrene (ABS) 105 to 115 °C 200°C
Polyvinyl Alcohol Plastic (PVA) 228 °C 200 °C
Polycarbonate (PC) 338 to 343 °C 265°C
PETG (polyethylene terephthalate glycol) 350 °C 265°C
Nylon 452.1 °C 268.8 °C
TPU (thermoplastic polyurethane) 66°C 163 °C
HIPS (high impact polystyrene) 285 to 290 °C 240 to 270 °C
High-density polyethylene 260 to 270 °C 120 to 130 °C
Polyethylene terephthalate 330 to 335 °C 260 to 280 °C
Wood Filament 3500 °C
Sandstone Filament 240° C
Metal Filament 660 °C
Magnetic Iron Filament 2750 °C 1535 °C
Conductive Filament 1084 °C
Carbon Fiber Filament 4800 °C 3500 °C
Glow in the Dark Filament
Amphora Filament
 08 Software Implementation
The Arduino UNO is programmed using the Arduino IDE. Once
the robot is powered ON, the Arduino will initialize a
digital I/O pin as an output in order to send control
signals to the ultrasonic distance sensor. The ultrasonic
sensor returns a pulse whose duration is equal to the time
taken for the ultrasonic pulse to travel from the sensor to
the object and back. This pulse is sent back to the I/O pin
of the sensor.

The Arduino digital I/O pin reads this Pulse input. The
‘pulseIn()’ function of the Arduino library provides us the
pulse duration on the digital pin. We know that the pulse
duration received is for the wave to propagate from the
sensor to the object and back again
Pulse duration is the time taken for the wave to propagate
from the sensor to the object and back. Hence, we divide
the pulse duration by 2.
 09 Mathematical Implementation

To calculate the distance,

we use the speed of sound and the pulse duration

From the pulse duration and the time taken for the wave to travel 1cm, we can
compute the distance of the obstacle from the ultrasonic sensor using equation.

⇒
 09 Mathematical Implementation

After we get the distance values, we compare it to a pre-set value. If the

measured distance is more than the threshold, the robot continues to move
forward. If the measured distance is less, using the ‘servo.h’ library functions
the sensor is moved left and right to measure the least obstacle path. Once
determined, the robot makes a turn in that direction and continues to move
forward. There are three flame sensors mounted on the robot. The analog values
from these sensors are analyzed to detect any fire source. Once the flame is
detected, the analog values of each sensor is compared, the direction of flame
is established. Once the direction is established, the robot is made to turn in
small distances for the middle sensor to aim at the fire source. Then the CO2
and dry powder cartridge is discharged, and the robot makes a turn and continues
to maneuver around the building.
 10 Components
 Flame Sensor  Led display
 Bike tire inflator  Wiring and connectors
 Insulating Material
 Smoke Sensor
 Temperature Sensor
 Motor driver and Geared motors
 Driver circuit
 Arduino Microcontroller
 Cameras
 Transmitter and Receiver
 CO2 + Dry Powder dispenser
 Chassis
 Remote controller
 11 Advantages & Novelty
 Providing safe interior fire operations on large commercial fires.
 Allow better access to he sites of fire
 Tackle multiple types of fire more effectively.
 Tackling blazes on wood-framed structures under construction.
 Capable to climb stairs and negotiate several types of floor materials inside
buildings.
 Resistant at high temperatures(subject to material type used)
 Multiple thermal insulation technique used. It can communicate with trapped
and injured victims inside the disaster struck area and can send video and
audio information describing the situation inside the building.
 Multiple firefighting robots can be integrated to work together
collaboratively with the assistance of a remote-control unit.
 Establishing a structural defense against wildfires.
 Ability to creep through narrow spaces , debris filled area, toxic chambers
filled with fumes, gaseous chambers, environments hazardous to health of
firefighters.
 12 Future Scope

 Generating the map of the place of fire and upload the

data to cloud.
 Apply ml to be able to understand the type of fire
based on the flame color, co2 content and humidity and
so that a specific type of fire extinguisher can be
used
 The proposed robot has the ability to scan the entire
region for obstacles
 Improved weight capacity of robot.
 Implementing life sign scanners for better location of
people stuck in fire.
 As there is no universal extinguisher for all fire
types ,Designated compartments to keep different types
of fire suppressant.
 13 Reference
• New Concept for Indoor Fire Fighting RobotAlHaza T Alsadoon Aa, Alhusinan r, Jarwali M a , AlsaifKb
http://creativecommons.org/licenses/by-nc-nd/4.0/ Peer-review under responsibility of Istanbul University. doi:
10.1016/j.sbspro.2015.06.191
• J. Suresh, "Fire-fighting robot," 2017 International Conference on Computational Intelligence in Data
Science(ICCIDS), 2017, pp. 1-4, doi: 10.1109/ICCIDS.2017.8272649.
• A Smart Firefighting Robot System(LAHEEB)
• Yousef Samkari 1', Mowffaq Oreijahl, Kamel Guedril
• DOI: 10.21817/ijet/2019/v11i2/191102065
• Boo Siew Khoo, Siew Wen Chin, Leong Yee Soo, & Chuah, E. (2013). FireDroid - An automated fire extinguishing
robot. 2013 IEEE International Conference on Control System, Computing and
Engineering. doi:10.1109/iccsce.2013.6719989 
• Suresh, J. (2017). Fire-fighting robot. 2017 International Conference on Computational Intelligence in Data
Science(ICCIDS). doi:10.1109/iccids.2017.8272649
• A. Hassanein, M. Elhawary, N. Jaber and M. El-Abd, "An autonomous firefighting robot," 2015 International
Conference on Advanced Robotics (ICAR), 2015, pp. 530-535, doi: 10.1109/ICAR.2015.7251507.
• A Review on Fire Extinguishing Robot
• Saxena, Abhishek; Singh, Richa; Khatun, Shameena; Singh, Shashank; Khadim Moin Siddiqui.  i
-Manager's Journal on Electronics Engineering; Nagercoil Vol. 10, Iss. 3,  (Mar/May 2020):
30-39. DOI:10.26634/jele.10.3.17699