GSM based fire fighting robot

8/18/2019 GSM based fire fighting robot

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1

CHAPTER 1

INTRODUCTION

Conventionally Wireless-controlled Robots use RF circuits, which have limited working

range, limited frequency range and limited control. Use of a mobile hone for robotic

control can overcome these limitations. !t rovides the advantage of robust control,

working range increases and deends on the service roviders, no interference with other

controllers. "lthough the aearance and caabilities of robot vary vastly, all robots share

feature of a mechanical, movable structure under some form of control. #he robotic vehicle

control is based on three different hases$ ercetion, rocessing and action. %enerally, the

recetors are sensors loaded on the robot, rocessing is done by the &icrorocessor used

or the rocessor, and the task is erformed using driving motors or gear motors or with

some other actuators. !n this ro'ect the robot is connected to gsm modem which is

controlled by user mobile hone. With the hel of commands we can move our robot indesired direction as er our requirement.

#he ro'ect is designed to develo a fire fighting robot using RF technology for remote

oeration. #he robotic vehicle is loaded with water tanker and a um which is controlled

over wireless communication to throw water.

"t the controlling end using keyad buttons, commands are sent to the receiver to control

the movement of the robot whether to move forward, backward, left or right. "t thereceiving end three motors are interfaced to the microcontroller where two of them are

used for the movement of the vehicle. #he transmitter acts as a remote control that has the

advantage of adequate range, while the !C at the receiver end decodes it before feeding it

to another microcontroller to drive (C motors via motor driver !C for necessary work. "

water tank along with water um is mounted on the robot body and its oeration is carried

out from the microcontroller outut through aroriate signal from the transmitting end.

#he whole oeration is controlled by a microcontroller. " motor driver !C is interfaced to

the microcontroller through which the controller drives the motors.


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2

1.1 DESCRIPTION

#here are two sections in this model-

). *+!C+ C/R 0+C#!/

1. F!R+ C/R 0+C#!/

).).) VEHICLE CONROL SECTION-

!n this ro'ect, the robot is controlled by a mobile hone that makes a call to the mobile

hone attached to the robot. (uring the call, if any button is ressed, a tone corresonding

to the button ressed is received at the other end of the call. #his tone is called 2(ual #one

&ultile-Frequency2 3(#&F4 tone. #he robot understands this (#&F tone with the hel

of the hone attached on the robot. #he received tone is rocessed by the microcontroller

with the hel of (#&F decoder. #he microcontroller then transmits the decoded signal to

the motor driver !Cs to oerate the driving motors 5the robot starts moving.

1.1.2 FIRE CONTROL SECTION

#he fire fighting robot made under this ro'ect can have its movement in forward,

backward direction and can turn left and right. #he movement of the robot is controlled by

using mobile hones, i.e., using a radio link. #hus the robot can be controlled keeing a

safe distance from the fire and there is no need for humans to go even near the area on

fire. #he sensor used for detecting the fire is ight (eendent Resistor which is caable of

detecting even a small fire too. #he robot accommodates a water tank and a srinkler on

itself to e6tinguish fire. !t can also be rovided with a webcam and the oerator can have a

view on the monitor connected to the webcam.

#hus, this robot can move around the lace of fire, view the conditions around and give us

with the e6act situation at the lace on fire. #hen it can be suitably moved around fire, itsmovements being controlled using the cell hone. !t e6tinguishes fire by srinkling water


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7

CHAPTER 2

VEHICLE CONROL SECTION

#he *ehicle control is the ma'or section which control all the functioning and movement of

the vehicle. #he received tone is rocessed by the atmega71 microcontroller with the hel

of (#&F decoder, the decoder decodes the (#&F tone in to its equivalent binary digit and

this binary number is send to the microcontroller, the microcontroller is rerogrammed to

take a decision for any give inut and oututs its decision to motor drivers in order to drivethe motors for forward or backward motion or a turn.

#he mobile that makes a call to the mobile hone stacked in the robot acts as a remote. 0o

this simle robotic ro'ect does not require the construction of receiver and transmitter

units. (#&F signaling is used for telehone signaling over the line in the voice frequency

band to the call switching center. #he version of (#&F used for telehone dialing is

known as touch tone.

(#&F assigns a secific frequency 3consisting of two searate tones4 to each key s that it

can easily be identified by the electronic circuit. #he signal generated by the (#&F

encoder is the direct algebraic submission, in real time of the amlitudes of two sine

3cosine4 waves of different frequencies, i.e., ressing 8 will send a tone made by adding

)779 : and ;;< : to the other end of the mobile. #he imortant comonents of this robot

are (#&F decoder, &icrocontroller and motor driver. "n ==;< series (#&F decoder is

used here. "ll tyes of the mt==;< series use digital counting techniques to detect and

decode all the si6teen (#&F tone airs in to a four bit code outut. #he built -in dial tone

re'ection circuit eliminated the need for re- filtering. When the inut signal given at in1

3!/-4 single ended inut configuration is recogni:ed to be effective, the correct four bit

decode signal of the (#&F tone is transferred to >) 3in))4 through >?3in)?4 oututs.


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2.1 MAIN COMPONENTS IN THE VEHICLE CONTROL SECTION

#he vehicle control section is divided into sub sections-

). &!CRC/#R+R 0+C#!/1. &@!+ 0+C#!/

7. &#R C/#R 0+C#!/

?. !>U!( CRA0" (!0B"A

2.1.1 MICROCONTROLLER SECTION

!n these days, there have been many advancement in the field of +lectronics and many

cutting imortant technologies are being develoed and adoted every day, but still = bit

microcontrollers have its own role in the digital electronics market and is dominating the

)9-71 5 9? bit digital devices."lthough owerful microcontrollers with more rocessing

abilities e6ist in the market but = bit microcontrollers have its imortance because of its

easy to understand oeration, very much high oularity, can simlify digital circuits, have

low cost comared, have many new feature in a single !C.

PIN count: "tmega71 has got ?< ins. #wo for Bower 3in no.)


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Co$$unic"tion Option: "#mega71 has three data transfer modules embedded in it.

#hey are

#wo wire

!nterface U0"R#

0erial Beriheral !nterface

Fi!. 2.1' Pin Di"!&"$ o( MC ATM%!")2


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An"#o! co$p"&"to&: n-chi analog comarator is available. "n interrut is assigned

fordifferent comarison result obtained from the inuts.

E*t%&n"# Int%&&upt: 7+6ternal interrut is acceted. !nterrut sense is configurable.

M%$o&+: !t has 71Gbytes of !n-0ystem 0elf-rogrammable Flash rogram memory,

)


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%tb3PORTC4;*;


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i(3c,b3PINA4;*;2566;88c,b3PINA4;*;


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1

ip#o!"n3Stop...........5

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Pin Di"!&"$-

Fi! 2.2' Pin Di"!&"$ o( DTMF IC MT@@?;';1 8 MT@@?;';1

DTMF :'

(ual-tone multi-frequency signaling 3(#&F4 is used for communication signaling over

analog telehone lines in the audio frequency band between telehone handsets and other

communication devices and the switching center. #he (#&F version used for the ush

button telehone tone is known as touch tone.

When a button is ressed in the telehone set keyad, a connection is made that roduces a

resultant signal of two tones at the same time. #hese two tones are taken from a row

frequency and a column frequency. #he resultant of those two frequency signal is called

K(ual #one &ultile FrequencyL. #hese tones are identical and unique.


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Du"# Ton% Mu#tip#% F&%u%nc+ 3DTMF5

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2.1.) MOTOR SECTION'

#here are two tyes of (C motors, unidirectional and bidirectional. Unidirectional motor

have the ability to move only in one directionand is secially meant for some secific

alication while the bidirectional motor can be revolved in both direction i.e. clockwise

and anticlockwise direction. #his the most widely used for industrial alications. #here

are two arameters to be considered in controlling the movements of a (C motor.

). (!R+C#!/

1. 0B++(

(irection of rotation of the motor is the first thing which can be controlled. !t can be

controlled by taking control on the olarity of the current flowing through motor. Usually,

a (C motors are driven by using a -@ridge circuits made u of either transistors or the

buffers or any other suitable methods. For moving the robot forward, both the motors are

made to rotate clockwise. For moving in the reverse direction, both of them are moved anti

-clockwise. For turning right, the right side motor is turned clockwise while the left side

motor is turned anticlockwise. For turning left, the left side motor is rotated clockwise and

right side motor is rotated anticlockwise.

POGER SUPPL:

#he ower required for functioning the robot is sulied through the batteries. !n the robot

two batteries are used. ne in the motor driving section and other for the main ower

suly which turn the robot /FF that is in the microcontroller section.

@oth the batteries are of same voltage and ower. #he batteries used are of D*which gives the outut of 8*. !n the ro'ect higher voltage battery is note used because

using high ower battery may damage the microcontroller.


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DC MOTOR:

(C &otor has two leads. !t has bidirectional motion

). !f we aly 34 ve to one lead and ground to another motor will rotate in one direction, if

we reverse the connection the motor will rotate in oosite direction.

1. !f we kee both leads oen or both leads ground it will not rotate 3but some inertia will be

there4.

7. !f we aly ve voltage to both leads then braking will occurs.

Go&,in! p&incip#% o( " DC $oto&: " motor is an electrical which is used to convertelectrical energy to mechanical energy. #he rincile of working of a (C motor is that

2whenever a current carrying conductor is laced in a magnetic field, it e6eriences a

mechanical force2.

When armature windings are connected to a (C suly, current sets u in the winding.

&agnetic field may be rovided by field winding 3electromagnetism4 or by using

ermanent magnets. !n this case, current carrying armature conductors e6erience force

due to the magnetic field, according to the rincile stated above.

H'RIDE:

#he whole ower suly to motor and the basic rincile on which the motor section is

based on the -@ridge

#his circuit is known as -@ridge because it looks like L L. Working rincile of -

@ridge.

). !f switch 3") and "14 are on and switch 3@) and @14 are off then motor rotates in

clockwise direction.

1. !f switch 3@) and @14 are on and switch 3") and "14 are off then motor rotates in

"nti clockwise direction.

7. We can use #ransistor, mosfets as a switch 30tudy the transistor as aa switch4.

http://www.electricaleasy.com/2012/12/armature-winding-of-dc-machine.htmlhttp://www.electricaleasy.com/2014/12/permanent-magnet-dc-pmdc-motors.htmlhttp://www.electricaleasy.com/2012/12/armature-winding-of-dc-machine.htmlhttp://www.electricaleasy.com/2014/12/permanent-magnet-dc-pmdc-motors.html


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" bridge is an electronic circuit that enables a voltage to be alied across a load in

either direction. #hese circuits are used to control the movement of rotation of (C motor.

&ost (C-to-"C converters 3ower inverters4, most "C"C converters, the (C-to-(C

ushull converter, most motor controllers, and many other kinds of ower electronics use

bridges. !n articular, a biolar steer motor is almost invariably driven by a motor

controller containing two bridges.

Fi!. 2.


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logic


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Pin Di"!&"$:

Fi!. 2.=' Pin Di"!&"$ o( Moto& IC L2)D

PIN D%c&iption o( $oto& IC L2)D:

B!/ no. Function /ame

) +nable in for &otor )P active high +nable ),1

1 !nut ) for &otor ) !nut )

7 utut ) for &otor ) utut )


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2

8 %round 3


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1)

SCHEMATIC OF L2)D GITH DC MOTOR

Fi!. 2.>' Sc%$"tic o( L2)D it $oto&

2.1.< LIUID CRSTAL DISPLA

C( stands for Liquid Crystal Dislay. C( is finding wide sread use relacing +(s

because of the following reasons$

). #he decreasing rices of C(s.

1. #hey can dislay numbers, characters and grahics. #his is in contrast to +(s,

which are limited to numbers and a few characters.

7. !ncororation of a refreshing controller into the C(, thereby relieving the CBU of

the task of refreshing the C(. !n contrast, the +( must be refreshed by the CBUto kee dislaying the data.


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24

• LCD SCREEN

C( screen consists of two lines with )9 characters each. +ach character consists of 86;

dot matri6. Contrast on dislay deends on the ower suly voltage and whether

messages are dislayed in one or two lines. For that reason, variable voltage


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CHAPTER )

FIRE FIHTIN SECTION

#he fire fighting robot designed by us is an amateur attemt at creating a moving machine,

to aid us in fighting the emergency of fire. When fire occurs in buildings, factories or any

other closed saces, fighting it is quite risky for us as one may get traed in such closed

saces.

!n such cases, a robot, on the lines as designed by us, can be very efficiently used for fire

fighting, with least risky human intervention.

#he fire fighting robot made under this ro'ect can have its movement in forward,

backward direction and can turn left and right. #he movement of the robot is controlled by

using mobile hones, i.e., using a radio link. #hus the robot can be controlled keeing a

safe distance from the fire and there is no need for humans to go even near the area on fire.

#he sensor used for detecting the fire is ight (eendent Resistor which is caable of

detecting even a small fire too. #he robot accommodates a water tank and a srinkler on

itself to e6tinguish fire. !t can also be rovided with a webcam and the oerator can have a

view on the monitor connected to the webcam.

#hus, this robot can move around the lace of fire, view the conditions around and give us

with the e6act situation at the lace on fire. #hen it can be suitably moved around fire, its

movements being controlled using the cell hone. !t e6tinguishes fire by srinkling water

or other e6tinguishing agents. #hus, the fire fighting robot rovides a safe means to fight

fire, without any risk to human life.


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7.) COMPONENTS OF FIRE FIHTIN SECTION-

). F!R+ 0+/0R

1. W"#+R BU&B

7. W"#+R 0#R"%+ #"/G

7.).) FIRE SENSOR-

0moke and fire detection equiment is an integral art of any buildingJs safety. When

working roerly, they alert the occuants in a building of a fire before it sreads, giving

them enough time to evacuate. #his tye of equiment comes in many forms$ heat

detectors, smoke detectors, flame detectors, and C gas detectors.

ere is an overview of the different tyes of fire detection equiment.

H%"t %t%cto&

Unlike other tyes of alarm systems, heat detectors are not early warning devices. #hese

devices are tyically found in sots with fi6ed temerature, including heater closets, small

rooms, and kitchen facilities. #hey should not be installed in areas with fluctuating ambient

temerature. #his is because the alarm on heat detectors is set to go off if there is a rise in

the temerature.

F#"$% D%t%cto&

ike their name suggests, these detectors are used to detect flames. When working

roerly, they detect fire nearly at the oint of ignition. #hey are very useful for buildings

involving with ha:ardous rocesses, as well as gas and oil refineries and manufacturing

industries.

#here are three subcategories of flame detectors$ otical, U*, and !R.


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• tical detectors$ #he most commonly used, these feature otical sensors for detecting

flames.

• U* detectors$ #hese work very quickly. #hey can detect oen flames, e6losions, and fires

within four milliseconds, due to the U* radiation emitted at the instant of ignition.

owever, to revent accidental triggers, some U* detectors are designed to integrate a

three second time delay.

• !R detectors$ !nfrared detectors monitor the head radiation that is generated by oen flames

and fire. #hey have a resonse time of three to five seconds. "ccidental triggers can be

caused by nearby hot surfaces and background thermal radiation. False alarms can be

decreased with the use of secial rogramming algorithms, which are designed to

recogni:e the frequency of flame flickering.

S$o,% %t%cto&

0moke alarms are designed to detect fires quickly. ike flame detectors, this fire detection

equiment is divided into three subcategories.

• Bhotoelectric alarms$ #hese oerate with the use of a light source, hotoelectric sensor, and

beam collimating system. When smoke begins to enter the otical chamber, it crosses the

light beam ath. #his results in light being scattered by the articles in the smoke. #he

scattered light is then directed to the sensor, after which the alarm is activated and sounded.

• !oni:ation alarms$ " small amount of radioactive material, which asses through the

ioni:ation chamber, is contained inside of these alarms. #here are two electrodes inside the

chamber, with emty sace in between. #he radiation ermits a small current between the

two electrodes. !f smoke enters the chamber, it absorbs the alha articles, which results in

an interruted current and ioni:ation reduction. When this occurs, the alarm is set off.

• Combination alarms$ #hese have the features of both ioni:ation and hotoelectric alarm

technologies. #he hotoelectric function resonds to low energy smoldering fires, and the

ioni:ation function resonds to raid, high-energy fires.

!f youJre unsure which tye of fire detection equiment to get, have a rofessional come in


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T% on% u% in t% (i&%(i!tin! %0ic% o( t% p&o%ct i t% %"t %t%ctin! %no&-

T%&$ot"t:

" thermostat is a comonent of which senses the temerature of a system so that the

systemVs temerature is maintained near a desired set oint. #he thermostat does this by

switching heating or cooling devices on or off, or regulating the flow of a heat transfer

fluid as needed, to maintain the correct temerature.

" thermostat is often the main control unit for a heating or cooling system, through setting

the target temerature. #hermostats can be constructed in many ways and may use a

variety of sensors to measure the temerature, commonly a thermistor or bimetallic stri.

#he outut of the sensor then controls the heating or cooling aaratus. " thermostat is

most often an instance of a 2bang-bang controller2 as the heating or cooling equiment

interface is not tyically controlled in a roortional manner to the difference between

actual temerature and the temerature set oint. !nstead, the heating or cooling equiment

runs at full caacity until the set temerature is reached, then shuts off. !ncreasing thedifference between the thermostat setting and the desired temerature therefore does not

shorten the time to achieve the desired temerature. " thermostat may have a ma6imum

switching frequency, or switch heating and cooling equiment on and off at temeratures

either side of the set oint. #his reduces the risk of equiment damage from frequent

switching.

S%no& T+p%:

+arly technologies included mercury thermometers with electrodes inserted directly

through the glass, so that when a certain 3fi6ed4 temerature was reached the contacts

would be closed by the mercury. #hese were accurate to within a degree of temerature.

https://en.wikipedia.org/wiki/Temperaturehttps://en.wikipedia.org/wiki/Temperaturehttps://en.wikipedia.org/wiki/Systemhttps://en.wikipedia.org/wiki/Systemhttps://en.wikipedia.org/wiki/Sensorhttps://en.wikipedia.org/wiki/Thermistorhttps://en.wikipedia.org/wiki/Thermistorhttps://en.wikipedia.org/wiki/Bimetallic_striphttps://en.wikipedia.org/wiki/Bimetallic_striphttps://en.wikipedia.org/wiki/Bang%E2%80%93bang_controlhttps://en.wikipedia.org/wiki/Setpointhttps://en.wikipedia.org/wiki/Setpointhttps://en.wikipedia.org/wiki/Temperaturehttps://en.wikipedia.org/wiki/Systemhttps://en.wikipedia.org/wiki/Sensorhttps://en.wikipedia.org/wiki/Thermistorhttps://en.wikipedia.org/wiki/Bimetallic_striphttps://en.wikipedia.org/wiki/Bang%E2%80%93bang_controlhttps://en.wikipedia.org/wiki/Setpoint


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• @imetallic mechanical or electrical sensors.

• +6anding wa6 ellets

• +lectronic thermistors and semiconductor devices

• +lectrical thermocoules

#hese may then control the heating or cooling aaratus using$

• (irect mechanical control

• +lectrical signals

• Bneumatic signals

M%c"nic"# T%&$ot"t:

&echanical thermostat is used in the sensor mounted on robot. #his covers only devices

which both sense and control using urely mechanical means. Further a sub category of

mechanical thermostat is used called bimetal thermostat.

i$%t"# T%&$ot"t:

(omestic water and steam based central heating systems have traditionally been controlled

by bi-metallic stri thermostats, and this is dealt with later in this article. Burely mechanical

control has been localisedsteam or hot-water radiator bi-metallic thermostats which

regulated the individual flow. owever, #hermostatic Radiator *alves 3#R*4 are now

being widely used.

B l h i l h d l d i f bi

https://en.wikipedia.org/wiki/Bimetalhttps://en.wikipedia.org/wiki/Wax_thermostatic_elementhttps://en.wikipedia.org/wiki/Thermistorhttps://en.wikipedia.org/wiki/Semiconductor_deviceshttps://en.wikipedia.org/wiki/Thermocouplehttps://en.wikipedia.org/wiki/Steamhttps://en.wikipedia.org/wiki/Radiatorhttps://en.wiktionary.org/wiki/regulatehttps://en.wikipedia.org/wiki/Thermostatic_Radiator_Valvehttps://en.wikipedia.org/wiki/Bimetalhttps://en.wikipedia.org/wiki/Wax_thermostatic_elementhttps://en.wikipedia.org/wiki/Thermistorhttps://en.wikipedia.org/wiki/Semiconductor_deviceshttps://en.wikipedia.org/wiki/Thermocouplehttps://en.wikipedia.org/wiki/Steamhttps://en.wikipedia.org/wiki/Radiatorhttps://en.wiktionary.org/wiki/regulatehttps://en.wikipedia.org/wiki/Thermostatic_Radiator_Valve


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0ome automobile assenger heating systems have a thermostatically controlled valve to


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regulate the water flow and temerature to an ad'ustable level. !n older vehicles the

thermostat controls the alication of engine vacuum to actuators that control water valves

and flaers to direct the flow of air. !n modern vehicles, the vacuum actuators may be

oerated by small solenoids under the control of a central comuter.

).1.2 GATER PUMP

" water um is fitted inside the water tank. !t is a 9 volt submersible centrifugal um

which works on dc source. #his is lightweight, small si:e, high efficiency, low

consumtion and low noise water um. !t has been used widely used in household and

small e6erimental urose.

F%"tu&%:

self-riming um

timal For *oltage$ 9*

Sp%ci(ic"tion：

Working *oltage$ ?v-)1*

Working Current$ ;.="

&otor (iameter$ 1;mm

Water Bum lenght$ 81mm

(rain ole$ ?mm

Weight$;


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CHAPTER <

GORIN

#he working of the robot is based on the three section as discussed. #he first section is the

&obile section, the second is the &icrocontroller section and the third is the &otor driving

section.

#he first section i.e. the &obile section, it takes inut as the frequency coming from

the hone at the senders end to the hone at receiverJs end which is connected to the

vehicle using a 7.< mm 'ack. #he frequency of both the hones are matched and an

equivalent frequency is emitted which gives the instruction to the &icrocontroller that a

command is received.

#he second section, which is the &icrocontroller section takes the outut of the

mobile section and maniulates the robot to work according to the commands received. !n

this section a C( is connected which shows the commands given to the robot i.e. Right,

eft, Forward, Reverse and 0to. #he maniulated frequency from this section is delivered

as the inut to the &otor driving section. !n this section a caacitor is used which hel to

deliver the roer outut to the microrocessor so that it does not let the microcontroller

damaged.

#he third section, the motor driving section takes the outut of the microcontroller

as inut and work accordingly. When command for the forward movement is given both

the motors start moving in forward motion. When command for reverse movement is given

then both motors rotate in backward direction. When command for left turn is given then

the left motor is stationary means doesnJt rotate only right motor drives in forward


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SectionSection

O/P MC

Section & I/P of motor

sectionMotor Driving Section

3

direction leading vehicle to take a left turn. When command for right turn is given then the

right motor is stationary means doesnJt rotate only left motor drives in forward direction

leading vehicle to take a right turn.

I/P (&o$ S%n%&Q pon% O/P o( Mobi#% S%ction 8 Input o( MC %ction

Mobi#% Mic&ocont&o##%&

Fi!:


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7)


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CHAPTER =

DISCUSSION AND CONCLUSION

"fter comleting this ro'ect we can conclude that this ro'ect can be roved a helful and

useful for the fire fighters at the lace where fire is beyond the limits where there is danger

to human life. #he main advantage rovided with the hel of this ro'ect is to control a

machine with no range limit and without any human casualty. !t rovides the ease of

oerating the robot from anywhere irresective of the distance between oerator and therobot. Further it can be modified with the hel of a web camera to have a glance of the

oerating area and carry out the work effectively. !t can be the future alternative in

firefighting and can be widely used for secial oerations.

#here are some limitations too with this ro'ect that if the area in which it has to be

used is not having a roer connectivity with the network oerator 3as this hone is controlled

with the hel of /etwork service4 than it cannot be controlled roerly according to the needs.

/ow, to overcome this roblem instead of a network service a satellite modem

can be used so there will not be any network issue.

!n this ro'ect more advancements can be made like mounting a webcam on the

vehicle this could be used as an eye for the vehicle or say for the oerator. "s this

wireless camera is connected to the monitor of a lato or comuter which will guide the

oerator about its movement. &oreover, a mechanical arm can also be mounted on it so

that it becomes caable to carry or to lift something.

=.1 FUTURE SCOPE

#his can be imlemented on a large scale easily without facing much roblems. #his

would be effective if mass manufactured. #his could be loaded with different fire

e6tinguishing fluids other than water.


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REFERENCES

). &./ithiya5+.&uthami:h, K0ensors and %0& &odemL @.tech Reort, !F+#

College of +nginnering, #amil /adu, 1


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GSM based fire fighting robot