Chapter 1

INTRODUCTION

Fires are among the most important form of problems. Robot industry has alot of
work in this area. So today robot is more commonly used to reduce thehuman efforts. The
need of Fire extinguisher Robot that can detect and extinguish a fire on its own. Robotics is
one of the fastest growing engineering fields of today. Robots are designed to remove the
human factor from labour intensive or dangerous work and also to act in inaccessible
environment. With the invention of such a device, lives and property can be saved with
minimal damage caused by the fire. As an engineer’s we have to design a prototype that
could autonomously detect the fire and extinguish it. The Fire Fighter Robot is designed to
search for a fire in the house or industry for extinguish the fire. The main and only work is to
deploy the robot in a fire prone area and the robot will automatically work once it detects a
fire breakout. This prototype helps in Rescue operations during fire accidents where the entry
of service man is very difficult in the fire prone area. There are several existing types of
vehicles for firefighting at home and extinguish forest fires. Our proposed robot is designed
to be able to work on its own or be controlled remotely. By using such robots, fire
identification and rescue activities can be done with higher security without placing fire
fighters at high risk and dangerous conditions. In other words, robots can reduce the need for
fire fighters to get into dangerous situations.When we the field of firefighting has long been a
dangerous one,and there have been numerous and devastating losses because of a lack
intechnological advancement. Additionally, the current methods applied in firefightingare
inadequate and inefficient relying heavily on humans who are prone to error, nomatter how
extensively they have been trained. A recent trend that has become popular is to use robots
instead of humans to handle fire hazards. This is mainly because they can be used in
situations that are too dangerous for any individual toinvolve themselves in. In our project,
we develop a robot that is able to locate andextinguish fire in a given environment. The robot
navigates the area and avoids anyobstacles it faces in its excursion. Arduino board acts as a
brain of the whole controlcircuitry .Robot consist of the two sensors that areinterfaced in the
control circuitry.Sensors are used to detect fire prone area all directions and moves the robo
to fire location. When the robot reaches fire zone then a pump extinguisher is attached on the
robot comes into action to extinguish the fire.

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Fire incident is a disaster that can potentially cause the loss of life, property damage and
permanent disability to the affected victim. Fire fighters are primarily tasked to handle fire
incidents, but they are often exposed to higher risks when extinguishing fire, especially in
hazardous environments such as in nuclear power plant, petroleum refineries and gas tanks.
They are also faced with other difficulties, particularly if fire occurs in narrow and restricted
places, as it is necessary to explore the ruins of buildings and obstacles to extinguish the fire
and save the victim. Therefore, this paper presents the development of a firefighting robot
dubbed QRob that can extinguish fire without the need for fire fighters to be exposed to
unnecessary danger. QRob is designed to be compact in size than other conventional fire-
fighting robot in order to ease small location entry for deeper reach of extinguishing fire in
narrow space. QRob is also equipped with an ultrasonic sensor to avoid it from hitting any
obstacle and surrounding objects, while a flame sensor is attached for fire detection. This
resulted in QRob demonstrating capabilities of identifying fire locations automatically and
ability to extinguish fire remotely at particular distance. QRob is programmed to find the
firelocation and stop at maximum distance of 40 cm from the fire. A human operator can
monitor the robot by using camera which connects to a smartphone or remote devices.
Detecting fire and extinguishing it is a dangerous job that puts life of a fire fighter at
risk. There are many fire accidents which fire fighter had to lose their lives in the line of duty
each year throughout the world. The research and development in the field of Artificial
Intelligence has given rise to Robotics. Robots are implemented in various areas like
Industries, Manufacturing and Medicines etc. Hence, Robotics can be used to assist fire
fighters to perform this task of firefighting and thus reduce the risk of their lives. Fire Fighter
is a robot designed to use in such extreme conditions. It can be operated and controlled by
remote user and has the ability to extinguish fire after locating the source of fire. It is
equipped with a monitoring system and operates through a wireless communication system.
The fire detection system is designed using the sensors mounted on the fire fighter robot. The
robot is controlled autonomously using Android application. Android mobile phone platform
developed by Google has gained popularity among software developers due to its powerful
capabilities and open platform..
The common conventional firefighting methods involve fire brigades, portable
fireextinguisher (hand held) and sprinklers. These conventional methods consume lotof time
to reach the place of the mishap like the fire brigade must be deployed fromthe fire station
and should get through the traffic and reach the fire struck area, theportable extinguisher is
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also no gift because it is generally place at one off the corners of the building which may be
difficult to reach and it needs constant maintenance. On the other hand the sprinkler and
smoke detector set up is very nonreliable methodbecause the sprinkler pipes has any defect
may not provide enoughpressure and it is suited to cover large areas.The problem with
existing system is that exposure to the hazardous and chaotic fireenvironment, rather than to
the fire itself, is the most significant cause of injury anddeath in fires. The reachability of
precise information in real-time onthe conditions directly at the center of the fire ground is a
crucial factor in theguidance of rescue actions together with feasible counter-plans.
Unfortunately thefirefighting environments are normally hard to reach and restricted in
accessibilityby obstacles, tumbledown architectures and visibility by smoke, dangerous
gasesor dust. Therefore, the fire scene is an information-poor environment due to lackof
information on location of fire, firefighters and victims, and the search andrescue
opportunities are previously unimaginable due to lack of situational conditions and real-time
information for targeted decision making.to this theaccidents occurs. Additionally, the current
methods applied in firefighting are inadequate and inefficient relying heavily on humans who
are prone to error, no matter how extensively they have been trained.

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 Chapter 2

DISCUSSION

2.1 PROPOSED SYSTEM

The proposed model is able to detect presence of fire using flame

sensorand calculates object distance using ultrasonic sensor and moves the robot to fire
accident location. It contains gear motors and motor driver to control the movement of robot.
When it detects fire it communicates with microcontroller (Arduino MEGA) and the robo
will move towards the fire affected area. The fire extinguisher is mounted on the robotic
vehicle which is then controlled over the wireless communication so that it extinguishes the
fire automatically.

Fig 2.1 Block Diagram

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2.2 ADVANTAGES OF PROPOSED SYSTEM

 The robot will be used at places where it is dangerous for humans to enter.
 Capability of sensing accurately with increased flexibility.
 Reduce human effort.
 Reliable and economical.
 It reduces the time delay in reaching fire affected area.
 It reduce the errors and the limitations that are faced by human fire fighters.
 Sensors have long life time and less cost.

2.3 METHODOLOGY

Initially we need to make sure all the components are connected and give power
supply through an external device. The robot remains idle initially, later it starts rotating in
360 degrees to detect the presence of object with the help of flame sensor. If the object is not
within the range it moves ahead and then again checks the presence of object within the
range. The signal is sensed to the one of the 5 channel flame sensor and then robot moves if it
signals to center sensor so that we can move to the object accurately. After detecting the
flame it moves to certain distance and again checks the range of distance until it moves near
the flame object.

Fig 2.2 Robot Design

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 The methodology is divided into three parts. The first partis on the mechanicals
schematics, followed by hardware description and the finally on the programming design. All
parts were assembled together and experiments were then performed to determine the optimal
distance of QRob to extinguish the fire were carried out.

2.4 FUTURE SCOPE

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. Additionally,
robots could be used to search and rescue victims, detect hazardous materials, and monitor
situations remotely. There is also potential for robots to be equipped with thermal cameras,
allowing them to detect hot spots and better direct firefighters on the ground.

Furthermore, the development of artificial intelligence and machine learning could

allow robots to make decisions and coordinate with each other in more sophisticated ways.
Finally, it is likely that robots will be used in more applications to assist firefighters, such as
providing medical aid and helping to contain fires.

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 CHAPTER 3
SYSTEM REQUIREMENT SPECIFICATION

3.1 ULTRASONIC SENSOR

An Ultrasonic sensor is a device that can measure the distance to an

object by using soundwaves. It measures distance by sending out a sound wave
at a specific frequency andlistening for that sound wave to bounce back. By
recording the elapsed time between thesound wave being generated and the
sound wave bouncing back, it is possible to calculatethe distance between the
sonar sensor and the object.

Fig 3.1 Ultrasonic Sensor

It is important to understand that some objects might not be detected by ultrasonic

sensors.This is because some objects are shaped or positioned in such a way that the sound
wave bounces off the object, but are deflected away from the Ultrasonic sensor. It is also
possiblefor the object to be too small to reflect enough of the sound wave back to the sensor
to bedetected. Other objects can absorb the sound wave all together (cloth, carpeting, etc),
whichmeans that there is no way for the sensor to detect them accurately. These are
importantfactors to consider when designing and programming a robot using an ultrasonic
sensor.The distance can be calculated with the following formula:

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3.2 DC MOTOR
Motors convert electrical energy into mechanical energy.A DC motor is an electric motor
that runs on direct current (DC) electricity.In any electric motor, operation is based on simple
electromagnetism. A current-carryingconductor generates a magnetic field; when this is then
placed in an external magnetic field, it will experience a force proportional to the current in
the conductor, and to the strength of the external magnetic field. As you are well aware of
from playing with magnets as a kid, opposite (North and South) polarities attract, while like
polarities (North and North, South and South) repel. The internal configuration of a DC
motor is designed to harness the magnetic interaction between a current-carrying conductor
and an external magnetic field to generate rotational motion.

Fig 3.2 Dc Motor

Direct current (DC) motors are widely used to generate motion in a variety of
products. Permanent magnet DC (direct current) motors are enjoying increasing popularity in
applications requiring compact size, high torque, high efficiency, and low power
consumption.

In a brushed DC motor, the brushes make mechanical contact with a set of electrical
contacts provided on a commutator secured to an armature, forming an electrical circuit
between the DC electrical source and coil windings on the armature. As the armature rotates
on an axis, the stationary brushes come into contact with different sections of the rotating
commutator.Permanent magnet DC motors utilize two or more brushes contacting a
commutator which provides the direct current flow to the windings of the rotor, which in

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turn provide the desired magnetic repulsion/attraction with the permanent magnets located
around the periphery of the motor.

The brushes are conventionally located in brush boxes and utilize a U-shaped spring
which biases the brush into contact with the commutator. Permanent magnet brushless dc
motors are widely used in a variety of applications due to their simplicity of design, high
efficiency, and low noise. These motors operate by electronic commutation of stator windings
rather than the conventional mechanical commutation accomplished by the pressing
engagement of brushes against a rotating commutator.A brushless DC motor basically
consists of a shaft, a rotor assembly equipped with one or more permanent magnets arranged
on the shaft, and a stator assembly which incorporates a stator component and phase
windings. Rotating magnetic fields are formed by the currents applied to the coils.The rotator
is formed of at least one permanent magnet surrounded by the stator, wherein the rotator
rotates within the stator. Two bearings are mounted at an axial distance to each other on the
shaft to support the rotor assembly and stator assembly relative to each other. To achieve
electronic commutation, brushless dc motor designs usually include an electronic controller
for controlling the excitation of the stator windings.

3.3 TEMPERATURE SENSOR

Tranducers used for the measurement of temperature at the site of

disaster.gives output to the existing temperature.Output voltage is proportional
to the celsius temperature

Fig 3.3 Temperature Sensor

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3.4 SMOKE SENSOR
Smoke is a colloid and comprises a collection of airbornesolid and liquid
particulates and gases emitted when a material undergoes combustion. It is
commonly an unwanted by-product of fires.The smoke sensor detects smoke
and provides output to the MCU.

Fig 3.4 Smoke Sensor

3.5 FLAME SENSOR

A flame detector is a sensor designed to detect and respond to the presence of a flame
or fire.The sensor is kept at a certain distance away from fire to avoid damage.

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 Chapter 4
MECHANISM

Common actuators used by fire robots include motors, pumps, and valves. In addition
to sensors and actuators, fire robots are also equipped with a fire extinguishing system. This
system typically consists of a separate container for each type of extinguishing agent, as well
as a nozzle or other delivery system.

4.1 MICROCONTROLLER- PIC16F73

Takes or read data from the sensors and controls all the functions of the whole system
by manipulating these data. Control the movement of robot.If the sensor outputs are found
higher than preset value it indicates presence of fire and MCU operates the water pump
mechanism.

Fig 4.1 Microcontroller- PIC16F73

4.2 MOTOR DRIVER

Provides an interface between the 5V logic signal from the microcontroller &the high
current/high voltage power side to drive the motor.Motor is an electromechanical device,
which convert electrical energy to rotation/mechanical energy.DC Geared Motor is used to
drive the robotic vehicle.

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4.3 MOTOR CONTROL RELAY CIRCUIT
Electrical relays are interfaced to MCU via the driving circuits. Relay is used control the
water pump

Fig 4.2 Motor Control Relay Circuit

4.4AUDIO INDICATOR
Buzzer is interfaced to the MCU via the transistor acting as a switchMCU send high
signal to BC547

4.5VISUAL INDICATORS

RCI RC2 RC3IKLED is used for the purpose of visual indication. 3 LEDs are
interfaced indicating different sensors.They are interfaced to RC1,RC2& RC3 of
microcontroller. 1K current limiting resistors are used to interface the LEDs to the
microcontroller.

4.6 RELAY & DRIVER CIRCUIT

Interfacing is required for connecting a relay with any microcontroller.Relays are

inductive loads and control water pumps.Driving circuit is fixed between relays and
processor pins.The output of the microcontroller is fed to the relay driver for current
boosting. The output of this magnetizes the relay

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4.7 WATER PUMP
Used to pump water when an abnormal condition arises in the system.When excess
temperature, smoke and flame detected, the water pumpstarts pumping water.Water pump is
connected to the relay, therelay becomes energizes according to the instructionfrom the
MCU.

4.8 MOTOR CONTROL RELAY CIRCUIT

Electrical relays are interfaced to MCU via the driving circuits. Relay is used control
the water pump

4.9WORKING
Consists of temperature sensor, smoke sensor, flame sensor, MCU, water pump and
geared motor.The robot continouslymonitors variation of the surrounding area using these
sensors.Robotic vehicle moves through the disaster area as per the instructions from
MCU.Whenever the temperature exceed a limit value and flame and smoke detected MCU
identifies that there is presence of fire and operate water pump.MCU operates the relay
through the relay interfaceAudio and visual indications are attached to the robotic system.

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 Chapter 5
ADVANTAGES & DISADVANTAGES
5.1 ADVANTAGES
 Faster Response Time: Firefighting robots are capable of responding to emergency
situations faster than human firefighters. This can be especially beneficial in situations
where human firefighters may be delayed due to traffic, bad weather, or other factors.
 Increased Safety: Firefighting robots are able to enter dangerous environments that
may be too hazardous for human firefighters. This is especially important when
dealing with hazardous materials such as chemicals and toxic substances.
 Enhanced Mobility: Firefighting robots are often equipped with powerful motors and
can traverse terrain that may be difficult for humans to access. This can be very
helpful in situations where the fire is located in an area that is not easily accessible to
human firefighters.
 Improved Accuracy: Firefighting robots are typically equipped with sophisticated
sensors that can detect fire, heat, and smoke more accurately than the human eye. This
helps to ensure that the fire is extinguished quickly and efficiently.
 Cost Savings: Firefighting robots are often cheaper to operate than human firefighters.
This can result in significant cost savings in terms of training, equipment, and
manpower.

5.2 DISADVANTAGES
 Robot’s Mobility: Firefighting robots are typically wheeled, tracked or a combination
of both, and they rely on their mobility to move around and reach the fire. However, if
the surface is too rough or if there are large obstacles present, the robot may not be
able to move around freely.
 Limited Reach: Firefighting robots have limited reach and may not be able to get
close enough to put out the fire.
 Limited Sensors: Firefighting robots have limited sensors and cameras to detect the
fire, making it difficult to determine the exact location and size of the fire.
 Limited Fire Fighting Capabilities: Firefighting robots are limited in their firefighting
capabilities. They are typically limited to using water, foam, or dry chemical
extinguishers, which may not be enough to put out large or intense fires.

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 High Cost: Firefighting robots are expensive and may not be affordable for some fire
departments.
 Safety: Firefighting robots pose a safety risk to firefighters, as they may not be able to
detect hazardous conditions such as smoke or heat.

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 Chapter 6
CONCLUSION
The firefighting robot is a promising new technology that has the potential to
revolutionize the way fire fighters operate. It is capable of navigating through a burning
building and locating the source of the fire and extinguishing it quickly and accurately. Its
main advantage is that it can be used in hazardous environments where it would be too
dangerous for humans to enter. It also has the potential to save lives, as it is capable of
responding to fires more quickly than human firefighters. Therefore, the firefighting robot is
an excellent tool to have in the firefighting arsenal.

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 CHAPTER 6
REFERENCES

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Robot using Task Oriented Design Methodology”, SICE-ICASE 2006, Oct. 2006.

[2] Daniel J. Pack; Robert Avanzato; David J. Ahlgren; Igor M. Verner; “Fire-Fighting

Mobile Robotics and Interdisciplinary Design-Comparative Perspectives”, IEEE

Transactions on Education, 3 August, 2004, Volume 47, No. 3.

[3] Young-Duk Kim; Yoon-Gu Kim; Seung-Hyun Lee;Jeong-Ho Kang; Jinung An;

“Portable Fire Evacuation Guide Robot System”, Intelligent Robots and Systems,

IEEE/RSJ International Conference, 11-15 October 2009. Pages: 2789-2794.

[4] Kuo L. Su; “Automatic Fire Detection System Using Adaptive Fusion Algorithm for

Fire Fighting Robot”, Systems, Man, and Cybernetics, IEEE International

Conference, 8-11 October 2006, Pages: 966-971.

[5] Scott Dearie; Kevin Fisher; Brian Rajala; Steven Wasson; “Design and Construction

of a Fully Autonomous Fire Fighting Robot”, 2004 IEEE, Pages: 303-310.

[6] KashifAltaf; Aisha Akbar; Bilal Ijaz; “Design and Construction of an Autonomous

Fire Fighting Robot”, 2007 IEEE.

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