Fire Fighting Robot

Department of Electrical Engineering 1

Semester Project Presentation
2K15 – Session

Department of Electrical Engineering
“Fire Fighting Robot Based
on Arduino”
Supervised by: Prof. Abdul Rauf
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Fire Fighting Robot
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Group Members
Saad ullah (2K15-ELT-014)(Group Leader)
Aamir Saleem (2K15-ELT-01)
Waqar Azam (2K15-ELT-015)
Ansar Sajjad (2K15-ELT-016)
Ali Waqas Khan (2K15-ELT-20)
Salman Abbas Naqvi (2K15-ELT-25)
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Table of Contents
Project Description
Circuit Diagram
Material Required
Components Description
Block Diagram
working
Hardware /Software Availability
Application
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Project Descriptions
An oil tanker crashed on a road near Bahawalpur on Sunday and more that
153 people, many of whom had rushed to collect leaking fuel, were killed when it
exploded. Even though there are a lot of precautions taken for Fire accidents, these
natural/man-made disasters do occur now and then. In the event of a fire breakout, to
rescue people and to put out the fire we are forced to use human resources which are not
safe. With the advancement of technology especially in Robotics it is very much possible
to replace humans with robots for fighting the fire. This would improve the efficiency of
fire fighters and would also prevent them from risking human lives. Today we are going to
build a Fire Fighting Robot using Arduino, which will automatically sense the fire and
start the water pump .
In this project, we will learn how to build a simple robot using Arduino that could
move towards the fire and pump out water around it to put down the fire. It is a very
simple robot that would teach us the underlying concept of robotics; you would be able to
build more sophisticated robots once you understand the following basics. So let’s get
started...
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Circuit Diagram
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Material Required:
Arduino UNO
Fire sensor or Flame sensor (3 No’s)
Single Channel Relay
Water Pump
L293D motor Driver module
Robot chassis with motors and wheel (any type)
A small can
Connecting wires
Battery
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Components Description:
Flame Sensor:
Flame Sensor can be used to detect fire
source or other light sources of the wavelength in
the range of 760nm - 1100 nm. It is based on the
YG1006 sensor which is a high speed and high
sensitive NPN silicon phototransistor. Due to its
black epoxy, the sensor is sensitive to infrared
radiation. In fire fighting robot game, the sensor
plays a very important role, it can be used as a
robot eyes to find the fire source.
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Components Description count……
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Item Min Typical Max Unit
Voltage 4.75 5.0 5.30 VDC
Current / 20 / mA
Range of Spectral Bandwidth 760 940 1100 nm
Detection range 0 ~ 1 m
Response Time 15 μS
Operating Temperature -25 ~ 85 ℃
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Applications
UV/IR flame detectors are used in:
Hydrogen stations.
Gas-fuel cookers
Industrial heating and drying systems
Domestic heating systems
Industrial gas turbines
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L293D Motor Driver
L293D is a typical Motor driver or
Motor Driver IC which allows DC motor to
drive on either direction. L293D is a 16-pin
IC which can control a set of two DC
motors simultaneously in any direction. It
means that you can control two DC
motor with a single L293D IC. Dual H-
bridge Motor Driver integrated circuit (IC).
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Pin No Function Name
1 Enable pin for Motor 1; active high Enable 1,2
2 Input 1 for Motor 1 Input 1
3 Output 1 for Motor 1 Output 1
4 Ground (0V) Ground
8 Supply voltage for Motors; 9-12V (up to 36V) Vcc 2
9 Enable pin for Motor 2; active high Enable 3,4
15 Input2 for Motor 1 Input 4
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Item Min Typical Max Unit
Working Voltage 6 - 15 VDC
Max Output Current per channel 0.5 A
Maximum Total current 1.0 A
Input/output voltage on I2C bus 5 V
Communication protocol I2C /
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Application
The L293D has 4-half H-bridge drivers, which can be used to drive 2-DC
motors bidirectional. Here we are demonstrating how to drive a single DC
motor using Half bridges 1 & 2. The DC motor is connected between OUT1
and OUT2 pins, and the pin IN1 is connected to the Microcontroller PWM
output and pin IN2 is connected to a Microcontroller I/O port.
Clockwise rotation: To rotate the motor in clockwise direction the IN2 pin is
made LOW and a PWM signal is generated on IN1 pin.
Anti-Clockwise rotation: To rotate the motor in clockwise direction the IN2
pin is made HIGH and a PWM signal is generated on IN1 pin.
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Arduino Uno R3
The Arduino Uno R3 is a microcontroller
board based on a removable, dual-inline-package
(DIP) ATmega328 AVR microcontroller. It has 20
digital input/output pins (of which 6 can be used as
PWM outputs and 6 can be used as analog inputs).
Programs can be loaded on to it from the easy-to-
use Arduino computer program. The Arduino has
an extensive support community, which makes it a
very easy way to get started working with
embedded electronics. The R3 is the third, and
latest, revision of the Arduino Uno.
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Memory
The ATmega328 has 32 KB (with 0.5 KB occupied by the boot
loader). It also has 2 KB of SRAM and 1 KB of EEPROM (which can
be read and written with the EEPROM library).
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Microcontroller ATmega328P
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limit) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
PWM Digital I/O Pins 6
Analog Input Pins 6
DC Current per I/O Pin 20 mA
DC Current for 3.3V Pin 50 mA
Flash Memory
32 KB (ATmega328P) of which 0.5 KB used by
bootloader
SRAM 2 KB (ATmega328P)
EEPROM 1 KB (ATmega328P)
Clock Speed 16 MHz
LED_BUILTIN 13
Length 68.6 mm
Width 53.4 mm
Weight 25 g
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Advantages of Arduino
It is cheap.
It comes with an open supply hardware feature that permits users to develop
their own kit.
The software of the Arduino is well-suited with all kinds of in operation
systems like Linux, Windows, and Macintosh, etc.
It also comes with open supply software system feature that permits tough
software system developers to use the Arduino code to merge with the
prevailing programing language libraries and may be extended and changed.
For beginners, it is very simple to use.
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Single Channel Relay
This is a simple single-channel relay module.
Connect power and then switch the relay on by applying
a low signal to the "IN" pin. The module has three
screw terminal connections connected to the relay that
include common, normally open (N.O.), and normally
closed (N.C.). This module doesn't include any
mounting holes. Some mounting options would be to
3D print an enclosure for the module or to hot glue the
bottom of the module or zip-tie it to a non-conductive
surface.
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Supply Voltage 3.75 to 6 V
Supply Current with Relay De-Energized 2 mA
Supply Current with Relay Energized 70 to 72 mA
Input Control Signal Active Low
Input Control Signal Current 1.5 to 1.9 mA
Relay Max Contact Voltage 250 VAC or 30 VDC
Relay Max Contact Current 10 A
Dimensions
Length 43 mm (1.69")
Width 17.5 mm (0.69")
Height 17 mm (0.67")
Weight 13 g (0.459 oz)
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Applications
Relays are used wherever it is necessary to control a high power or
high voltage circuit with a low power circuit.
 The use of relays for the logical control of complex switching
systems like telephone exchanges.
Electromechanical switching systems
including Strowger and Crossbar telephone exchanges made extensive
use of relays in ancillary control circuits.
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Working:
The main brain of this project is the Arduino, but in-order to sense fire
we use the Fire sensor module(flame sensor) that is shown below. As
you can see these sensors have an IR Receiver (Photodiode) which is
used to detect the fire. How is this possible? When fire burns it emits a
small amount of Infra-red light, this light will be received by the IR
receiver on the sensor module. Then we use an Op-Amp to check for
change in voltage across the IR Receiver, so that if a fire is detected
the output pin (DO) will give 0V(LOW) and if the is no fire the
output pin will be 5V(HIGH).
So, we place three such sensors in three directions of the robot to
sense on which direction the fire is burning.
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Working count….
We detect the direction of the fire we can
use the motors to move near the fire by
driving our motors through the L293D
module. When near a fire we have to put it
out using water. Using a small container we
can carry water, a 5V pump is also placed in
the container and the whole container is
placed on top of a car chassis so that we
can control the direction in which the water
has to be sprayed.
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Hardware /Software Availability
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Hardware availability
• Motor Driver L293D
• Microcontroller(Arduino)
• Flame Sensor
• Relay
• Battery bank
• Water Pump
• Dc Motor’s
Software availability
 Arduino(programming language)
 Proteus

Advantages:
The robots assisting fire fighters are not an often seen sight.
There are robotic devices which can already be used for such
purposes.
The artificial intelligence fire fighting robot is movement based robot.
The fire fighting robots can save a lot of lives some day.
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Fire Fighting Robot

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