University Of Global Village

Department of Electrical and Electronics Engineering

Project Report
on
Fire Fighting Robot Using Arduino Uno
This project report submitted in partial fulfillment for the requirement of
the degree of Bachelor of Science in Electrical and Electronics
Engineering, which is prepared by-

1. Prodip Chandro ID:22012061

2. Md. Bellal Mia ID:22012062
3. Bikrom Chandra Mitro ID:22012063
4. Md. Tawhidul Islam ID:22012064
5. Md. Mamun Hossain ID:22012067
6. Md. Abdur Razzak ID:22012068
7. Md. Kawsar Khan ID:22012069
8. Saikat Bishwas ID:22012070

Under the supervision of

Noor Md. Shahriar
Senior Lecturer
Department of EEE
Faculty of Engineering
University Of Global Village, Barishal

1
 DEDICATED
TO OUR BELOVED
PARENTS

&

HONORABLE
TEACHERS

2
 Certification
This is to certify that the project entitled " Fire Fighting Robot Using Arduino
Uno "is done by the following students under my direction supervision and this
work has been carried by the laboratories of the department of Electrical and
Electronics Engineering under the Faculty of Engineering of University of
Global Village (UGV)in partial fulfillment for the requirement of the degree of
Bachelor of Science in Electrical and Electronics Engineering.
Students Name and Signature:

………………................ ………………..............
Prodip Chandro Md. Bellal Mia
ID:22012061 ID: 22012062

………………................ ………………..............
Bikrom Chandra Mitro Md. Tawhiul Islam
ID: 22012063 ID:22012064

………………................ ………………..............
Md. Mamun Hossain Md. Abdur Razzak
ID: 22012067 ID:22012068

………………................ ………………..............
Md. Kawsar Khan Saikat Bishwas
ID:22012069 ID: 22012070

Supervisor Name and Signature:

………………..........
Noor Md. Shahriar
Senior Lecturer
Department of EEE
Faculty of Engineering
University Of Global Village,Barishal

3
 Acknowledgement

We would like to thank University of Global Village (UGV) for giving us the
opportunity to use their resources and work in such a challenging environment.
Then, we would like to take the opportunity to express our deepest sense of
gratitude to our supervisor Md. Abdullah bin Siddique for his guidance during
our project work. This project would not have been possible without his help
and the valuable time that he has given us amidst his busy schedule. We would
also like to extend our gratitude to our honorable department head and teachers
of this department who have always encouraged and supported us in doing our
work. We would like to thank all the staff members of Department of Electrical
and Electronic Engineering who have been very cooperative with us.

Authors
Prodip Chandro
Md. Bellal Mia
Bikrom Chandra Mitro Department of EEE
Md. Tawhidul Islam Session: Winter 2020
Md. Mamun Hossain University of Global Village
Md. Abdur Razzak Barishal, Bangladesh.
Md. Kawsar Khan
Saikat Bishwas

4
 Abstract

In Bangladesh, progress towards improving fire control, using technology, is varied. Developed
countries, including China, are leading the world in using advanced technology to control fires.

Bangladesh is far behind in such technology and their technology is very poor, so every day where
there are fire accidents, there are huge losses in many places, human and state resources are
destroyed by fire. Several people lost their lives.

Therefore, we have brought a state-of-the-art fire control divide technology for the safety of people
and resources in Bangladesh. It will act as a big help in fire service of Bangladesh.

5
 Contents

Name of the Content Page No

Certificate 3
Acknowledgement 4
Abstract 5
List of Figures 6
List of Tables 7

Chapter 1: Introduction
1.1 Introduction 9
1.2 Objective 10
1.3 Problem Statement 11
1.4 Methodology 12
1.5 Motivation 12

Chapter 2: System Design

2.1 What is Fire Fighting System? 14

2.2 Important of Fire Fighting System? 14
2.3 How Fire Fighting Robot car Works 14
2.4 What is Fire Fighting robot Car 14
2.5 Overview of Fire Fighting Robot Car 15
2.6 Why this project is important? 15

Chapter 3: Hardware Implementation

3.1 Hardware Requirement 18

3.2 Software Requirement 18
3.3 Hardware Description 18
3.4 Gear Motor 18
3.4.1 Specifications of Gear Motor 19
3.4.2 Connection of Gear Motor 20

3.5. Buzzer 20
3.5.1 Specifications of Buzzer 21
3.6 L293D Motor Driver 21
3.6.1 Pins of Motor Driver 22
3.6.2 Specifications Motor Driver 22

6
 3.7 Flame Sensor 23
3.7.1 Specifications of Flame Sensor 23
3.7.2 Pin of Flame sensor 23
3.8 Servo motor 24
3.8.1 Specifications of servo motor 24
3.9 Mini Water Pump 25
3.9.1 Specification of Mini water Pump 25

3.10 Jumper Wire 26

3.11 Power Supply 26
3.11.1 5V DC Power Supply 27
3.11.2 Connection of 5V Power Supply 27

3.12 Arduino UNO 28

Chapter 4: Implementation & Design

4.1 Technical Specification 28
4.2 Diagram 29
4.2.1 Flowchart 30
4.2.2 Block Diagram 31
4.2.3 Circuit Diagram 32

Chapter 5: Result

5.1 Result 33
5.2 Project Outlook 33

Chapter 6: Conclusion & Future Scope

6.1 Conclusion 34
6.2 Future Work 34
6.3 Cost Analysis 34
6.4 Advantages 35

References 36

Appendix 37

7
 List of Figures
Figure No Figure Contain Page No

Figure 3.1 Hardware Requirement 18

Figure 3.2 Software Requirement 18
Figure 3.3 Hardware Description 18
Figure 3.4 Gear Motor 18
Figure 3.4.1 Specifications of Gear Motor 19
Figure 3.4.2 Connection of Gear Motor 20

Figure 3.5 Buzzer 20

Figure 3.5.1 Specifications of Buzzer 21
Figure 3.6 L293D Motor Driver 21
Figure 3.6.1 Pins of Motor Driver 22
Figure 3.6.2 Specifications Motor Driver 22
Figure 3.7 Flame Sensor 23
Figure 3.7.1 Specifications of Flame Sensor 23
Figure 3.7.2 Pin of Flame sensor 23
Figure 3.8 Servo motor 24
Figure 3.8.1 Specifications of servo motor 24
Figure 3.9 Mini Water Pump 25
Figure 3.9.1 Specification of Mini water Pump 25

Figure 3.10 Jumper Wire 26

Figure 3.11 Power Supply 26
Figure 3.11.1 5V DC Power Supply 27
Figure 3.12 Arduino IDE 28
Figure 4.1 Diagram 29
Figure 4.1.2 Flow Chart 40
Figure 4.1.3 Block Diagram 41
Figure 4.1.4 Circuit Diagram 41
Figure 5.1 Final Result of Project 43
Figure 5.2 Project Outlook 43

8
 List of Tables
Tab. No Table Contain Page No

Table 3.1 Pins of Arduino 20

Table 3.2 Pins of Flime Sensor 24
Table 3.3 Pins of Sarvo Motor 25
Table 3.4 Pins of L293D Motor Driver 27

Table 6.1 Cost Analysis 45

9
Chapter One:
Introduction

10
 1.1 Introduction

This technology of fire fighting robot car is an advanced technology. It is a technology that
automatically controls the fire by getting very close to the fire.
If a fire service personnel gets too close to a fire to control it, it can result in death. As a result,
quick fire control will not be possible.
This can lead to loss of life and loss of property.
You sent
Considering all these factors, we have invented this state-of-the-art technology. It is a fire proof
system, which can control the fire very close to the fire and save many lives and property damage. If
this smart technology is used in the fire service of our country, it will play a special role in
controlling fire in different parts of the country.

1.2 Objective

The brief objective of this project is to further improve the quality of fire control system in our
country.
Getting to the scene of the fire and controlling the fire quickly will prevent loss of life and property.
It is capable of extinguishing fire up to a distance of 45 meters. Which will play a special role in fire
control. As a result of the discovery of this technology, our country is presented in front of
developed countries of the world.

1.3 Problem Statement

It is an easily accessible device, it will play a special role in fire control process of fire service. For a
long time, fire service personnel were burned trying to control the fire, and the fire service units
could not control the fire quickly enough. Due to this, many industrial factories, offices, courts,
houses were burnt and many people lost their lives.

But using such technology will save fire service personnel from being burned, and quickly control
fires to prevent loss of life and property.

1.4 Methodology

First, the robot has to be brought from the fire service office to the place where the fire accident
occurred, then the robot has to be activated and kept within a certain range. It will automatically
approach the fire accident site automatically without any human touch through sensors and quickly
control the fire. It will play a special role in protecting people's lives and property from fire.

11
 1.5 Motivation

Fire fighters face risky situations when extinguishing fires and rescuing victims, it is an inevitable
part of being a fire fighter.

In contrast, a robot can function by itself or be controlled from a distance, which means that fire
fighting and rescue activities could be executed without putting fire fighters at risk by using robot
technology instead.

In other words, robots decrease the need for fire fighters to get into dangerous situations.

12
Chapter Two:
System Design

13
2.1 What is Fire Fighting System?

A fire fighting system is an activity of prevention during a fire spread in building, home or
warehouse with the use of proper fire safety equipment like extinguisher, hose reels, fire monitors,
nozzles and hose pipes.

Fig 2.1: A Fire Fighting Robot

2.2 Important of Fire Fighting System?

A good firefighting system will save lives by preventing fires from spreading further and causing
more damage than necessary. It will allow firefighters quick access to water hoses to put out fires
wherever they start (such as electrical fires).

2.3 How Fire Fighting Robot car Works?

Our robot uses three sensors, one on the right, one on the left, and one in the middle. When a fire
occurs on the right side, by sensing this sensor, the robot will move to the right side and
automatically extinguish the fire, when the robot senses a fire on the left side, the robot will
automatically move to the left side and extinguish the fire on the left side. When there is a fire
ahead, the robot will automatically move forward to extinguish the fire.
This is how our fire fighting robot car works.

2.4 What is Fire Fighting robot Car?

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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 Fig 2.4 Fire Fighting Robot Car.

2.4.1. Overview of Fire Fighting Robot System

In the existing system of Fire Fighting, The fire is controlled by this robot without any
human interaction with the help of microcontroller Arduino UNO and fire sensor
technology. Arduino UNO is a microcontroller board. It acts as a transmitter and
receiver. Its main feature is that it is very cheap to install, and the robot can be
controlled by program. It is able to put out the fire automatically without human
contact.

2.4.2. Why this project is Important?

Due to the lack of this advanced technology of fire fighting robots, the fire service teams were not able to put
out the fire quickly, and most of the fire service personnel were injured and many died while approaching the
fire and controlling the fire. Fires in various industries, factories, offices, courts and houses in our country
cause huge damage and many people lose their lives.
Where people cannot go and put out the fire, Our state-of-the-art firefighting robots are capable of
extinguishing fires at that location, saving many lives and saving live

15
Chapter Three:
Hardware
Implement

16
3.1 Hardware requirement

1. Gear Motor

2. Buzzer

3. L293D Motor Driver

4. Flame Sensor

5. Servo Motor

6. Mini Water Pump

7. Jumper Wires

8. 5 Volt Power Supply

9. Arduino Uno

3.2 Software Requirement

Arduino UNO compiler

3.2 Hardware Description

Here is the hardware description which we used in our project.

3.4 Gear motor

A gear motor is an all-in-one combination of a motor and gearbox. The addition of a gearbox to a
motor reduces the speed while increasing the torque output. The most important parameters in
regard to gear motors are speed (rpm), torque (lb-in) and efficiency (%).

17
 Fig 3.4 : DC Robot Gear Motor

3.4.1 Specification of Dc Robot Gear Motor

DC motor reducer, single axis, with DC 3V operating voltage and a RPM of 125R / minute, this
gear box is applied for tracing car or robot. With plastic construction and colored in bright yellow,
the DC gear motor measures approx. 2.5 inch long, 0.85 inch wide and 0.7 inch thick.

Descriptions Specification

Motor color Yellow

Voltage DC 3V - 6V

Current 100MA -120MA

RPM 100-240

Motor Size 70*22*18MM

18
3.5 Buzzer

a buzzer is a basic audio device that generates a sound from an incoming electrical
signal. Buzzers come in two primary forms — buzzers and magnetic buzzers.

Fig 3.5.1 : Buzzer

3.5.1 Specification Of Buzzer

Color is black.
The frequency range is 3,300Hz.
Operating Temperature ranges from – 20° C to +60°C.
Operating voltage ranges from 3V to 24V DC.
The sound pressure level is 85dBA or 10cm.
The supply current is below 15mA.

19
 3.6 L293D Motor Driver

L293D Motor Driver Module is a medium power motor driver perfect for driving DC Motors and
Stepper Motors. It uses the popular L293 motor driver IC. It can drive 4 DC motors on and off, or
drive 2 DC motors with directional and speed control.

3.6.1 Pin Mode Of L293D Motor Driver

The L293D is a 16 pin IC, with eight pins, on each side, dedicated to the controlling of a motor.
There are 2 INPUT pins, 2 OUTPUT pins and 1 ENABLE pin for each motor. L293D consist of two
H-bridge. H-bridge is the simplest circuit for controlling a low current rated motor.

20
Fig 3.6.1 Pin Of L293D Motor Driver

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 Pin Spec

Terminal 1 4.5V-36V

Terminal 2 GND

Terminal 3 VCC

PIN EN 1 5 Volts

PIN EN 2
5 Volts
PIN IN 1
Input 1 For First Motor
PIN IN 2
Input 2 For First Motor
Input 3 For Second Motor
PIN IN 3

PIN IN 4 Input 4 For Second Motor

Terminal Output 1And 2 First Motor

Terminal Output 3 And 4 Second Motor

Table 3.6.1: Pin of L293D Motor Driver

3.6.2 Specification Of Motor Driver

 Attribute Value

 Motor Type Brushed DC

 Output Configuration Dual Full Bridge
 Maximum IGBT Collector Current 0.6A
 Maximum Collector Emitter Voltage 36 V
 Mounting Type Through Hole
 Package Type PDIP
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 Maximum Operating Supply Voltage 36 V
 Pin Count 16
 Minimum Operating Supply Voltage 4.5 V
 Width 7.1mm
 Dimensions 20 x 7.1 x 5.1mm
 Height 5.1mm
 Maximum Operating Temperature +150 °C
 Length 20mm
 Minimum Operating Temperature -40 °C

23
 3.7 Flame Sensor

Fig 3.7 Flame Sensor

This type of flame detector works by detecting the UV radiation at the point of ignition. Almost
entirely all fires emit UV radiations, so in case of the flame, the sensor would become aware of it
and produce a series of the pulses that are converted by detector electronics into an alarm output.

A flame detector is a sensor designed to detect and respond to the presence of a flame
or fire, allowing flame detection. Responses to a detected flame depend on the
installation, but can include sounding an alarm, deactivating a fuel line, and activating
a fire

3.7.1 Specification Of Flame Sensor

 Operating Voltage(VDC) 3.3 to 5

 Spectrum range 760nm ~ 1100nm

 Detection Angle(°) 0 to 60

 Operating Temperature (°C) -25 to +85

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  Length (mm) 35.5

 Width (mm) 15.2

 Height (mm) 14

 Weight (gm) 3

3.7.2 Pin Configuration Of Flame Sensor

Fig 3.7.2 Pin Configuration Of Flame Sensor

No Pin Descriptions

1 Vcc Power supply 3.5V to 5.5V

2 Data Outputs both Fire through serial Data

3 Ground Connected to the ground of the circuit

Table 3.7.2: Pin Of Flame Sensor

25
 3.8 Servo Motor

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.

A servomotor is a rotary or linear actuator that allows for precise control of angular or linear
position, velocity, and acceleration in a mechanical system. It constitutes part of a
servomechanism, and consists of a suitable motor coupled to a sensor for position

3.8.1 Specification Of Servo Motor

26
  Model: SG90.
 Weight: 9 gm.
 Operating voltage: 3.0V~ 7.2V.
 Servo Plug: JR.
 4.8V : 1.2kg-cm.
 6.6V : 1.6kg

3.9 Mini Water Pump

Fig 3.9Mini Water pump

This is a low cost mini submersible type water pump that works on 3-6V DC. It is
extremely simple and easy to use. Just immerse the pump in water, connect a suitable pipe
to the outlet and power the motor with 3-6V to start pumping water. Great for building
science projects, fire-extinguishers, firefighting robots, fountains, waterfalls, plant watering
systems etc.
This is a quality made mini submersible water pump. It can be inland or submersed for water pumping. It's
built by a brushless motor to provide a smoother and quieter operation than a brush water pump.
A submersible pump pushes water to the surface by converting rotary energy into kinetic energy
into pressure energy. This is done by the water being pulled into the pump: first in the intake, where
the rotation of the impeller pushes the water through the diffuser. From there, it goes to the surface.

27
 3.9.1 Specification Of Mini Water Pump
 DC Voltage: 2.5-6V.
 Maximum lift: 40-110cm / 15.75 "-43.4"
 Flow rate: 80-120L / H.
 Outside the water outlet diameter : 7.5mm /0.3 "
 internal diameter of water outlet: 4.7 mm / 0:18"
 Diameter: Ca. 24 mm / 0.95 "
 Length: Ca. 45 mm / 1.8"
 Height: Ca. 33 mm / 1.30 String "

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3.10 Jumper Wire

 Programmable Digital Temperature Sensor

 Communicates using 1-Wire method
 Operating voltage: 3V to 5V
 Temperature Range: -55°C to +125°C
 Accuracy: ±0.5°C
 Output Resolution: 9-bit to 12-bit (programmable)
 Unique 64-bit address enables multiplexing
 Conversion time: 750ms at 12-bit
 Programmable alarm options
 Available as To-92, SOP and even as a waterproof sensor

29
3.3.6.1 Mini Water Pump

This is a low cost mini submersible type water pump that works on 3-6V DC. It is
extremely simple and easy to use. Just immerse the pump in water, connect a suitable
pipe to the outlet and power the motor with 3-6V to start pumping water. Great for
building science projects, fire-extinguishers, firefighting robots, fountains, waterfalls,
plant watering systems etc.

Fig 3.12: Mini Water Pump

30
3.3.6.2 Specifications of Mini Water Pump

o DC Voltage: 6V -12 V
o Maximum lift: 40-110cm / 15.75"-43.4"
o Flow rate: 80-120L/H
o Outside diameter of water outlet: 7.45mm / 0.3" (our 7mm inner diameter tube
is ok for this pump)
o Inside diameter of water outlet: 4.7mm / 0.18"
o Diameter: Approx. 24mm / 0.95"
o Length: Approx. 45mm / 1.8"
o Height: Approx. 33mm / 1.30"
o Material: Engineering plastic
o Driving mode: brushless dc design, magnetic driving

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 3.10 Jumper wire
A jump wire (also known as jumper wire, or jumper) is an electrical wire, or group
of them in a cable, with a connector or pin at each end (or sometimes without them –
simply "tinned"), which is normally used to interconnect the Components of a
breadboard or other prototype or test circuit, internally or with other.

Fig 3.10: Jumper wires

3.11 Power supply

We need two power supply for our system. One for full device and one 12 volts DC
for our pump.

3.11.1 5V Power supply

As 5 volts power supply we use two 18650 Li-Po battery which is connected in
parallel. These batteries contain 3.8 volts but we need 5 volts also we need to charge
these batteries. So we use a step up circuit. Which step up 5 volts from 3.5-4.9 volts.

32
 Fig 3.11.1: 5V 18650 Li-Po Battery

Fig 3.11.2: Connection of 5V Power supply

33
 3.12 Software

To make this project we used 2 software. One is programming code editor software
which name is Arduino Ide. The one is an Android app which is for controlling our
appliances.

3.12.1 Arduino UNO

For coding for Node MCU we need an IDE which is compatible to our NodeMCU.
The Arduino IDE is one of the most easiest and compatible UNO for Node MCU. So
we choice Arduino UNO for our coding.

The Arduino Integrated Development Environment (UNO) is a cross-platform

application (for Windows, macos, Linux) that is written in functions from C and
C++.It is used to write and upload programs to Arduino compatible boards, but also,
with the help of third-party cores, other vendor development boards. The source code
for the IDE is released under the GNU General Public License, version 2. The
Arduino IDE supports the languages C and C++ using special rules of code
structuring. The Arduino IDE supplies a software library from the Wiring project,
which provides many common input and output procedures. User-written code only
requires two basic functions, for starting the sketch and the main program loop, that
are compiled and linked with a program stub main() into an executable cyclic
executive program with the GNU toolchain, also included with the UNO distribution.
The Arduino IDE employs the program avrdude to convert the executable code into a
text file in hexadecimal encoding that is loaded into the Arduino board by a loader
program in the board's firmware. By default, avrdude is used as the uploading tool to
flash the user code onto official Arduino boards. Arduino Pro
UNO Developer(s)Arduino Software Preview release v0.0.2 / 28 October
2019; 10 months ago Repository github.com/arduino/Arduino Edit this at Wikidata
Written in C, C++ Operating system Windows, macOS, Linux Platform
IA-32, x86-64, ARM TypeIntegrated development environment
License LGPL or GPL license Website blog.arduino.cc/2019/10/18/arduino-pro-ide-
alpha-preview-with-advanced-features/ With the rising popularity of Arduino as a
software platform, other vendors started to implement custom open source compilers
and tools (cores) that can build and upload sketches to other microcontrollers that are
not supported by Arduino's official line of microcontrollers. [4]

34
Fig 3.12.1: Arduino
IDE

35
 Chapter Four:
Implementation &
Design

36
 4.1 Technical Specification

Motor Driver is used to activate the moving of the DC motor. It also consists of flame sensor
and IR distance sensor as input of the system. Fire extinguisher is mounted on robot to
reduce fire. 1) Flame Sensor: This sensor is mainly designed for detecting as well as
responding to the occurrence of a fire or flame.

4.1 Diagram

A diagram is a symbolic representation of information using visualization techniques.

Diagrams have been used since ancient times on walls of caves, but became more
prevalent during the Enlightenment. Sometimes, the technique uses a three-
dimensional visualization which is then projected onto a two-dimensional surface.
The word graph is sometimes used as a synonym for diagram.

Fig 4.1: Diagram

37
4.1.1 Working Flow Chart
A flowchart is a type of diagram that represents a workflow or process.
A flowchart can also be defined as a diagrammatic representation of an algorithm.

Fig 4.1.1: Flow Chart of Fire Fighting Robot Car System

38
 4.1.2 Block Diagram
A block diagram is a diagram of a system in which the principal parts or functions are
represented by blocks connected by lines that show the relationships of the blocks. They are
heavily used in engineering in hardware design, electronic design, software design, and
process flow diagrams.

Fig 4.1.2: Block Diagram of Fire Fighting Robot Car System

39
 4.1.3 Circuit Diagram
A circuit diagram (also known as an electrical diagram, elementary diagram, or
electronic schematic) is a simplified conventional graphical representation of an
electrical circuit. The diagram does not show the physical arrangement of
components.

Fig 4.1.2Block Diagram of Fire Fighting Robot Car System

40
Chapter Five:
Result

41
 5.1 Result

The Robot implements environmental sensing, awareness, proportion motor control using ultra
violet infrared and visible light.

- The Robot automatically detects the fire and extinguish it in less time.

5.2 Project Outlook

Figure 5.2: Project Outlook

42
 Chapter Six:
Conclusion and
Future Scope

43
 6.1 Conclusion
Nowadays, the concept of fire-fighter robot is very common. But this fire-fighter robot solves some
issues in the existing fire-fighter robots. They are both autonomous and controlled. It has a
monitoring system to know the fire and people who stuck in the environment. Also the monitoring
system can be implemented as an Android application. The robot helps other fire-fighter men by
giving them a safer path to fire. Because lots of fire-fighter men have lost their life while saving
other's life. Using the robotic arm in the robot, it can pick up the people who stuck in there for help.
This fire- fighter robot can be implemented as in the form of drone. Using the application of
artificial intelligence, the robot can be trained to find fire type and to choose appropriate
extinguishing methods. For some large fires like forest fire, the extended version of this robot helps
to extinguish the fire in a large amount. So, nowadays the relevance of this robot is increasing.

6.2 Future Work

The future of firefighting robots is very promising. In the coming years, it is expected that robots
will become increasingly autonomous and will be able to navigate dangerous environments, detect
and analyze fires, and take action to extinguish them

6.3 Cost Analysis

01 Arduino UNO 01 pcs 1200/

02 Flame Sensor 03 Pcs 600/
03 Servo motor(SG90) 01 Pcs 400/
04 DC Gear Motor 04 Pcs 460/
05 Motor Driver (L293D) 02 Pcs 800/
06 DC Pump Motor 01 Pcs 120/
07 Wheel 04 Pcs 360/
08 7.5 Volt Battry 04 Pcs 320/
09 Jamper Ware 12 Pcs 120/
10 Buzzer 01 Pcs 50/
11 Others ---- 800/

Table 6.1: Cost Analysis

44
 6.4 Advantages

4 To detect the exact direction of the fire source.

5 Capability of sensing accurately with increased flexibility.

6 Reduce human effort.

7 Reliable and economical.

8 Not sensitive to weather conditions.

45
 References

[1] "Autonomous Mobile Robot: Recognize & Response to Fire", Nik Md Hafizul Hasmie Md
Suhaimi, UTHM, Malaysia, 2007.

[2] "Rolly Firefighter Robot", William Dubel, Hector Gongora, Kevin Bechtold, and Daisy Diaz,
Florida International University, Miami, 2003.

[3] "Fire Protection Robot", Viet Do, Ryan Norder, and Ryan Spraetz, Moscow.

[4] Microprocessor and Microcontroller, Second Edition, Department Of Computer Engineering,

Faculty Electrical & Electronic Engineering, Universiti Tun Hussien Onn Malaysia (UTHM),
Malaysia, 2008

[5] Microcontroller Cookbook PIC & 8051, Second Edition, Mike James, Newnes, Reed
Educational and Professional Publishing Ltd, Jordan Hill, Oxford, United Kingdom, 2001

[6] Microcontrollers Theory and Applications, Ajay V Deshmukh, McGraw-Hill, Tata McGraw-hill
Publishing Company Limited, New Delhi, 2005

[7] Autonomous Robot Control Board Instruction Manual (SK40C ), Cytron Technologies Sdn Bhd,
Nov 2007.

[8] Designing Autonomous Mobile Robots, Elsevier Inc, John Holland, 2004

[9] Joga D. Setiawan, Mochamad Subchan, and Agus Budiyono "Virtual Reality Simulation of Fire
Fighting Robot. Dynamic and Motion." ICIUS, October 24-26 2007.

[10] Gerald Weed, Michael Schumacher, Shawn McVay, Jack Landes "PPPPokey the Fire-Fighting
Robot. A Logical Design Using Digital and Analog Circuitry", May 11 1999.

[11] Chris Flesher, Devona Williams, Sean Benbrook, Somendra Sreedhar "Fire Protection Robot.
Final Report" p. 1-78, 2004.

[12] Myles Durkin, Kevin Mchugh, Ryan Ehid, Brian Lupus, Stephen Krupp "Firefighting Robot.
A Proposal. May 5 2008.
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"PIR-sensor-based lighting device with ultra-low standby power

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 Appendix
Code For this project

/*************************************************************
Project Name: Fire Fighting Robot Car !
This projet Build by EEE Department (Winter/2020Batch)!
*************************************************************#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);
}

void put_off_fire()
{
delay (500);

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);
}
48
 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
{
//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 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();
}
}
/

49