Chapter 1

INTRODUCTION

1.1 Introduction:

Robotics is considered the World's future as nowadays the robot's world population is

exceeding 8.6 million according to the last edition of world robotics and the number was not

even close from two years. The Fire Fighting Robot Competition is an international competition

where the challenge is to design and construct a Fire-Fighting Robot which would find its way

through an Arena that represent a model house, and find a lit candle that represents fire in the

house, and extinguish the fire in the shortest time whilst avoiding any obstacles in the robots

path.

Nowadays, machinery and robotic design become important in helping human. This Fire

Protection Robot was design to help people in any destructive burnt situation where this robot

can extinguish burnt area immediately using autonomous system. This autonomous system will

be designed using programming in PIC18F452 and others additional circuit.

In real life, destructive burnt area often happens without our realization. Therefore, this type

of robot will require a high demands in the market because of its usefulness to the human as well

as the environment transmit fire information to cell phone using GSM modern.

1.2 Project Objectives:The objectives for this project are:

i. To study a robot which can search, detect and extinguish burnt area immediately and

develop a program using PIC18F452 to control the movement of the robot. Besides, learn

how to connect microcontroller and GSM modem.

ii. To design the robot that includes the fire sensor to detect the fire, obstacle sensor to

detect any obstacles in path of robot and then send notification of fire by Short Message

Service (SMS) by using GSM model.

iii. To analyze how the robot performance to detect the angle of burnt area in front of the

robot and detecting burnt area in 0m ~ 2m in radius.

1

1.3 Problem Statement: The security of home, laboratory, office, factory and building is important to human life.

We develop security system that contains a fire protection robot using sensor. The security

system can detect abnormal and dangerous situation and notify us. First, we design a fire

protection robot with extinguisher for the intelligent building. Besides, Human had difficulties to

detect the small burnt cause by electrical appliances. The late time user takes to extinguish the

fire. User may take a late time to extinguish fire like finding the water source to extinguish fire

when want to extinguish the fire. The fire difficulties to detect the small burnt area and location

that is hard to be reach by the user. Sometimes tough fire extinguished for example spaces are

hard to see. Besides is cost the loss suffered in the event of fire slow to act.

1.4 Expected ResultsThe goals of this project are listed below:

It must run automatically.

It must avoid any obstacles present in the path of robot.

It must track and find flames (candle lights) in the path of robot and extinguish them

without making direct contact.

Send notification by Short Message Service (SMS) using GSM modem.

The robot can turn 360°.

The entire project must not exceed a budget.

2

Chapter 2

LITERATURE REVIEW

The first step in this project was an extensive study of up-to-date relevant literature and

background material. This was necessary in order to deepen our understanding of the topic and

highlight any new interesting or useful facts. For the purposes of this project mainly available

reports on fire fighting robot were read and consulted. Out of vast literature survey that has

been referred, few important ones are noted below which are worth in the project report.

Kiranmai, Kishore Kumar. “Design And Implementation Of Supervising Robot By Using

SMS”,Vol. 2, Issue 11, November 2013. International Journal Of Advanced Research In

Electrical, Electronics And Instrumentation Engineering:

In this paper they have proposed a model of supervising the robot for fire extinguishing by

using a GSM/GPRS system. They have also used an obstacle sensor for detecting the obstacles.

The robot is mainly moved, on the directions given by the user through SMS. The power

consumed by the robot in this model will be very low because of the usage of wireless remote

control. The future scopes of this paper are the robot can be moved much efficiently if CC

cameras are fixed and The robot can also be monitored and moved through internet also i.e., by

Using WIFI instead of using a GPS.

Manish Kumbhare, S.S.Kumbhalkar, Ratnesh Malik. “Fire Fighting Robot:An Approach”

Vol.2,Issue.II,March 12,pp.1-4 ,Indian Streams Research Journal.

This paper covers the design and construction of a robot that is able to extinguish a fire. This

robot is fully autonomous and implements the following concepts: environmental sensing and

awareness, proportional motor control. This robot processes information from its various sensors

and key hardware elements via SMCL microcontroller. It uses Ultraviolet, Infrared and visible

light to detect various components of its environment. A robot capable of fighting a simulated

tunnel fire, industry fire and military applications are designed and built.

3

U.Jyostna, Sai Prasanna, M.V.D.Prasad, “Automatic Fire Sensing And Extinguishing

Robot Embedded With GSM Modem”, International Journal Of Engineering And

Advanced Technology (IJEAT) ISSN: 2249 – 8958, Volume-2, Issue-4, April 2013.

This paper gives a detailed mechanism about the robot that continuously monitors, intimates

the respective personnel and extinguishes the fire. In the industry if any fire accident occurs,

there is a need of person to monitor continuously and rectify it. In this process if any time delay

takes place irreparable loss occurs since it is a cotton industry.

Anand Mohan Misra, Mohd. Maroof Siddiqui, Priya Gupta, Pameer Singh, “Application

of Mechatronics Alpha I (Fire Fighting Robot)”, International Journal Of Engineering

Science and Advanced Technology, Volume-2, Issue-4, July-Aug 2012.

This paper is designed to introduce the reader to the concept of “The application of

Mechatronics”. Human error is still one of the most frequent causes of catastrophe and

ecological disasters. The main reason is that the monitoring systems concern only the state of the

processes where as human contribution to the overall performance of the system is left

unsupervised. Since the control instruments are automated to a large extent, a human operator

becomes a passive observer of the supervised system, which results in weariness and vigilance

drop. The ALPHA-I technology Fire-fighting is an important but dangerous occupation. A fire-

fighter must be able to get to a fire quickly and safely extinguish the fire preventing further

damage and reduce fatalities. Technology has finally bridged the gap between fire-fighting and

machines allowing for a more efficient and effective method of fire-fighting. Robots designed to

find a fire, before it rages out of control, can one day work with fire-fighters greatly reducing the

risk of injury to victims. This project involves designing a project which can locate and

extinguish a fire. This paper is about the hardware, software, benefits and interconnection of

various parts involved in this very technology.

H. P.Singh, Akanshu Mahajan, N. Sukavanam, Veena Budhraja, Swarn Singh, Amit

Kumar and Anadi Vashisht, “Control Of An Autonomous Industrial Fire Fighting Mobile

Robot” , DU Journal of Undergraduate Research and Innovation

4

This paper describes the construction and design of a fire fighting mobile robot (FFMR).

The system controls two optically isolated D.C. geared motors. The robot performs analog to

digital conversion on 5 infrared sensors: two to control the motion of robot and three for candle

detection. The extinguishing system is comprised of a D.C. water pump and a water container.

The experimental results are included to illustrate the detailed operational mode of the FFMR.

This paper gives a detailed mechanism about the real time industrial fir fighting mobile robot

that can move through a model structure, find a candle and then extinguish it with the help of

pumping mechanism. The movement of the robot is controlled by the sensors which are fixed on

the mobile platform. Experimental results are carried out for a four wheel mobile robot to

illustrate the proposed methodology. The results show that the proposed robot model is

successfully implemented.

Sahil S.Shah, Vaibhav K.Shah, Prithvish Mamtora And Mohit Hapani, “Fire Fighting

Robot”, International Journal Of Emerging Trends & Technology In Computer Science

(IJETTCS), Volume 2, Issue 4, July – August 2013

This paper has presented a unique vision of the concepts which are used in this particular

field. It aims to promote technology innovation to achieve a reliable and efficient outcome from

the various instruments. Experimental work has been carried out carefully. The result shows that

higher efficiency is indeed achieved using the embedded system. With a common digitalized

platform, these latest instruments will enable increased flexibility in control, operation, and

expansion; allow for embedded intelligence, essentially foster the resilience of the instruments;

and eventually benefit the customers with improved services, reliability and increased

convenience. The day is not far when this technology will push its way into your house hold,

making you more lazy. This paper presents the major features and functions of the various

concepts that could be used in this field in detail through various categories. Since this initial

work cannot address everything within the proposed framework and vision, more research and

development efforts are needed to fully implement the proposed framework through a joint effort

of various entities.

5

Chapter 3

INTRODUCTION TO ROBOTICS AND EMBEDDED SYSTEMS

3.1 Robotics Background: Relaxing, enjoying arts and music and playing sports; that could be our life in the next

decades with the tremendous progress in the field of robotics. An American science fiction

movie is the thought which comes to mind once the word ‘robot’ or anything related to it like

‘robotics’ heard While actually robots are just like humans; every one of them have his own task

'role' to do in this world before getting old and dying. Nowadays, the robot's world population is

exceeding 8.6 million according to the last edition of world robotics. And those 8.6 million are

doing remarkable jobs in order to make humans life easier and happier. Robots achievements

can't be easily counted; Industrial robots are working in automotive, agriculture, construction,

assembling, entertainment, cleaning industry, science and engineering laboratories, military,

mining and exploration, food industry, transportations, and even health care where saving human

lives by helping doctors and doing surgeries in the medical industry, walking into live volcanoes

and earth quakes saving people, and defusing bombs. Robots are a must nowadays in every

industrial field in the world. Can you imagine that without robots human could have never solved

the mysterious Titanic crash? Nor have been able to get the black box of a decent number of

airplanes that crashes in oceans and settle somewhere deeper than divers' ability which helps a

lot in knowing the mistakes done by the airplane crew in order to save humans from the danger

of the same mistake happening again.

3.2 What is a Robot? There is no a particular definition on what exactly is a robot, but according to an industrial

robotics group called the Robot Institute of America: "A robot is a re programmable, multi

functional manipulator designed to move material, parts, tools, or specialized devices through

variable programmed motions for the performance of a variety of tasks" this definition is one of

the most definitions used nowadays but unfortunately it could be only applied on Robots that

perform manufacturing tasks. So if we look to another definition, we could find Webster's

definition stating that robot could be considered as any anthropomorphic mechanical being built

6

to do routine manual work for human beings, or any mechanical device operated automatically,

especially by remote control, to perform in a seemingly human way. Also we could say that a

robot is a programmable machine that imitates the actions or appearance of an intelligent

creature- usually human. There are two types of robots; Remote controlled robot is a robot that

receives instructions from a human operator, while the other type is the autonomous robot where

no interference is done from humans. Till these days, some people working in the robotics field

still argue about what is to be called Robot, some claim that a machine without some sort of

intelligence cannot be considered a robot, so it is now generally agreed that a robot has to be able

to get information from surroundings and do anything physical in order to be called a Robot.

3.3 Origins of Robots

Fig.3.1 The first robot

The word "Robot" was first used in the 1920s by a Czech playwright by the name of Karek

Capek in his play Rossum's Universal Robots where he used the word Robot to be the name of

the artificial workers he had in his play. And that name came from a Czech word robota which

means servant or slave. Then in Runaround, a short story published by Isaac Asimov in 1942, the

word 'robotics' was first used and robotics refers to the study and use of robots. Furthermore,

Isaac proposed Laws of Robotics:

Law Zero: A robot may not injure humanity, or, through inaction, allow humanity to

come to harm.

7

Law One: A robot may not injure a human being, or, through inaction, allow a human

being to come to harm, unless this would violate a higher order law.

Law Two: A robot must obey orders given it by human beings, except where such orders

would conflict with a higher order law.

Law Three: A robot must protect its own existence as long as such protection does not

conflict with a higher order laws.

In 1910, the first robot was a soldier with an automatic bellows blowing a trumpet, see

figure 2.1. It was done by Fredrich Kaufman of Dresden, Germany and now it is present in the

Munich museum. Afterwards, a robot was constructed in 1927 in the United States and it was a

humanoid named Televox which operated through telephone systems. And from that day,

robotics took the interest of scientists and engineers and they started to think about how to make

robots and what they could do. In the late 50's, Joe Engelberger and George Devol discussed the

concept of Robotics which was proposed by Isaac and the first industrial modern robot was

released in the name of 'Unimate' by a manufacturing company of universal automation

established by Engelberger. And from that time, Engelberger was considered the father of

robotics. While the Unimate (the first working robot) was installed at a General Motors plant to

work with heated die-casting machines. In 1963, the first artificial robotic arm was designed as a

tool for handicapped people and it had six joints which gave them the flexibility of a real arm

while being controlled by a computer. Moreover, the population of robots increased gradually till

it reached 8.7 millions in 2009. And this number will increase in a sharper way in the following

years as the earth is ready to be controlled by robots.

3.4 Embedded System

An embedded system is a special-purpose computer system designed to perform one

or a few dedicated functions, sometimes with real-time computing constraints. It is usually

embedded as part of a complete device including hardware and mechanical parts. In

8

contrast, a general-purpose computer, such as a personal computer, can do many different

tasks depending on programming. Embedded systems have become very important today

as they control many of the common devices we use.

Since the embedded system is dedicated to specific tasks, design engineers can optimize

it, reducing the size and cost of the product, or increasing the reliability and performance.

Some embedded systems are mass-produced, benefiting from economies of scale.

Physically, embedded systems range from portable devices such as digital watches and

MP3 players, to large stationary installations like traffic lights, factory controllers, or the

systems controlling nuclear power plants. Complexity varies from low, with a single

microcontroller chip, to very high with multiple units, peripherals and networks mounted

inside a large chassis or enclosure.

In general, "embedded system" is not an exactly defined term, as many systems have

some element of programmability. For example, handheld computers share some elements

with embedded systems - such as the operating systems and microprocessors which power

them - but are not truly embedded systems, because they allow different applications to be

loaded and peripherals to be connected.

An embedded system is some combination of computer hardware and software, either

fixed in capability or programmable, that is specifically designed for a particular kind of

application device. Industrial machines, automobiles, medical equipment, cameras,

household appliances, airplanes, vending machines, and toys (as well as the more obvious

cellular phone and PDA) are among the myriad possible hosts of an embedded system.

Embedded systems that are programmable are provided with a programming interface, and

embedded systems programming is a specialized occupation.

Certain operating systems or language platforms are tailored for the embedded market,

such as Embedded Java and Windows XP Embedded. However, some low-end consumer

products use very inexpensive microprocessors and limited storage, with the application

and operating system both part of a single program. The program is written permanently

into the system's memory in this case, rather than being loaded into RAM (random access

memory), as programs on a personal computer are.

9

3.5 Applications of Embedded System

We are living in the Embedded World. You are surrounded with many embedded

products and your daily life largely depends on the proper functioning of these gadgets.

Television, Radio, CD player of your living room, Washing Machine or Microwave Oven

in your kitchen, Card readers, Access Controllers, Palm devices of your work space enable

you to do many of your tasks very effectively. Apart from all these, many controllers

embedded in your car take care of car operations between the bumpers and most of the

times you tend to ignore all these controllers.

In recent days, you are showered with variety of information about these embedded

controllers in many places. All kinds of magazines and journals regularly dish out details

about latest technologies, new devices; fast applications which make you believe that your

basic survival is controlled by these embedded products. Now you can agree to the fact that

these embedded products have successfully invaded into our world. You must be

wondering about these embedded controllers or systems. What is this Embedded System?

The computer you use to compose your mails, or create a document or analyze the

database is known as the standard desktop computer. These desktop computers are

manufactured to serve many purposes and applications.

You need to install the relevant software to get the required processing facility. So,

these desktop computers can do many things. In contrast, embedded controllers carryout a

specific work for which they are designed. Most of the time, engineers design these

embedded controllers with a specific goal in mind. So these controllers cannot be used in

any other place.

Theoretically, an embedded controller is a combination of a piece of microprocessor

based hardware and the suitable software to undertake a specific task.

These days designers have many choices in microprocessors/microcontrollers.

Especially, in 8 bit and 32 bit, the available variety really may overwhelm even an

experienced designer. Selecting a right microprocessor may turn out as a most difficult first

step and it is getting complicated as new devices continue to pop-up very often.

10

3.6 Microcontrollers for Embedded Systems:

Microprocessors and Microcontrollers are widely used in embedded system products.

An embedded system product uses a microprocessor (or Microcontroller) to do one task

only. A printer is an example of embedded system since the processor inside it performs

one task only; namely getting the data and printing it. Contrast this with a Pentium based

PC. A PC can be used for any number of applications such as word processor, print-server,

bank teller terminal, Video game, network server, or Internet terminal. Software for a

variety of applications can be loaded and run. Of course the reason a pc can perform

myriad tasks is that it has RAM memory and an operating system that loads the application

software into RAM memory and lets the CPU run it.

In an Embedded system, there is only one application software that is typically burned

into ROM. An x86 PC contains or is connected to various embedded products such as

keyboard, printer, modem, disk controller, sound card, CD-ROM drives, mouse, and so on.

Each one of these peripherals has a Microcontroller inside it that performs only one task.

For example, inside every mouse there is a Microcontroller to perform the task of finding

the mouse position and sending it to the PC.

11

Chapter 4

PROJECT DEVELOPEMENT

4.1 Block Diagram:

Fig.4.1 Overall Block Diagram

The block diagram and its brief description of the project work are explained in block wise

and this block diagram consists the following blocks.

1. PIC18F452 Microcontroller.

2. L293D Motor Driver Circuit.

3. DC Motors.

4. IR Fire Sensor.

5. Obstacle Sensor.

6. GSM Module.

12

7. Relay.

8. Water Spraying Unit.

9. Buzzer.

10. Power Supply/Battery.

4.2 Microcontroller (PIC18F452):

4.2.1 Pin Configuration:

Fig.4.2 Pin Diagram of PIC18F452 ( DIP Package)

4.2.2 Features of PIC18F452:

4.2.2.1 Peripheral Features:

High current sink/source 25 mA/25 mA

13

Three external interrupt pins

Timer0 module: 8-bit/16-bit timer/counter with 8-bit programmable prescaler

Timer1 module: 16-bit timer/counter

Timer2 module: 8-bit timer/counter with 8-bit period register (time-base for PWM)

Timer3 module: 16-bit timer/counter

Compatible 10-bit Analog-to-Digital Converter module (A/D) with: Fast sampling rate

Two Capture/Compare/PWM (CCP) modules.

16-bit wide instructions, 8-bit wide data path

Priority levels for interrupts

Addressable USART module: Supports RS-485 and RS-232

4.2.2.2 Device features:

Operating Frequency DC - 40 MHz

Program Memory (Bytes) - 32K

Program Memory (Instructions) - 16384

Data Memory (Bytes) - 1536

Data EEPROM Memory (Bytes) - 256

Interrupt Sources - 18

I/O Ports - Ports A, B, C, D, E

Timers - 4

Capture/Compare/PWM Modules - 2

4.2.2.3 Crystal oscillator:

The clock circuit is an important element that is required in the system board. This is

because the microcontroller works digitally based on generated clock. The rate of the clock is

determined by a crystal oscillator that is connected to the clock logic pins. A high speed crystal

of 12 MHz is used in this project in order to avoid any delay in terms of relay tripping ON and

OFF, and monitoring of the transformer parameters through the ADC of the microcontroller.

Because the monitoring of transformer parameters and tripping off the relay has to be very fast to

avoid failure of the entire protection system. Crystal is inscribed into the microcontroller, with

two 33 pF capacitors used to filter out external noise.

4.2.3 Pin Description Of PIC18F452:

14

15

16

Pin

NumberDescription

1 MCLR/VPP - Master Clear Reset

2 RA0/AN0 - Port A

3 RA1/AN1 - Port A

4 RA2/AN2/VREF- - Port A

5 RA3/AN3/VREF+ - Port A

6 RA4/T0CKI - Port A

7 RA5/AN4/SS/LVDIN - Port A

8 RE0/RD/AN5 - Port E

9 RE1/WR/AN6 - Port E

10 RE2/CS/AN7 - Port E

11 VDD - Positive Power Supply

12 VSS – Ground

13 OSC1/CLKI – Oscillator

14 OSC2/CLKO/RA6 - Port A

15 RC0/T1OSO/T1CKI - Port C

16 RC1/T1OSI/CCP2 - Port C

17 RC2/CCP1 - Port C

18 RC3/SCK/SCL - Port C

19 RD0/PSP0 - Port D

20 RD1/PSP1 - Port D

21 RD2/PSP2 - Port D

22 RD3/PSP3 - Port D

23 RC4/SDI/SDA - Port C

24 RC5/SDO - Port C

25 RC6/TX/CK - Port C

26 RC7/RX/DT - Port C

27 RD4/PSP4 - Port D

Table 4.2 Pin Description of PIC18F452

4.2.4 Connection Diagram:

Fig 4.3 Connection Diagram Of PIC18F452

4.3 Motor Driver (L293D):

17

Fig 4.4 Motor Driver Circuit

L293D is a typical motor driver which allows DC motor to drive in both clock wise and anti-

clockwise direction. L293D is a 16-pin IC which can control a set of two DC motors

simultaneously in any direction. It is a dual H-bridge motor driver integrated circuit. L293D has

an output current capability limited to 600mA per channel with peak output current limited to

1.2A, sufficient enough to drive a 100rpm motor. An internal sensor senses its internal

temperature and stops driving the motor the motor if the temperature crosses a set point which

implies that the over temperature protection also built into the IC. Zener diode is used to protect

the driver IC from the voltage spikes that occur when the motor is turned on and/or off.

The L293D H-Bridge is a dual H-Bridge and each one of its H-Bridges is a set of 2 push-pull

drivers that use a total of 3 I/O lines. The L293D H-Bridge requires a power supply that is

capable of handling enough current to dive the attached DC motor.

Fig4.5 L293D Connection with motor

4.3.1 Pin Description:

L293D pin Name Description

1 Enable 1 Output enable for output 1&2

2 Input 1 Control line for output 1

3 Output 1 Output 1

4 Gnd Gnd

5 Gnd Gnd

6 Output 2 Output 2

18

7 Input 2 Control line for output 2

8 Vs Supply voltage of up to 36

9 Enable 2 Output enable for output 3&4

10 Input 3 Control line for output 3

11 Output 3 Output 3

12 Gnd Gnd

13 Gnd Gnd

14 Output 4 Output 4

15 Input 4 Control line for output 4

16 Vss Logic supply voltage volts

Table 4.2 Pin Description of L293D

4.3.2 Actual Connection Diagram:

Fig 4.6 Actual Connection Diagram of L293D

19

4.4 DC Motors: A DC motor is any of a class of electrical machines that converts direct current electrical

power into mechanical power. The most common types rely on the forces produced by magnetic

fields. Nearly all types of DC motors have some internal mechanism, either electromechanical or

electronic; to periodically change the direction of current flow in part of the motor. Most types

produce rotary motion; a linear motor directly produces force and motion in a straight line.

Fig 4.7 30 RPM DC Motor

We had used 30 Rpm motor for this project. This gives high torque for this motor.30 RPM

Side Shaft 37mm Diameter Compact DC Gear Motor is suitable for small robots / automation

systems. It has sturdy construction with gear box built to handle stall torque produced by the

motor. Drive shaft is supported from both sides with metal bushes. Motor runs smoothly from

4V to 12V and gives 30 RPM at 12V. Motor has 6mm diameter, 22mm length drive shaft with D

shape for excellent coupling.

We had used brushed DC motor. The brushed DC electric motor generates torque directly

from DC power supplied to the motor by using internal commutation, stationary magnets

(permanent or electromagnets), and rotating electrical magnets. Advantages of a brushed DC

motor include low initial cost, high reliability, and simple control of motor speed. Disadvantages

are high maintenance and low life-span for high intensity uses. Maintenance involves regularly

replacing the carbon brushes and springs which carry the electric current, as well as cleaning or

replacing the commutator. These components are necessary for transferring electrical power

20

from outside the motor to the spinning wire windings of the rotor inside the motor. Brushes

consist of conductors. We used two DC motors to drive the vehicle.

4.4.1 Specifications:

RPM: 30 at 12V

Voltage: 4V to 12V

Shaft diameter: 6mm

Shaft length: 22mm

Gear assembly: Spur

Brush type: Carbon

Motor weight: 143gms

4.4.2 Robot Movement:

Table 4.3 Robot Movement w.r.t Motors

4.5 IR Fire Sensors:

21

Fig 4.8 IR Fire Sensor

The Fire sensor, as the name suggests, is used as a simple and compact device for protection

against fire. The module makes use of IR sensor and comparator to detect fire up to a range of 1 -

2 meters depending on fire density.

4.5.1 Features:

• Allows your robot to detect flames from 2m away.

• Fire indicator led.

• Calibration preset for range adjustment.

4.5.2 Application:

Industrial heating and drying systems.

• Domestic heating systems.

• Industrial gas turbines.

4.5.3 Specification:

Parameter Value

Operating Voltage +5V

Range 2m

22

Fire Detection Active high output

Table4.4 Specification of Fire Sensor

4.5.4 Pin Details:

Pin Name Details

1 OUT Active High Output

2 +5V Power Supply Input

3 GND Power Supply Ground Table 4.5 Pin Details of Fire Sensor

4.5.5 Using the Sensor:

Connect ground and VCC pin to +5V and GND.

Connect out pin to port pin of controller for interfacing with applications.

4.5.6 Working:

The fire sensor circuit is too sensitive and can detect a rise in temperature in its vicinity. The

fire sensor module consists of IR sensor, comparator and LED. It has got three pins GND, VCC

and out. Whenever fire is detected by IR sensor LED glows, and out pin is set high. The out pin

can be given as input to the microcontroller and can be used for any fire detection applications.

Whenever the LED is ON it indicates that fire is detected. For example you can connect it to a

buzzer via microcontroller and when out pin of fire sensor module is set high the buzzer 4is ON.

And the range of the sensor is 2 meters.

4.6 Power Supply:

23

Fig 4.9 Power Supply

4.6.1 Transformer:

Transformer is directly connected to ac supply line to step down the voltage (230\17 volts).

Voltage across the transformer secondary is sinusoidal and its secondary is connected to rectifier.

4.6.2 Rectifier and Filter:

Rectifier is used to convert the alternating voltage into pulsating dc voltage. The pulsating dc

voltage is converted to pure dc voltage with the help of filter. But if the supply voltage is

fluctuates then the output voltage of filter is also varies to avoid this we have to use the regulator.

4.6.3 Voltage Regulator:

We use the LM7805 voltage regulator. We have made use of LM7805 voltage regulator

coupled with a heat sink to remove the excess heat generated by the power supply unit.

Advantages of LM7805 is that if supply voltage is fluctuates but it keep output voltage constant.

LM7805 has three terminal input, output and ground. Heat sink is coupled at top to remove the

excess heat.

Fig 3.1.3 depicts the pin out of LM7805.

24

Fig. 4.10 Pin Diagram of LM7805

The input terminal is connected to a power supply of greater than 5V (generally 12V supply),

second terminal is connected to ground and third (output) terminal gives output of 5V. The 5V

output is used to power on the IC’s by connecting it to VCC terminal.

4.7 Buzzer:

Fig 4.11 Buzzer Sound

Buzzer Sound is used for alerting the personnel when fire is detected. It turns on when it

receives high signal from controller.

25

4.8 PCB Layout: A Printed Circuit Board or PCB is used to mechanically support and electrically connect

electronic components using conductive pathways, tracks or traces etched from copper sheets

laminated onto a non-conductive substrate. It is also referred to as Printed wiring board(PWD).

PCB plays a vital role in determining the overall performance of the electronic equipment.

Advantages of PCB over common wiring are

1. PCBs are necessary for connecting a large number of electronic components in a very small

area with minimum parasitic effects.

2. PCBs are simulated with mass production with less chance of wiring error.

3. Small components are easily mounted.

4. Servicing is simplified.

The PCB layout can be done either by hand or by using PCB designing Software mentioned

below:

DIP TRACE by Novarm

CADSTAR by Zuken

TARGET 3001

ORCAD by Cadence

ALLEGRO by Cadence

PROTEUS

EAGLE by Cadsoft

Design of PCB layout in this project was carried out by using EAGLE software. Below Fig

shows the PCB layout of overall control circuit.

26

Fig.4.12 PCB Layout

Chapter 5

OPERATING PRINCIPLE AND PROGRAMMING

5.1 Working Principle: In this system microcontroller is interfaced with two dc motors with driver circuit, IR fire

sensor is mounted on the robot. When fire occurs it generates IR waves which are detected by IR

sensor on the robot and stops the vehicle and starts the buzzer. Then relay gets actuated and it

starts the DC pump & water spraying unit. Also SMS is sent to the predefined numbers by using

27

GSM model. IR receiver and a transmitter is put on the robot behind the receiver. On robot, IR

transmitter which continuously emits IR signals of 38 KHz. Those IR signals whenever they fall

on objects are reflected back. The IR receiver which is placed on the robot which receives

signals of 38 KHz.

Initially on power on reset of the circuit robot moves in its path. On robot, IR transmitter of

38 KHz is present which continuously sends IR signals modulated at 38 KHz in the direction of

robot, and also 38 KHz IR receiver which receives IR signals is placed behind the transmitter.

Whenever a obstacle occurs the IR signals are reflected back from the obstacle and these signals

are sensed by the IR receiver and it generates an hardware interrupt to the microcontroller. The

microcontroller which is interface to dc geared motors changes the moving direction of the robot

in such a way to avoid the clash with obstacle and there by avoids the obstacle.

5.2 Programming: Programming of PIC18F458 is done with MPLAB IDE software. We have programmed the

movement of vehicle by microcontroller after detecting the fire to stop the robotic vehicle and to

turn on the buzzer sound also shutoff the supply of motor by microcontroller and stop the robot.

5.2.1 Program:

#include <p18f452.h>

#pragma config WDT = OFF

#pragma config OSC = HS

#pragma config OSCS= OFF

#pragma config DEBUG= OFF

#pragma config LVP= OFF

#pragma config BOR = OFF

#define fire PORTCbits.RC1

#define buzzer PORTDbits.RD2

#define A PORTDbits.RD4

#define B PORTDbits.RD5

28

#define C PORTDbits.RD6

#define D PORTDbits.RD7

unsigned int i,j,s,p;

void delay(unsigned int msec)

{

int i,j;

for(i=0;i<msec;i++)

for(j=0;j<=144;j++);

}

void main()

{

TRISD=0;

TRISC=0xff;

A=0;

B=0;

C=0;

D=0;

s=0;

p=0;

while(1)

{

if(fire==1 && s==0)

{

s=1;

p=0;

A=0;

B=0;

C=0;

D=0;

buzzer=1;

delay(1000);

29

buzzer=0;

}

if(fire==0 && p==0)

{

p=1;

s=0;

A=1;

B=0;

C=1;

D=0;

delay(5000);

A=0;

B=0;

C=1;

D=0;

delay(3000);

A=1;

B=0;

C=1;

D=0;

delay(5000);

A=0;

B=0;

C=1;

D=0;

delay(3000);

A=1;

B=0;

C=1;

D=0;

delay(5000);

30

A=0;

B=0;

C=1;

D=0;

delay(3000);

A=1;

B=0;

C=1;

D=0;

delay(5000);

}

}

}

5.3 Advantages:

1. Can be used as a mobile surveillance system.

2. Can be used as a fire extinguisher at places out of human reach.

3. Can be used in security system.

4. Can be used in chemical and oil industry, nuclear plants, mine fields and dangerous

substance transport.

5. Prevention from dangerous events.

6. Minimization of:

Ecological Consequences

Financial Loss

A threat to human life

7. Used in Remote Areas.

8. Works for a continuous time till the water tank becomes empty.

9. Used in congested areas where normal fire vehicle will not work.

10. It automatically senses the fire and extinguishes it.

11. It alerts the respective personnel about fire by buzzer.

31

12. It also alerts the near fire station about fire by sending SMS.

5.4 Applications:

1. Can be used in record maintaining rooms where fire can cause lose of valuable data.

2. Can be used in Server rooms for immediate action in case of fire.

3. Can be used in extinguishing fire where probability of explosion is high. For eg. Hotel

kitchens, LPG/CNG gas stores, etc.

4. Every working environment requiring permanent operator's attention.

At power plant control rooms.

At captain bridges.

At flight control centers.

5. This Type of Robots are Suitable For:

Fire department.

Factories.

High explosion area.

Chemical industries.

Petrol station.

Chapter 6

FUTURE WORK

In Phase-I we have designed the chassis of the robotic vehicle with two DC motors mounted

on the chassis. We have also designed the driving circuit for the DC motors and designed the IR

fire Sensor circuit. We have connected buzzer sound to the system. We also designed the

microcontroller circuit for the system and programmed the microcontroller by using MPLAB

software.

In Phase-II we have to do the following work:

32

Mount the three fire sensors on the chassis and connect it to the microcontroller.

Design the three obstacle sensors and mount them on the chassis and connect it to the

microcontroller.

Connecting the GSM module to circuit.

Connect the actuating pump and water spraying unit through relay.

To develop the program for automatic operation of fire fighting robot.

REFERENCES:

[1] Kiranmai, Kishore Kumar. “Design And Implementation of Supervising Robot by Using

SMS”.Vol. 2, Issue 11, November 2013. International Journal Of Advanced Research In

Electrical, Electronics And Instrumentation Engineering.

[2] Manish Kumbhare, S S Kumbhalkar, Ratnesh Malik. “FIRE FIGHTING ROBOT: AN

APPROACH”,Vol.2,Issue.II/March 12, pp.1-4, Indian Streams Research Journal

33

[3] Abhilash Dhumatkar, Sumit Bhiogade, Shashank Rajpal, Datta Renge, Prof. V. Kale,

“International Journal Of Recent Research In Mathematics Computer Science And Information

Technology”, Vol. 2, Issue 1, Pp: (42-46), Month: April 2015 – September 2015.

[4] U.Jyostna Sai Prasanna, M.V.D.Prasad, “Automatic Fire Sensing and Extinguishig Robot

Embedded With GSM Modem”, International Journal of Engineering And Advanced

Technology (IJEAT) ISSN: 2249 – 8958, Volume-2, Issue-4, April 2013.

[5] Anand Mohan Misra, Mohd. Maroof Siddiqui, Priya Gupta, Pameer Singh, “Application of

Mechatronics Alpha I (Fire Fighting Robot)”, International Journal Of Engineering Science and

Advanced Technology, Volume-2, Issue-4, July-Aug 2012.

[6] Sahil S.Shah, Vaibhav K.Shah, Prithvish Mamtora And Mohit Hapani, “Fire Fighting

Robot”, International Journal Of Emerging Trends & Technology In Computer Science

(IJETTCS), Volume 2, Issue 4, July – August 2013

[7] Swati A. Deshmukh, Karishma A. Matte And Rashmi A. Pandhare, “Wireless Fire Fighting

Robot”, International Journal For Research In Emerging Science And Technology, Volume-2,

Special Issue-1, March-2015

[8] H. P.Singh, Akanshu Mahajan, N. Sukavanam, Veena Budhraja, Swarn Singh, Amit Kumar

and Anadi Vashisht, “Control Of An Autonomous Industrial Fire Fighting Mobile Robot” , DU

Journal of Undergraduate Research and Innovation

[9] Rohith Punuganti, Anusha Srinivas, Lakshmi F Savanoor, Divya Shree R, “PIC Based Fire

Sensing and Extinguishing Robot”, Proceedings Of IRF International Conference, 30th March-

2014, Pune, India, ISBN: 978-93-82702-69-6.

[10]PIC Microcontroller and Embedded Systems: Using Assembly and C for PIC18 -

Muhammad Ali Mazidi, Rolin D. McKinlay, Danny Causey, Pearson Education, Limited, 2008

34

35