This document presents a project on a firefighting robot built using Arduino. It contains sections on the problem statement, literature survey, methodology, block diagram, circuit diagram, components, program code, results, advantages, disadvantages, applications and future scope. The robot uses flame sensors to detect fire and a submersible pump to automatically extinguish detected fires, allowing it to operate in dangerous environments instead of human firefighters. It is intended to reduce risks to human life from fires. The document demonstrates the robot's design and potential uses and improvements.

1. Welcome
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 1

2. KOLHAPURINSTITUTEOFTECHNOLOGY’SCOLLEGEOF
ENGINEERINGKOLHAPUR
Presented By:
1. Vrishal Chandawarkar (B03)
2. Ritesh Dolare (B12)
3. Abhishek Gaikwad (B14)
4. Shubham Gaikwad (B15)
Name of Guide : Ms. Sonal Lad
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 2

3. CONTENTS
• Introduction
• Block Diagram
• Circuit Diagram
• Component
• Result
• Advantages
• Disadvantages
• Application
• Future Scope
• Conclusion
• Sample Video
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 3
Fire Fighting Robot

4. PROBLEM STATEMENT
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, firefighting
robot can be use 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. Therefore we are going to build a fire
fighting robot using Arduino, which automatically sense the fire and start water pump.
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
Fire Fighting Robot
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5. LITERATURE SURVEY
Tawfiqur Rakib, M. A. Rashid Sarkar proposed a fire fighting robot model which consists of a
base platform made up of ‘Kerosene wood’, LM35 sensor for temperature detection, flame
sensors to detect the fire and a water container of 1 litre capacity which is made up of a strong
cardboard that makes it water resistant. The robot has two wheels for its movement. Advanced
firefighting automated framework autonomously distinguishes and douses fire. In the time of
development, the world is progressively turning towards the robotized structure and self-
journeying vehicles, fire fighters are persistently at a peril of losing their life. Fire spreads rapidly
if it isn't controlled. In the event of a gas spillage there even might be an effect.
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
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6. PROPOSED METHODOLOGIES
Giving the connections as per circuit diagram and upload the code to Arduino.
Check the water in container and giving supply.
Place the fire in front flame sensors and moving fire left, straight, right for
proper working of sensor.
Use submersible pump like as fire extinguisher.
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7. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
Block Diagram :
Fire Fighting Robot
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8. CIRCUIT DIAGRAM
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
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9. COMPONENTS
• Fire sensor or Flame sensor (3 Nos)
• Arduino UNO
• Servo Motor (SG90)
• L293D motor Driver module
• Mini DC Submersible Pump
• Small Breadboard
• Robot chassis with motors (4) and wheels(4) (any type)
• A small can
• Connecting wires
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Fire Fighting Robot

10. • Specifications:
 Microcontroller: ATmega328P
 Operating Voltage: 5V
 Input Voltage (recommended): 7-12V
 In-out 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
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
•Arduino UNO
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11. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
Fire sensor or Flame sensor:
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Specifications:
 Operating voltage: 4.75 – 5V max.
 Working current: 20 mA.
 Spectral bandwidth range: 760 – 1100 nm.
 Detection range: 0-1 m

12. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
• Specifications:
 Product: SG90 Servo
 Torque: 2.0kg/cm(4.8V), 2.2kg/cm(6V)
 Speed: 0.09s/60°(4.8V), 0.08s/60°(6V)
 Rotate angle: 180°
 Operating voltage: 4.8 ~ 6V
 Gear: plastic
 Dead band: 7us
 Weight: 10.5g
 Dimension: 22.8mm × 12.2mm × 28.5mm
• Servo Motor (SG90)
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13. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 13
Fire Fighting Robot
• L293D motor Driver module • Specifications:
 Wide Supply-Voltage Range: 4.5 V to
36 V
 Separate Input-Logic Supply
 Internal ESD Protection
 High-Noise-Immunity Inputs
 Output Current 600 mA Per Channel
 Peak Output Current 1.2 A Per
Channel
 Output Clamp Diodes for Inductive
Transient Suppression
 Operation Temperature 0°C to 70°C.

14. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 14
Fire Fighting Robot
• Mini DC Submersible Pump • Specifications:
 1/4 HP, 115V, 60Hz.
 Capacity: 1580 GPH.
 Max Delivery Height: 28.5 FT.
 Max Submersible Depth: 15 FT.
 Max Solid Handling: 0.2"
 Mechanical Seal.
 Cord Length: 15 FT.
 Material: Plastic Body

15. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
Programme:
/*------ Arduino Fire Fighting Robot Code----- */
#include <Servo.h>
Servo myservo;
int pos = 0;
boolean fire = false;
/-------defining Inputs------/
#define Left_S 9 // left sensor
#define Right_S 10 // right sensor
#define Forward_S 8 //forward sensor
/-------defining Outputs------/
#define LM1 2 // left motor
#define LM2 3 // left motor
#define RM1 4 // right motor
#define RM2 5 // right motor
#define pump 6
void setup()
{
pinMode(Left_S, INPUT);
pinMode(Right_S, INPUT);
pinMode(Forward_S, INPUT);
pinMode(LM1, OUTPUT);
pinMode(LM2, OUTPUT);
pinMode(RM1, OUTPUT);
pinMode(RM2, OUTPUT);
pinMode(pump, OUTPUT);
myservo.attach(11);
myservo.write(90);
}
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Fire Fighting Robot
void put_off_fire()
{
delay (100);
digitalWrite(LM1, HIGH);
digitalWrite(LM2, HIGH);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, 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;
}
void loop()
{
myservo.write(90); //Sweep_Servo();
if (digitalRead(Left_S) ==1 && digitalRead(Right_S)==1 && digitalRead(Forward_S) ==1) //If Fire not
detected all sensors are zero

16. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 16
Fire Fighting Robot
{
//Do not move the robot
digitalWrite(LM1, HIGH);
digitalWrite(LM2, HIGH);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, HIGH);
}
else if (digitalRead(Forward_S) ==0) //If Fire is straight ahead
{
//Move the robot forward
digitalWrite(LM1, HIGH);
digitalWrite(LM2, LOW);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, LOW);
fire = true;
}
else if (digitalRead(Left_S) ==0) //If Fire is to put_off_fire();
}
}
the left
{
//Move the robot left
digitalWrite(LM1, HIGH);
digitalWrite(LM2, LOW);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, HIGH);
}
else if (digitalRead(Right_S) ==0) //If Fire
is to the right
{
//Move the robot right
digitalWrite(LM1, HIGH);
digitalWrite(LM2, HIGH);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, LOW);
}
delay(300); //Slow down the speed of
robot
while (fire == true)
{
put_off_fire();
}
}

17. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 17
Fire Fighting Robot
Result

18. • Advantages
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
 Completely replaces the human effort of putting of the fire.
 Enables live streaming of the fire place to the remote user.
 Sends an email alert once the obstacle is detected.
 The Robot performs well in manual and automatic mode
 Reduce the direct exposure of fireman and his effort.
 Reduce human efforts.
 Capability of sensing accurately with increased flexibility.
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19. • Disadvantages
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR
 When the robot is superintended by means of web page
 The robot depends upon the network signal and its quality.
 Need self-protection method.
 To and fro motion to a same point is not possible.
 No remote control for the robotic movement.
 No monitoring system for vehicle.
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20. • Application
 The main purpose of robot is to rescue the people by extinguishing fire in a building.
 Firefighter robot to detect fire and extinguish it if possible.
 In places where risk of explosion is high such as gas plants.
 The Firefighting Robot is a compact and portable emergency responder robot that
assists firemen in fighting high-rise fires, especially in highly dangerous environments
where it is not safe for people to enter
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Fire Fighting Robot

21. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 21
Fire Fighting Robot
• Future Scope
 Improve weight capacity of the robot.
 Camera and Video transmission can be added.
 Military mission can be possible.
 Humans are replaced with robots in life-threatening situations.
 project has been motivated by the desire to design a system that can detect
fires and take appropriate action, without any human intervention.
 This provides us the opportunity to pass on to robots tasks that traditionally
humans had to do but were inherently life threatening.
 Fire-fighting is an obvious candidate for such automation.
 It can be enhanced by interfacing it with a wireless camera so that the
person controlling it can view the operation of the robot remotely on a
screen.

22. • Conclusion
KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 22
Fire Fighting Robot
Here we are simply designing a fire fighting robot, fire can cause heavy
damage to life and property. Our main objective of making this project
is to detect fire and extinguish it automatically to protect the people
and their property . Because of our project highly dangerous
environments where it is not safe for people to enter our robo .Here
we are simply using flame sensor to detect fire and extinguish the fire
with the help of water pump.

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Fire Fighting Robot
Sample Video

24. KOLHAPUR INSTITUTE OF TECHNOLOGY’S COLLEGE OF ENGINEERING KOLHAPUR 24