Fire fighting Robot

1.INTRODUCTION
The fire security of the home, office, and building is important to human life. A fast
response to detect the small fire can avoid unpredictable damage and losses to human. However,
it is difficult to detect the small fire in the location that is hard to reach or see by a human. The
human also takes more time to find the water source to extinguish the fire. This will cause the
fire to be spread quickly, which can increase death. Hence, to extinguish the fire within a short
period of time and reduce the damage, an automatic fire fighting robot is proposed.
Robotics is one of the fastest-growing engineering fields. A lot of robots are designed
to remove the human factor from labour-intensive or dangerous work. It also acts in an
inaccessible environment. Today the use of robots is becoming more common than before and it
is no longer exclusively used by the heavy production industries. A firefighting robot that is able
to detect and extinguish the fire has been developed and used before. With the invention of such
a device, people and property can be saved at a much higher rate with relatively minimal
damage caused by the fire. To begin with, it is essential to design an autonomous robot and
build a prototype system that could detect and extinguish fires automatically. The designed
robot also able to move detect the fire, extinguish it by using water.

1.1 LITERATURE SURVEY
In today’s era fire fighting is an dangerous issue. Many authors are working on
different techniques for fire fighting. Author Ratnesh Malik et al. has developed an approach
towards fire fighting robot. The robot is designed and constructed which is able to extinguish
fire. The robot is fully autonomous. It implements the concept likes environmental sensing
and awareness, proportional motor control. The robot processes information from its sensors
and hardware elements. Ultraviolet, Infrared and visible light are used to detect the
components of environment. The robot is capable of fighting tunnel fire, industry fire and
military applications are designed and built. IR sensor and temperature ensors are used to
detect fire. Once fire is detected, the robot activates an electronic valve which release
sprinkles of water on the flame. Detailed concept of robot is explained which automatically
detects fire and extinguishes it in short time by the use of sensors, microcontroller etc. This
robot is used in places where human lives are at high risk .We have developed this automatic
fire fighting robot. The robot is made from acrylic, plastic, aluminum and iron. Robot
components are servo motor, two DC motors, ultrasonic sensor, flame detector, thermal
sensor, white detector (IR and photo transistor) and micro switch sensor. The objective is to
search certain area, find and extinguish the flame for different flame positions. The system
contains two D.C. motors. Robot performs analog to digital conversion of the data provided
by infrared sensors. The sensors control the motion of the robots and also flame detection.
The extinguisher comprises of D.C water pump and a water container. The basic theme of the
project is to sense the flames of fire and extinguish it. For this infrared sensor is used as input
sensor which senses the infrared rays coming out of the fire. The microcontroller controls the
extinguishing system.
Wireless fire fighting robot is developed by Swati Deshmukh et al. It comprises of
machine which has ability to detect fire and extinguish it. The fire fighting robot can move in
both forward and reverse direction and can turned in left and right directions. Thus fire
fighter can operate the robot over a long distance and there is no need for human near the area
on fire. Light dependent resistors are used for detection of fire. These resistors are highly
sensitive devices and are capable of detecting very small fire. The robot provides security at
home, buildings, factory and laboratory. It is an intelligent multisensory based security
system which contains fire fighting system in daily life.

Cell phone controlled robot with fire detection sensors developed by LakshayArora
consist of mobile phone which controls a robot by making a call to the mobile phone which is
attached to the robot. During the call activation period, if any button is pressed on the phone,
the tone corresponding to the button pressed is heard at the other end of the call that is placed
on the robot. The robot perceives Dual-Tone Multiple-Frequency (DTMF) tone with the help
of phone mounted on the robot. The received code is processed by the microcontroller and
then the robot performs actions accordingly. In the proposed system DTMF technology is
used to position the shaft of motor at a required point with different sensors, each performing
its own task. Rugged, Simple and cost effective system is proposed here.
Android Phone controlled Robot Using Bluetooth is developed by Arpit Sharma et al.
Various techniques of HumanMachine interaction using gestures are presented. Gestures are
captured by using the accelerometer. The project analyses the motion technology to capture
gestures using an android smart phone which has inbuilt accelerometer and Bluetooth module
to control kinetics of the robot. The microcontroller controls the signals of the Bluetooth
module. Features like user friendly interface, lightweight and portability OS based smart
phone has overtaken the sophistication of technologies like programmable glove, static
cameras etc making them obsolete.
1.2METHODOLOGY
a. Analysis of the exiting situation and the exact nature of problem faced through discussions
with the project guide.
b. Study of process of different technologies used in the system.
c. With the help of the guide the specifications of the program were decided and then
implemented in the project.
d. Use of sensor to interface the computer and control.
e. Testing, development and troubleshooting still underway to enhance user interface.
The aim of the experiment is to create an easier way /process for people as well as farmers for
sustainable utilization of naturally obtained materials like air and water.
This process can be practiced at large scale as well as small scale like back yard farming etc.
Through this way it can generate awareness among next generation as well as existing.

1.3 OBJECTIVE OF PROJECT
The objectives for this project are:
i. To design a robot which can search, detect and extinguish fire immediately
and develop a program using ARDUINO to control the movement of the
robot automatically. Besides, lean how to connect microcontroller and other
sensors and actuators.
ii. To design the robot that includes the flame sensor to detect the fire
iii. To analyze how the robot performance to detect the fire in front of the robot
and extinguish it by sprinkling water upon it..
1.4. PROBLEMSTATEMENT
Recently, it has sometimes been impossible for fire-fighting personnel to access the
site of a fire, even as the fire causes tremendous property damage and loss of human life, due
to high temperatures or the presence of explosive materials. In such environments, fire-
fighting robots can be useful for extinguishing a fire. Thus, Fire-fighting robots are operated
in places where fire fighters are unable to work. Besides that, fire fighting robot can be used
for protecting fire fighters from extreme danger in petrochemical, chemical dangerous
product, toxicity or exploder fire accidents. Therefore, it also can reduce the human injury
from a fire burning.
1.5 SCOPE OF THE PROJECT
The main scopes are state below:
1.Design an algorithm for working of automatic fire fighting robot.
2.Select the suitable materials, components to develop the robot.
3.The development of programming that is necessary to develop the automation mechanism
of the robot.

2.1 BLOCK DIAGRAM
2.2 HARDWARE REQUIREMENT

2.2a COMPONENTSREQUIRED:-
I. Flame Sensor (IR sensor):
Flame sensors are devices that use special optics to detect fires from long distances
without heat or smoke to get to the flame detector first. Hazardous industries and
manufacturing plants require high tech flame monitoring equipment to prevent fires.
Generally, there are different types of optical flame detecting devices. Each of them is based
on online-on-sight detection of radiation given off by red flames and heat.Below are some
common types of flame detectors:
 Visual flame imaging
 Ultraviolet detectors
An infrared optical detector is a device that locates flame by deploying a high-tech
infrared sensor to accurately identify their unique spectral pattern emitted by live fire.Infrared
detectors are embedded with a pyro electric sensor that can easily detect thermal radiation
and are sensitive to a variation of the light signal it receives.IR detectors are suitable for areas
where combustion sources can produce intense and smoky fires. They can operate within the
range of sixty meters from the fire sources. Unlike other detectors that can only be used
indoors, IR detectors can be used in both indoor and outdoor environments. IR detectors are
immune to radiation produced by sunlight, welding, and other hot objects that might be
present in the environment it is installed in.To prevent IR detectors from false alarms, they
are embedded in multiple high tech detectors. To crown it up, IR detectors are more reliable
and cheaper than other detectors in the market.
Fig.2.1 IR Sensor

II. Temperature Sensor (LM35):
The LM35 series are precision integrated-circuit temperature sensors, whose output
voltage is linearly proportional to the Celsius (Centigrade) temperature. The LM35 thus has
an advantage over linear temperature sensors calibrated in ° Kelvin, as the user is not required
to subtract a large constant voltage from its output to obtain convenient Centigrade scaling.
The LM35 does not require any external calibration or trimming to provide typical accuracies
of ±1⁄4°C at room temperature and ±3⁄4°C over a full −55 to +150°C temperature range. Low
cost is assured by trimming and calibration at the wafer level. The LM35’s low output
impedance, linear output, and precise inherent calibration make interfacing to readout or
control circuitry especially easy.
Itcan be used with single power supplies, or with plus and minus supplies. As it draws
only 60 μA from its supply, it has very low self-heating, less than 0.1°C in still air. The
LM35 is rated to operate over a −55° to +150°C temperature range, while the LM35C is rated
for a −40° to +110°C range (−10° with improved accuracy). The LM35 series is available
packaged in hermetic TO-46 transistor packages, while the LM35C, LM35CA, and LM35D
are also available in the plastic TO-92 transistor package. The LM35D is also available in an
8-lead surface mount small outline package and a plastic TO-220 package.
Fig.2.2 LM35
If the temperature is 0°C, then the output voltage will also be 0V. There will be rise of 0.01V
(10mV) for every degree Celsius rise in temperature. The voltage can converted into
temperature using the below formulae.

III. Arduino Micro-controller:
Arduino is an open-source prototyping platform based on easy-to-use hardware and software.
Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a Twitter
message - and turn it into an output - activating a motor, turning on an LED, publishing
something online. We can tell your board what to do by sending a set of instructions to the
microcontroller on the board. To do so we use the Arduino programming language (based on
wiring), and the Arduino Software (IDE), based on Processing. The Arduino Uno can be
powered via the USB connection or with an external power supply. The power source is
selected automatically. External (non-USB) power can come either from an AC-to-DC
adapter (wall-wart) or battery. The adapter can be connected by plugging a 2.1mm center-
positive plug into the board's power jack. Leads from a battery can be inserted in the ground
and Vin pin headers of the POWER connector. The board can operate on an external supply
of 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may supply less than five
volts and the board may be unstable. If using more than 12V, the voltage regulator may
overheat and damage the board. The recommended range is 7 to 12 volts.
 What Does it Do?
The Arduino hardware and software was designed for artists, designers, hobbyists, hackers,
newbies, and anyone interested in creating interactive objects or environments. Arduino can
interact with buttons, LEDs, motors, speakers, GPS units, cameras, the internet, and even
your smart-phone or yourTV! This flexibility combined with the fact that the Arduino
software is free, the hardware boards are pretty cheap, and both the software and hardware
are easy to learn has led to a large community of users who have contributed code and
released instructions for a huge variety of Arduino-based projects.
 What's on the board?
There are many varieties of Arduino boards (explained on the next page) that can be used for
different purposes. Some boards look a bit different from the one below, but most Arduinos
have the majority of these components in common 4.3 Power (USB / Barrel Jack) Every
Arduino board needs a way to be connected to a power source. The Arduino UNO can be
powered from a USB cable coming from your computer or a wall power supply (like this)

that is terminated in a barrel jack. In the picture above the USB connection is labeled (1) and
the barrel jack is labelled (2). The USB connection is also how you will load code onto your
Arduino board. 4.4Pins (5V, 3.3V, GND, Analog, Digital, PWM, AREF) The pins on your
Arduino are the places where you connect wires to construct a circuit (probably in
conjunction with a breadboard and some wire. They usually have black plastic „headers‟ that
allow you to just plug a wire right into the board. The Arduino has several different kinds of
pins, each of which is labelled on the board and used for different functions. GND (3): Short
for „Ground‟. There are several GND pins on the Arduino, any of which can be used to
ground your circuit.5V (4) & 3.3V (5): As you might guess, the 5V pin supplies 5 volts of
power, and the 3.3V pin supplies 3.3 volts of power. Most of the simple components used
with the Arduino run happily off of 5 or 3.3 volts. Analog (6): The area of pins under the
„Analog In‟ label (A0 through A5 on the UNO) are Analog In pins. These pins can read the
signal from an analog sensor (like a temperature sensor) and convert it into a digital value
that we can read. Digital (7): Across from the analog pins are the digital pins (0 through 13
on the UNO). These pins can be used for both digital input (like telling if a button is pushed)
and digital output (like powering an LED). PWM (8): You may have noticed the tilde (~)
next to some of the digital pins (3, 5, 6, 9, 10, and 11 on the UNO). These pins act as normal
digital pins, but can also be used for something called Pulse-Width Modulation (PWM). We
have a tutorial on PWM, but for now, think of these pins as being able to simulate analog
output (like fading an LED in and out). AREF (9): Stands for Analog Reference. Most of the
time you can leave this pin alone. It is sometimes used to set an external reference voltage
(between 0 and 5 Volts) as the upper limit for the analog input pins.
3.5 Reset Button
Just like the original Nintendo, the Arduino has a reset button (10). Pushing it will
temporarily connect the reset pin to ground and restart any code that is loaded on the
Arduino. This can be very useful if your code doesn’t repeat, but you want to test it multiple
times. Unlike the original Nintendo however, blowing on the Arduinodoesn’t usually fix any
problems.

3.6 Power LED Indicator
Just beneath and to the right of the word “UNO” on your circuit board, there’s a tiny LED
next to the word „ON‟ (11). This LED should light up whenever you plug your Arduino into
a power source. If this light doesn’t turn on, there’s a good chance something is wrong. Time
to re-check your circuit!
3.7 TX RX LEDs
TX is short for transmit, RX is short for receive. These markings appear quite a bit in
electronics to indicate the pins responsible for serial communication. In our case, there are
two places on the Arduino UNO where TX and RX appear – once by digital pins 0 and 1, and
a second time next to the TX and RX indicator LEDs (12). These LEDs will give us some
nice visual indications whenever our Arduino is receiving or transmitting data (like when
we’re loading a new program onto the board).
3.8 Main IC
The black thing with all the metal legs is an IC, or Integrated Circuit (13). Think of it as the
brains of our Arduino. The main IC on the Arduino is slightly different from board type to
board type, but is usually from the A Tmega line of IC‟s from the ATMEL company. This
can be important, as you may need to know the IC type (along with your board type) before
loading up a new program from the Arduino software. This information can usually be found
in writing on the top side of the IC. If you want to know more about the difference between
various IC‟s, reading the datasheets is often a good idea.
3.9 Voltage Regulator
The voltage regulator (14) is not actually something you can (or should) interact with on the
Arduino. But it is potentially useful to know that it is there and what it’s for. The voltage
regulator does exactly what it says – it controls the amount of voltage that is let into the
Arduino board. Think of it as a kind of gatekeeper; it will turn away an extra voltage that
might harm the circuit. Of course, it has its limits, so don’t hook up your Arduino to anything
greater than 20 volts.

3.10 The Arduino Family
Arduino makes several different boards, each with different capabilities. In addition, part of
being open source hardware means that others can modify and produce derivatives of
Arduino boards that provide even more form factors and functionality.
Fig.2.3 ARDUINO UNO
IV. Servo Motor:
Servo motors have been around for a long time and are utilized in many applications.
They are small in size but pack a big punch and are very energy-efficient. These features
allow them to be used to operate remote-controlled or radio-controlled toy cars, robots and
airplanes. Servo motors are also used in industrial applications, robotics, in-line
manufacturing, pharmaceutics and food services. The servo circuitry is built right inside the
motor unit and has a positionable shaft, which usually is fitted with a gear.
The motor is controlled with an electric signal which determines the amount of
movement of the shaft.To fully understand how the servo works, you need to take a look
under the hood. Inside there is a pretty simple set-up: a small DC motor, potentiometer, and a
control circuit. The motor is attached by gears to the control wheel. As the motor rotates, the
potentiometer's resistance changes, so the control circuit can precisely regulate how much
movement there is and in which direction.When the shaft of the motor is at the desired
position, power supplied to the motor is stopped. If not, the motor is turned in the appropriate
direction. The desired position is sent via electrical pulses through the signal wire. The
motor's speed is proportional to the difference between its actual position and desired
position. So if the motor is near the desired position, it will turn slowly, otherwise it will turn
fast. This is called proportional control. This means the motor will only run as hard as
necessary to accomplish the task at hand, a very efficient little guy.
Servos are controlled by sending an electrical pulse of variable width, or pulse width
modulation (PWM), through the control wire. There is a minimum pulse, a maximum pulse,
and a repetition rate. A servo motor can usually only turn 90° in either direction for a total of

180° movement. The motor's neutral position is defined as the position where the servo has
the same amount of potential rotation in the both the clockwise or counter-clockwise
direction. The PWM sent to the motor determines position of the shaft, and based on the
duration of the pulse sent via the control wire; the rotor will turn to the desired position. The
servo motor expects to see a pulse every 20 milliseconds (ms) and the length of the pulse will
determine how far the motor turns. For example, a 1.5ms pulse will make the motor turn to
the 90° position. Shorter than 1.5ms moves it in the counter clockwise direction toward the 0°
position, and any longer than 1.5ms will turn the servo in a clockwise direction toward the
180° position. When these servos are commanded to move, they will move to the position
and hold that position. If an external force pushes against the servo while the servo is holding
a position, the servo will resist from moving out of that position. The maximum amount of
force the servo can exert is called the torque rating of the servo. Servos will not hold their
position forever though; the position pulse must be repeated to instruct the servo to stay in
position.
Fig.2.4 Servo Motor
V. Water Pump:
The water pump is used to artificially supply water for a particular task. It can be
electronically controlled by interfacing it to a microcontroller. It can be triggered ON/OFF by
sending signals as required. The process of artificially supplying water is known as pumping.
There are many varieties of water pumps used. This project employs the use of a small water
pump which is connected to a H-Bridge. The pumping of water is a basic and practical
technique, far more practical than scooping it up with one's hands or lifting it in a hand-held
bucket. This is true whether the water is drawn from a fresh source, moved to a needed
location, purified, or used for irrigation, washing, or sewage treatment, or for evacuating
water from an undesirable location. Regardless of the outcome, the energy required to pump

water is an extremely demanding component of water consumption. All other processes
depend or benefit either from water descending from a higher elevation or some pressurized
plumbing system.
Fig.2.5 WATER PUMP
VI. Motor Driver:
L293D is a typical 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 we can control two DC motors with a single L293D IC, Dual H-
Bridge motor Driver Integrated Circuit(IC).
It works on the concept of H-bridge. H-bridge is a circuit which allows the voltage to
be flown in either direction. As you know voltage need to change its direction for being able
to rotate the motor in clockwise or anticlockwise direction, Hence H-bridge IC are ideal for
driving a DC motor.
In a single L293D chip there are two h-Bridge circuit inside the IC which can rotate
two dc motor independently. Due its size it is very much used in robotic application for
controlling DC motors. Given below is the pin diagram of a L293D motor controller.
Fig.2.6 L293D MOTOR DRIVER

2.3 SOFTWAREREQUIREMENT
I. Arduino Software (IDE):
The open-source Arduino Software (IDE) makes it easy to write code and upload it to the
board. It runs on Windows, Mac OS X, and Linux. The environment is written in Java and based
on Processing and other open-source software. This software can be used with any Arduino
board. For latest software refer to link. https://www.arduino.cc/en/Main/Software
Arduino was born at the Ivrea Interaction Design Institute as an easy tool for fast prototyping,
aimed at students with or without a background in electronics and programming. Arduino is an
open-source prototyping platform based on easy-to-use hardware and software. Arduino boards
are able to read inputs - light on a sensor, a finger on a button, or a message - and turn it into an
output - activating a motor, turning on an LED, publishing something online and many more.
You can tell your board what to do by sending a set of instructions to the microcontroller on the
board. To do so you use the Arduino programming language (based on Wiring), and the Arduino
Software (IDE), based on Processing.
Inexpensive - Arduino boards are relatively inexpensive compared to other microcontroller
platforms.
Cross-platform - The Arduino Software (IDE) runs on Windows, Macintosh OSX, and Linux
operating systems. Most microcontroller systems are limited to Windows.
Simple, clear programming environment - The Arduino Software (IDE) is easy-to-use for
beginners, yet flexible enough for advanced users to take advantage of as well.
Open source and extensible hardware - The plans of the Arduino boards are published under a
Creative Commons license, so experienced circuit designers can make their own version of the
module, extending it and improving it.
Open source and extensible software - The Arduino software is published as open source tool
and the language can be expanded through C++ libraries.
II. How to use Arduino IDE Tool –
Steps for using Arduino IDE:

Step 1: Get an Arduino board and USB cable: In this tutorial, we assume you're using an
Arduino Uno you also need a standard USB cable (A plug to B plug): the kind you would connect
to a USB printer, for example.
Step 2 : Download the Arduino environment: (https://www.arduino.cc/en/Main/Software) Get
the latest version from the download page. When the download finishes, unzip the downloaded
file. Make sure to preserve the folder structure. Double-click the folder to open it. There should
be a few files and sub-folders inside.
Step 3 : Connect the board: The Arduino Uno, Mega, Duemilanove and Arduino Nano
automatically draw power from either the USB connection to the computer or an external power
supply. If you're using an ArduinoDiecimila, you'll need to make sure that the board is configured
to draw power from the USB connection. The power source is selected with a jumper, a small
piece of plastic that fits onto two of the three pins between the USB and power jacks. Check that
it's on the two pins closest to the USB port. Connect the Arduino board to your computer using
the USB cable. The green power LED (labelled PWR) should go on.
Step 4 : Install the drivers: Installing drivers for the Arduino Uno with Windows7, 8.1,10.
Step 5: Launch the Arduino application: Double-click the Arduino application. (Note: if the
Arduino software loads in the wrong language, you can change it in the preferences dialog. See
the environment page for details.

Step 6: Open the blink example Open the LED blink example sketch: File > Open
>Temp_and_humid.ino
Step 7: Select your board: You'll need to select the entry in the Tools > Board menu that
corresponds to your Arduino.
Step 8: Select your serial port:Select the serial device of the Arduino board from the Tools
Serial Port menu. This is likely to be COM3 or higher (COM1and COM2 are usually
reserved for hardware serial ports). To find out, you can disconnect your Arduino board and
re-open the menu; the entry that disappears should be the Arduino board. Reconnect the
board and select that serial port.
Step 9: Upload the program: Now, simply click the "Upload" button in the environment.
Wait a few seconds - you should see the RX and TX led on the board flashing. If the upload
is successful, the message "Done uploading." will appear in the status bar.

3.1 Hardware Testing:
3.1.a POWER ON TEST
This test is performed to check whether the voltage at different terminals is according
to the requirement or not. We take a multi meter and put it in voltage mode. Remember that
this test is performed without microcontroller. Firstly, we check the output of the transformer,
whether we get the required 12 v AC voltage.
Then we apply this voltage to the power supply circuit. Note that we do this test
without microcontroller because if there is any excessive voltage, this may lead to damaging
the controller. We check for the input to the voltage regulator i.e., are we getting an input of
12v and an output of 5v. This 5v output is given to the microcontrollers’ 40th pin. Hence we
check for the voltage level at 40th pin. Similarly, we check for the other terminals for the
required voltage. In this way we can assure that the voltage at all the terminals is as per the
requirement.
3.1.b CONTINUTYTEST
In electronics, a continuity test is the checking of an electric circuit to see if current
flows (that it is in fact a complete circuit). A continuity test is performed by placing a small
voltage (wired in series with an LED or noise-producing component such as a piezoelectric
speaker) across the chosen path. If electron flow is inhibited by broken conductors, damaged
components, or excessive resistance, the circuit is "open".
Devices that can be used to perform continuity tests include multi meters which
measure current and specialized continuity testers which are cheaper, more basic devices,
generally with a simple light bulb that lights up when current flows.
An important application is the continuity test of a bundle of wires so as to find the two ends
belonging to a particular one of these wires; there will be a negligible resistance between the
"right" ends, and only between the "right" ends.
This test is the performed just after the hardware soldering and configuration has been
completed. This test aims at finding any electrical open paths in the circuit after the soldering.
Many a times, the electrical continuity in the circuit is lost due to improper soldering, wrong

and rough handling of the PCB, improper usage of the soldering iron, component failures and
presence of bugs in the circuit diagram. We use a multi meter to perform this test. We keep
the multi meter in buzzer mode and connect the ground terminal of the multi meter to the
ground. We connect both the terminals across the path that needs to be checked. If there is
continuation then you will hear the beep sound.
3.2 SOFTWARE TESTING
Due to not updating the library dht.11 sensor cannot be found .After updating its started
working in proper manner and this shows the function of our project through software test we
got identify the problem here in aruino1

ADVANTAGES:-
1) ThroughRobot highfire can be extinguisheasily.
2) Robotcan extinguishthe fire withoutharminghumansbeing.
3) Robotcan go to hazardous placeswhere humanbeingcannotgo.

RESULT
The developed system is Simple and cost effective than most other systems present in
the market. Figure shows the final configuration of an Automatic Fire Fighting Robot with
notification. The control circuit is located at the top of the robot body. The size of the robot is
(26 x 16 x 18) cm. The robot will operate in the auto mode after switch on, it will move any
place that required early fire extinguisher. During the auto mode, if there is no fire detected, it
will keep on moving and scanning. Meanwhile, if fire detected, it will move toward the fire
source and activate the water pump to pump the water to extinguish the fire. If the left flame
sensor detecting fire, the left sensor will send the data to Arduino telling that the fire is at the
left-hand side, the Arduino will send the command to the motor driver to turn the robot to left
direction. The robot will remain turning to left direction until the front flame sensor detecting
fire. When the front sensor detecting fire, the sensor will send the data to Arduino to tell the
Arduino that there is a fire in front of it. Then the Arduino will send data to the motor driver
shield and motor driver will activate the motors to move the robot backward the fire if the fire
is too close to the robot. Otherwise, if the fire is too far from the robot, the motor driver will
activate the motors to move the robot forward to the fire. This process will be the same if the
right flame sensor detecting fire.

CONCLUSION
The automatic fire fighting robot was able to detect and extinguish the fire. Besides, it
is also able to move randomly with obstacle avoidance function. The robot was successfully
fabricated and functioned as expected. The hardware was developed according to the initial
design and modified based on current conditions and improvements. In addition, the input
voltage port and ground port of the sensors, motor driver module, submersible pump and
servo motor was connected and soldering on the PCB in series. This is because there is only
one port of 5V voltage supply from Arduino, but there are 8 components were required for
the voltage supply for operation. Next, the coding was designed and developed using Arduino
software. The completeness of the software library smoothens the project’s process with the
help of real-time simulation. However, it was observed that the accuracy of the fire
extinguisher can be further improved despite the firefighting robot designed and presented
here provides the significance assistance to human. This firefighting robot concept can be
widely applied in various applications.

REFERENCES
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APPENDIX-A
Source Code
#include <Servo.h>
Servomyservo;
intpos= 0;
booleanfire =false;
/*-------definingInputs------*/
#define Left_F 9
#define Right_F 10
#define Forward_F 8
#define Left_T11
#define Right_T12
#define Forward_T13
/*-------definingOutputs------*/
#define LM1 2 //leftmotor
#define LM2 3 //leftmotor
#define RM1 4 // rightmotor
#define RM2 5 // rightmotor
#define pump6
voidsetup()
{
pinMode(Left_S,INPUT);
pinMode(Right_S,INPUT);
pinMode(Forward_S,INPUT);
pinMode(Left_F,INPUT);
pinMode(Right_F,INPUT);

pinMode(Forward_F,INPUT);
pinMode(LM1,OUTPUT);
pinMode(LM2,OUTPUT);
pinMode(RM1,OUTPUT);
pinMode(RM2,OUTPUT);
pinMode(pump,OUTPUT);
myservo.attach(11);
myservo.write(90);
}
voidput_off_fire()
{
delay(500);
digitalWrite(LM1,HIGH);
digitalWrite(RM1,HIGH);
digitalWrite(pump,HIGH);delay(500);
for (pos= 50; pos<= 130; pos += 1) {
myservo.write(pos);
delay(10);
}
for(pos= 130; pos>= 50; pos -= 1) {
myservo.write(pos);
delay(10);
}
digitalWrite(pump,LOW);
myservo.write(90);

fire=false;
}
voidloop()
{
myservo.write(90);//Sweep_Servo();
if (digitalRead(Left_S) ==1&&digitalRead(Right_S)==1&&digitalRead(Forward_S)
==1&&digitalRead(Left_F) ==1&&digitalRead(Right_F)==1&&digitalRead(Forward_F) ==1)
{
//Do notmove the robot
}
else if (digitalRead(Forward_S) ==0&&(digitalRead(Forward_F) ==0) //If Fire isstraightahead
{
//Move the robot forward
digitalWrite(LM2,LOW);
digitalWrite(RM2,LOW);
fire = true;
}
else if (digitalRead(Left_S) ==0&&(digitalRead(Left_F)==0) //If Fire isto the left
{
//Move the robot left
digitalWrite(LM2,LOW);

}
else if (digitalRead(Right_S) ==0&&digitalRead(Right_F) ==0) //If Fire istothe right
{
//Move the robot right
digitalWrite(LM2, HIGH);
digitalWrite(RM2,LOW);
}
delay(300);//Slowdownthe speedof robot
while (fire ==true)
{
put_off_fire();
}
}

APPENDIX-B1
Data Sheet for LM35

APPENDIX-B2
Data Sheet for L293D

APPENDIX-B3
Data Sheet for Pump

Fire fighting Robot

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