1.1 Motivation: 1.2 Objective of The Project

Smart Fire Fighting Robot 2018-19
CHAPTER 1
INTRODUCTION
1.1 Motivation
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, could one day work with fire fighters greatly reducing the risk of injury to victims.
Our world is currently facing the global warming whereby the average temperature of our earth
atmosphere and oceans is increasing year by year. Studies shows that our earth mean surface
temperature has increased about 0.8C which about two-third of increase occurring since 1980.
The global warming of the earth may lead to more forest fire and fire disaster occur as
everything gets more flammable due to the high temperature of our earth atmosphere. Therefore,
fire extinguishing robot is needed to reduce all the damage cause by natural or human made fire
disaster. The project aims at designing an intelligent live video feedback fire extinguishing
robotic vehicle which can be controlled wirelessly.
1.2 Objective of the project
The main aim of the system is to implement a cost effective smart fire fighting robot
system which is used to detect and extinguish the fire. It provides audio and visual indication
upon detection of fire. It also reduces the effort of human labor and level of destruction.
1.3 Organization of the report
The report is divided into 7 chapters. Chapter 1 contains the motivation and objective of
the project. The Chapter 2 contains the details of the literature survey done for this project.
Chapter 3 contains the block diagram of the robot section, description and working of each
block. Chapter 4 contains hardware description and technical details of individual blocks.
Chapter 5 describes the software tool used and the flow chart of the system. Chapter 6 contains
the result of the project. Chapter 7 contains the Conclusion and future scope of the project.
Department of ECE, SIT, Tumakuru 1

CHAPTER 2
LITERATURE REVIEW
This chapter provides details about the existing technologies similar to Smart Fire
Fighting robot.
K. Altaf, A. Akbar, B. Ijaz, carried out a work on Autonomous Robot for Fire
Extinguishing [1]. This robot uses four flame sensors in front, back, left and right of the robot
module surface. The robot automatically moves to the direction where the fire is detected by the
sensor but the robot takes longer time in processing and scanning the environment for presence
of fire, their incapability to extinguish vulnerable affected areas first may lead the fire to spread
wildly leading to loss of life and property causing mass destruction. The robot is operated in a
restricted area and exhibits constraint in their application in real time. Totally depending upon
the readings of the sensors in a fire hazard an environment may prove to be inappropriate as
faulty reading of sensors due to disruptive condition of the surroundings may cause the robot to
be totally ineffective.
Rangan M K, Rakesh S M, Sandeep G S P, C Sharmila Suttur, proposed a methodology

that uses image processing techniques instead of sensors to detect the fire [2]. The video of the
surrounding environment is streamed over cloud by the robot. The color segmentation of the
captured frames was carried out to detect the fire but streaming videos over cloud may produce
undesirable latency in real time application and hence is seldom used.
Steven Wasson, Brian Rajala, proposed an article which will cover the design and
construction of an autonomous fire fighting robot [3] that is able to navigate in a maze, detect
and extinguish a fire and return to its original location. This robot is fully autonomous and
implements the following concepts: environmental sensing and awareness, proportional motor
control based upon environmental factors, digital speed decoding through programmable logic,
differential drive control and isolation of low and high power systems. This robot processes
information from its various sensors and key hardware elements via a Motorola 68HC12 micro-
controller with 64KB of expanded memory. It uses UV, IR and visible light to detect various
components of an environment. This robot is not suitable for real time application as the robot is
restricted for a given space and power consumption is more. The speed of operation is less
because of switching between the low and high power systems.

Similarly other works are carried out by B shwetha sampath proposed a paper on
automatic fire fighting robot [4] designed using a thermocouple. The robot detects the fire and
move in the direction of fire, based on the fire intensity values received by the thermocouple
sensor the robot moves in that direction. The robot movement is entirely dependent on the
readings of the sensor which are non linear devices and temperature dependent. Due to this the
sensor may give the faulty reading which is a threat to the robot itself.
Authors Preeti Dhiman, Noble Tawra, Rakesh Nagar, Rishab Singh and Varun Kaushik
have presented paper on Voice Operated Intelligent Fire Extinguisher Vehicle [5]. Here
demonstrates the design and implementation of voice operated fire extinguishing vehicle. The
vehicle is controlled through speech input by operator. The language input allows a user to
interact with the robotic vehicle. The speech recognition system is trained in such a way that it
recognizes predefined commands and the robot navigates depending on the instruction through
the voice commands. The communication medium of interaction between humans and computers
is on the processing of voice. The whole system consists of three subsystems, the speech
recognition system, transmitter section and the receiver section. Speech has difficulties to be
recognized by an application because speech is different for every speaker. It may be fast, slow,
or varying in speed. Also may have high pitch, low pitch, or be whispered. Have widely-varying
types of environmental noise. The system is affected by surrounding noise and so noise
interference is a big problem. It leads to error in the results.
It can be observed that in these existing projects the robots movement is restricted for a
smaller environment hence it cannot be used for real time application. The user has no control
over the robot. Thus, a robot is designed keeping in mind all these factors to overcome such
inefficiencies. The process of scanning the environment for the presence of fire usually takes a
longer time and is overcome by giving the entire authority to the user to make the robot move in
areas where user desires so that vulnerable areas are handled first, along with different sensors a
webcam is also mounted on top of the robot so that even if the sensors provide faulty readings
the user can still be sure of the situation and surroundings.

CHAPTER 3
BLOCK DIAGRAM OF ROBOT SECTION
Chapter 3 describes the block diagram and it briefs about the components used in the system.
Block diagram of the Smart fire fighting robot is as shown in Figure 3.1.The system
consists of ATEMAGA 328 controller, Flame sensor, camera, Buzzer, Geared DC motor and
Motor driver.
FLAME BLUETOOTH
SENSOR HC-05
MODULE
A
L293D T L293D
Motor driver Motor driver
unit 1
M unit 2
E
G
MOTOR 1 MOTOR 2
A DC MOTOR
3
2
POWER
SUPPLY 8 ULN2803
Water BUZZER
Pump
Figure: 3.1 Block Diagram of the Robot section

Power supply
A battery rated 12V, 2A is used to provide power to the arduino board. The regulator IC's
present in the board provide ripple free regulated 5V, 12V output to motors, fire sensor module,
microcontroller, buzzer, ULN2803.
Arduino controller
Arduino controller is the heart of the system. It interfaces with Flame sensor, Geared DC
motors, ULN2803 IC, HC-05 Bluetooth module and motor drivers. It controls all the operation
of the robot movement based on the serial command received.
Flame Sensor
It has a photodiode to detect the light and op-amp to control the sensitivity. It is used to
detect fire and provide HIGH signal upon the detection of fire.
Motor driver units
It has two motor driver units. Motor driver unit-1 controls the two DC motors which are
used for the movement of the robot. Motor driver unit-2 controls the DC motor which used to
control the movement of the fire extinguisher arm.
Camera
It is used in the robot vehicle to give live feedback that can be operated wirelessly from
the distant places. This vehicle with live feedback system can serve as an intelligence agent,
which provides visual information about enemy activities.
HC-05 Bluetooth module
Bluetooth module is used for the serial communication. From the Bluetooth terminal,
user sends the command and based on the received command robot movement can be controlled.
ULN2803 Darlington amplifier
ULN2803 drives the water pump and the buzzer. It provides 12V required by the buzzer
and the water pump. Buzzer is used as the audio indicator.

The robot vehicle is consisting of fire extinguishing unit. The vehicle consists of two
wheels which enable the robot vehicle to move in forward, reverse, left, right directions. The
extinguisher unit consists of water tank inside which there is a motor in order to pump the water,
robotic water sprayer arm which moves up and down, sprays the water on the fire upon
detection.
The flame sensor is used detect the fire. The microcontroller is programmed in such a
way that when the sensor output goes high the buzzer sounds and alerts the user that fire is
detected. We can operate the robot vehicle through the Bluetooth terminal application.
The microcontroller is interfaced to L293D motor driver which are used to run the
vehicle in all the 4-directions. The user can easily control and see the operation that is going on
with the help of the camera that is fixed on the robotic vehicle.

CHAPTER 4
HARDWARE DESCRIPTION
This chapter contains the technical details of the components used.
4.1 Power supply
Figure 4.1: Power Supply
An SMPS rated 12V, 2A is used to provide power to the microcontroller board. The
regulator IC's present in the board provide ripple free regulated 12V, 5V output to motor driver,
motors, fire sensor, controller, ULN2803.
Features
 Voltage rating- 12V

 Current rating- 2A
 Short circuit protection
 Over voltage and over current protection
Working
AC power adapter consists of step down transformer, bridge rectifier, smoothening filter
and a regulator. Transformers convert AC electricity from one voltage to another with little loss
of power. A Bridge Rectifier converts the AC to pulsating DC. Smoothing is performed by a
large value electrolyte capacitor connected across the DC supply to act as a reservoir, supplying
current to the output when the varying DC voltage from the rectifier is falling. Voltage regulator
ICs regulates the input dc voltage to 12V.

4.2 Arduino UNO 3
Figure 4.2: Arduino UNO 3

The Arduino Uno is a microcontroller board based on the ATmega328 IC is the heart of
the proposed system. It interfaces with Flame sensor, Geared DC motors, ULN2803 IC, HC-05
Bluetooth module and motor drivers. It controls all the operation of the robot movement based
on the serial command received. It has 14 digital input/output pins out of which 6 can be used as
PWM outputs, 6 analog inputs, a 16 MHz ceramic resonator, a USB connection, a power jack, an
ICSP header, and a reset button.
Features of Arduino uno-3 controller
 It is an 8-bit AVR RISC based microcontroller.
 Operating voltage is 5V.
 Input voltage is in the range of 7-12V
 It has 14 digital input/output pins.
 It has 6 analog input pins.
 DC current per I/O pins is 40mA.
 DC current for 3.3V pins is 50mA.

 It has a flash memory of 32 KB of which 0.5 KB is used by the bootloader.
 It as SRAM of 2 KB, EEPROM of 1 KB.
 It has a crystal oscillator with clock speed of 16 MHz.
4.3 Flame sensor
Figure 4.3: Flame Sensor
This module is sensitive to the flame and radiation. It can also detect
ordinary light source in the range of a wavelength 760nm-1100 nm. The
detection distance is up to 20 cm. The flame sensor is used to detect the presence of fire or other
infrared source. The Flame sensor can output digital or analog signal. It can be used as a
flame alarm or in firefighting robots.
Description
• Detects a flame or a light source of a wavelength in the range of 760nm-1100 nm.
• Detection distance: 20cm (4.8V) ~ 100cm (1V).
• Detection angle about 60 degrees, it is sensitive to the flame spectrum.
• Comparator chip LM393 makes module readings stable.
• Adjustable detection range.
• Operating voltage 3.3V-5V.
• Digital DO digital switch outputs (0 and 1).
• Power indicator and digital switch output indicator.
Pin description
1) VCC -- 3.3V-5V voltage.

2) GND – Ground reference.
3) DO -- board digital output interface (0 and 1).
4.4 Drivers
L293D Motor Drivers
Figure 4.41: Motor Driver Unit
L293D is a dual H-bridge motor driver integrated circuit(IC). Motor drivers act as current
amplifiers. It contains two inbuilt H-bridge driver circuits. In its common mode of operation, two
DC motors can be driven simultaneously, both in forward and reverse direction.
The motor operations of two motors can be controlled by input logic at pins 2, 7 and 10, 15.
Input logic 00 or 11 will stop the corresponding motor. Logic 01 & 10 will rotate it in clock wise
and anticlockwise directions, respectively.
Figure 4.42: Pin Out of L293D IC
Enable pins 0 & 9 ( corresponding to the two motors) must be high for motors to start
operating. When an enable input is high, the associated driver gets enabled. As a result, the
outputs become active and work in phase with their inputs. Similarly, when the enable input is

low, that driver is disabled, and their outputs are off and in high impedence state.
ULN2803 IC
Figure 4.43: ULN2803 IC Figure 4.44: Darlington Pair
ULN2803 is a High voltage, high current Transistor Array IC used especially with
Microcontrollers where we need to drive high power loads. This IC consists of a eight NPN
Darlington connected transistors with common Clamp diodes for switching the loads connected
to the output. This IC is widely used to drive high loads such Lamps, relays, motors etc. It is
usually rated at 50v/500mA.
Purpose of ULN2803
Most of the Chips operates with low level signals such as TTL, CMOS, PMOS, and
NMOS which operates at the range of (0-5) v and are incapable to drive high power inductive
loads. However this chip takes low level input signals (TTL) and uses that to switch/turn off the
higher voltage loads that are connected to the output side.
Working of ULN2803 IC
The ULN2803 IC consists of eight NPN Darlington pair which provides the proper
current amplification required by the loads. The transistors are used to amplify the current but
here Darlington transistor pairs are used inside the IC to make the required amplification.
A Darlington pair is two transistors that act as a single transistor providing high current
gain. In this pair the current amplified by the first transistor is further amplified by the next
transistor providing high current to the output terminal.
When no base voltage is applied that is when no signal is given to the input pins of the
IC, there will be no base current and transistor remains in off state. When high logic is fed to the
input both the transistors begin to conduct providing a path to ground for the external load that

the output is connected. Thus when an input is applied corresponding output pin drops down to
zero there by enabling the load connected to complete its path.
4.5 Camera
Figure 4.5: Camera
The camera is used in the vehicle to give live feedback that can be operated wirelessly
from the distant places.
4.6 Geared DC Motor
Figure 4.6: DC Motor
Geared DC motors are basically used for robotics applications. It is very easy to use and
available in standard size. It has nut and threads on shaft to easily connect and internal threaded
shaft for easily connecting it to wheel. It has no polarity. A geared DC motor has a gear assembly
attached to the motor. The speed of motor is counted in terms of rotations of the shaft per minute
and is termed as RPM.
Features
 6mm shaft diameter with internal hole.

 125gm. Weight.
 Same size motor available in various rpm.
 2kgcm torque.
 100 rpm motor.
 No load current=60ma (Max), load current=300mA (Max).
4.7 HC-05 Bluetooth Module
Figure 4.7: HC-05 Bluetooth Module
Bluetooth module is used for the serial communication. It is fully

qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps modulation with complete
2.4GHz radio transceiver and baseband. It has a range up to <100m which depends upon
transmitter and receiver, atmosphere, geographic & urban conditions.

Figure 4.71: Interfacing of HC-05 Bluetooth Module with Arduino board.
Working
 HC-05 has red LED which indicates connection status, whether the Bluetooth is
connected or not. Before connecting to HC-05 module this red LED blinks
continuously in a periodic manner. When it gets connected to any other Bluetooth
device, its blinking slows down to two seconds.
 This module works on 3.3 V. We can connect 5V supply voltage as well. Since the
module has on board 5 to 3.3 V regulator.
 As HC-05 Bluetooth module has 3.3 V level for RX/TX and microcontroller can
detect 3.3 V level, hence no need to shift transmit level of HC-05 module. But we
need to shift the transmit voltage level from microcontroller to RX of HC-05 module.
4.8 Water pump
Figure 4.8: Water Pump
A submersible pump is a device which has a hermetically sealed motor close-coupled to

the pump body. The whole assembly is submerged in the fluid to be pumped. The main
advantage of this type of pump is that it prevents pump capitation, a problem associated with a
high elevation difference between pump and the fluid surface.
4.9 Buzzer

Figure 4.9: Buzzer
A buzzer or beeper is an audio signaling device which may be mechanical

electromechanical. Typical uses of buzzers and beepers include alarms devices, timers and
confirmation of users input such as a mouse click or keystroke.

CHAPTER 5
SOFTWARE AND FLOW CHART

This chapter illustrates the software used in the system and the flowchart which
demonstrates the working and overall functionality of the system.
5.1 FLOW CHART
Figure 5.1: Flow chart

The Figure 5.1 shows the flow of actions performed by the robot. The Flame sensor mounted on
the robot continuously senses for the fire if any fire occurs the sensor output will be high and
buzzer will starts to sound. The control of the robot movement is in the hand of the user. User
can control the robot based on video streaming available in the laptop.
SOFTWARE DESCRIPTION
5.2 Arduino IDE
Figure 5.2: Arduino IDE Text Editor
The Arduino Integrated Development Environment or Arduino Software (IDE) (shown in

Fig. 5.2) contains a text editor for writing code, a message area, a text console, a toolbar with
buttons for common functions and a series of menus. It connects to the Arduino to upload
programs.
Programs written using Arduino Software (IDE) are called Sketches. These sketches are
written in the text editor and are saved with file extension (.info). The message area gives
feedback while saving and exporting and also displays errors. The console displays text output
by the Arduino Software (IDE) including complete error message and other information. The
bottom right hand corner of the window displays the configured board and serial port. Serial
Monitor displays the result of the sketches when the board is connected to it.

5.3 HC-05 Bluetooth Terminal Application

 HC-05 Bluetooth terminal application gives compatibility with all microcontrollers. All we
need is a HC-05 serial adapter connection with serial ports of the controllers.
 Controls any Micro-controller that uses a Bluetooth Module HC-05 or HC-06 through the
smart phone.
 This app can send and receive commands via Bluetooth.
The user can send the commands through this application to control the various
operations of the robot. The different types of commands used to control the robot are given in
Figure 5.31.
Figure 5.31: Overview of HC-05 Bluetooth application

Working
First open the HC-05 Bluetooth terminal application then pair with the HC-05 Bluetooth
device after pairing; a screen opens as shown Figure 5.31. Now the user or controller has to send
the different types of commands show in Figure 5.32 based on their requirements.

ROBOT MOTION CONTROL
Forward Movement
BUTTON-1
Backward Movement
BUTTON-2
BUTTON-3 Right Movement
BUTTON-4 Left Movement
BUTTON-5 Stop the Movement
BUTTON-6 Fire Extinguisher Arm Up
BUTTON-7 Fire Extinguisher Arm Down

For manual control
of the fire
extinguishing
Fire Pump ON process
BUTTON-8
BUTTON-9 Fire Pump OFF
After extinguishing the fire, if there is still cinder it is not detected by the sensor due to the lack
of sensitivity. Then the user has to manually turn ON the water pump to extinguish the cinder.
Button 0 is to switch the robot into the Auto mode.

Here Auto mode means,
Button -0 If the sensor detects the fire, the water pump turns ON
automatically and sprays the water to extinguish the fire.
But the robot movement as to be controlled by the user.
manually.
Figure 5.32: Various Key controls for the robot operation.

5.4 IP Webcam
IP Webcam turns the phone into a network camera with multiple viewing options. We can
view camera on any platform with VLC player or web browser. IP webcam application provides
the live stream of video inside Wi-Fi network without internet access.
Optional Ivideon cloud broadcasting is supported for instant global access. We can use this
feature for the implementation of IOT. The distance of coverage is up to 10mts long.
Figure 5.41: Video capturing through the camera by IP webcam
Figure 5.41: Overview of IP webcam application

CHAPTER 6
RESULTS
As per the objective of this project, the robot can effectively detect and extinguish the
fire. It provides an audio and visual indication upon detection of fire, these results can be
visualized in the following figures, where the figure 6.1represents the complete model of the
project. When the fire occurs the flame sensor detects it, then it is indicated by the buzzer and
LED as shown in figures 6.2 and 6.3. After the detection of fire, it is automatically extinguished
by spraying the water on fire catched area with the help of fire extinguisher unit as shown in
figure 6.4.
Figure 6.1: Overall setup of the Robot module

LED
Figure 6.2: Fire detected by the Robot Figure 6.3: Indication by LED
module
Figure 6.4: Fire extinguished by the robot

CHAPTER 7
CONCLUSION AND FUTURE SCOPE
7.1 Conclusion
With the available facilities and infrastructure provided, the project was successfully
completed well within the stipulated time.
The smart fire fighting robot effectively detects and extinguishes the fire. The robot
reduces the risks of human life. The robot can operate in environment which is out of human
reach in very short time. In such environment, fire fighter robot can be useful for fire
extinguishing. It reduces the efforts of human labor and level of destruction and it is reliable and
economical.
7.2 Future Scope
 The work can be improvised with the use of GPS module, which can send the exact
location of fire accident to the property owner and to the nearest fire station.
 With the help of IOT concept the robot can be operated in remote places where human
intervention is not possible.
 Instead of the water spraying the carbon-dioxide fire extinguisher can be used.

PLAN OF ACTION
The Table 1 shows the plan of action.
SL Oct Nov Dec Jan Feb Mar Apr May

Activities 2018 2018 2018 2019 2019 2019 2019 2019
No.
First phase preparation

1 √
and evaluation
√
Completing the Arduino
2
code for entire circuit.
√
3 Exams.
Checking the circuit

4 √
working by simulation.
Hardware
5 implementation of √
circuit.
Applying improvisation
6 and preparation for final √
submission.
Table 1: Plan of action

References:
[1] Leo Louis, “Working Principle of Arduino and using it as a tool for study and research”,
International Journal of Control, Automation, Communication and, Systems (IJCACS),
Vol.1, No.2, April 2016.
[2] Rangan M K, Rakesh S M, Sandeep G S P, C Sharmila Suttur, “A Computer Vision
based approach for Detection of Fire and Direction Control for Enhanced Operation of
Fire Fighting Robot”. IEEE. pp. 8-13, 2013.
[3] Preeti Dhiman, Noble Tawra, Rakesh Nagar, Rishab Singh and Varun Kaushik, “Voice
Operated Intelligent Fire Extinguisher Vehicle”, International Journal of Emerging
Trends in Electrical and Electronics (IJETEE), Vol. 2, Issue. 2, pp. 43-47, April-2013.
[4] Handry Khoswanto, Hany Ferdinando, “Design and evaluation of two wheeled balancing
robot chassis”, International Conference on Communication, Computing and Control
Applications (CCCA), March 2011.
[5] B shwetha sampath, “Automatic fire extinguisher robot”, 8th International Conference on
Ubiquitous Robots and Ambient Intelligence (URAI), 2011.
[6] H.H. Glascock, H.F. Webster, “A Flame Sensor for High-Temperature Ambients”, IEEE
Transactions on Electron Devices (Volume: 18), 2009.
[7] K. Altaf, A. Akbar, B. Ijaz, “Design and Construction of an Autonomous Fire Fighting
Robot”, The IEEE International Conference on Information and Emerging Technologies,
ICIET 2007.
[8] Steven Wasson, Brian Rajala, “Design and construction of a fully autonomous robot”,
Electrical Insulation Conference and Electrical Manufacturing and Coil Winding
Conference, October 2001.

APPENDIX
Arduino UNO 3
Pin Description
Pin Category Pin Name Details

Power Vin, 3.3V, 5V, GND Vin: Input voltage to Arduino when using an external power source.
5V: Regulated power supply used to power microcontroller and other
components on the board.
3.3V: 3.3V supply generated by on-board voltage regulator. Maximum
current draw is 50mA.
GND: ground pins.
Reset Reset Resets the microcontroller.
Analog Pins A0 – A5 Used to provide analog input in the range of 0-5V
Input/Output Pins Digital Pins 0 - 13 Can be used as input or output pins.
Serial 0(Rx), 1(Tx) Used to receive and transmit TTL serial data.
External Interrupts 2, 3 To trigger an interrupt.
PWM 3, 5, 6, 9, 11 Provides 8-bit PWM output.
SPI 10 (SS), 11 (MOSI), 12 Used for SPI communication.
(MISO) and 13 (SCK)
Inbuilt LED 13 To turn on the inbuilt LED.
TWI A4 (SDA), A5 (SCA) Used for TWI communication.
AREF AREF To provide reference voltage for input voltage.

Flame Sensor
Description
• Detects a flame or a light source of a wavelength in the range of 760nm-1100 nm
• Detection distance: 20cm (4.8V) ~ 100cm (1V)
• Detection angle about 60 degrees, it is sensitive to the flame spectrum.
• Comparator chip LM393 makes module readings stable.
• Adjustable detection range.
• Operating voltage 3.3V-5V.
• Digital and Analog Output DO digital switch outputs (0 and 1) AO analog voltage output.
• Power indicator and digital switch output indicator Interface Description (4-wire).
Pin Description
1) VCC -- 3.3V-5V voltage
2) GND – GND
3) DO -- board digital output interface (0 and 1)

HC-05 Bluetooth Module
Pin Configuration
Pin Pin Name Description
Number
1 Enable / Key This pin is used to toggle between Data Mode (set low) and AT
command mode (set high). By default it is in Data mode
2 Vcc Powers the module. Connect to +5V Supply voltage
3 Ground Ground pin of module, connect to system ground.
4 TX – Transmits Serial Data. Everything received via Bluetooth will be given

Transmitter out by this pin as serial data.
5 RX – Receiver Receive Serial Data. Every serial data given to this pin will be
broadcasted via Bluetooth
6 State The state pin is connected to on board LED, it can be used as a feedback
to check if Bluetooth is working properly.
7 LED Indicates the status of Module
 Blink once in 2 sec: Module has entered Command Mode

 Repeated Blinking: Waiting for connection in Data Mode
 Blink twice in 1 sec: Connection successful in Data Mode
8 Button Used to control the Key/Enable pin to toggle between Data and
command Mode

SOFTWARE CODE FOR ROBOT SECTION

constint M1 = 7;
constint M2 = 6;
constint M3 = 5;
constint M4 = 4;
constint M5 = 3;
constint M6 = 2;
constint M7 = 10;
constint M8 = 9;
constint M9 = 11;
int ok = 0;
void setup() {
// put your setup code here, to run once:
pinMode(M1, OUTPUT);
pinMode(M8, INPUT);
Serial.begin(9600);
digitalWrite(M1,LOW);
}
void loop() {
// put your main code here, to run repeatedly:
if(ok == 1)
{
if((digitalRead(M8) == HIGH))
{
digitalWrite(M7,HIGH);
Serial.println("FIRE PUMP AUTO ON");
}
else
{
}
}
if(Serial.available()>0)
{
char t = Serial.read();
if(t == '1')
{
Serial.println("FORWARD");
}
else if(t == '2')
{
Serial.println("BACKWARD");
}
else if(t == '3')
{
Serial.println("RIGHT");
}
else if(t == '4')
{
Serial.println("LEFT");
}
else if(t == '5')
{
Serial.println("STOP");
}
else if(t == '6')

{
Serial.println("FIRE ARM UP");

delay(20);
}
else if(t == '7')
{
Serial.println("FIRE ARM DOWN");
delay(20);
}
else if(t == '8')
{
Serial.println("FIRE PUMP ON");
}
else if(t == '9')
{
Serial.println("FIRE PUMP OFF");
ok = 0;
}
else if(t == '0')
{
Serial.println("FIRE controlled auto mode");
ok = 1;
}
}
}

1.1 Motivation: 1.2 Objective of The Project

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Smart Fire Fighting Robot 2018-19

1.2 Objective of the project

1.3 Organization of the report

Department of ECE, SIT, Tumakuru 1

Rangan M K, Rakesh S M, Sandeep G S P, C Sharmila Suttur, proposed a methodology

Department of ECE, SIT, Tumakuru 2

Department of ECE, SIT, Tumakuru 3

Figure: 3.1 Block Diagram of the Robot section

Department of ECE, SIT, Tumakuru 4

Motor driver units

HC-05 Bluetooth module

ULN2803 Darlington amplifier

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This chapter contains the technical details of the components used.

4.1 Power supply

Figure 4.1: Power Supply

 Voltage rating- 12V

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4.2 Arduino UNO 3

Figure 4.2: Arduino UNO 3

Features of Arduino uno-3 controller

 It is an 8-bit AVR RISC based microcontroller.

 Operating voltage is 5V.

 Input voltage is in the range of 7-12V

 It has 14 digital input/output pins.

 It has 6 analog input pins.

 DC current per I/O pins is 40mA.

 DC current for 3.3V pins is 50mA.

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 It has a flash memory of 32 KB of which 0.5 KB is used by the bootloader.

 It as SRAM of 2 KB, EEPROM of 1 KB.

 It has a crystal oscillator with clock speed of 16 MHz.

4.3 Flame sensor

Figure 4.3: Flame Sensor

1) VCC -- 3.3V-5V voltage.

L293D Motor Drivers

Figure 4.41: Motor Driver Unit

Figure 4.42: Pin Out of L293D IC

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Figure 4.43: ULN2803 IC Figure 4.44: Darlington Pair

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Figure 4.5: Camera

4.6 Geared DC Motor

Figure 4.6: DC Motor

 6mm shaft diameter with internal hole.

4.7 HC-05 Bluetooth Module

Figure 4.7: HC-05 Bluetooth Module

Bluetooth module is used for the serial communication. It is fully

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Figure 4.71: Interfacing of HC-05 Bluetooth Module with Arduino board.

4.8 Water pump

Figure 4.8: Water Pump

A submersible pump is a device which has a hermetically sealed motor close-coupled to

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Figure 4.9: Buzzer

A buzzer or beeper is an audio signaling device which may be mechanical

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SOFTWARE AND FLOW CHART

Figure 5.1: Flow chart

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5.2 Arduino IDE