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CHAPTER 1: Introduction

1.1 Introduction of Area


The fire fighting robot is designed to search for a fire in a small floor plan of a house extinguish the fire (by placing a cup over the LEDs). This mission is divided into smaller tasks, and each task is implemented in the most efficient manner. The navigation of the robot throughout the house is achieved by data provided by a line tracker and fire sensors. The target acquisition I achieved by data provided by RF transceiver module. The deployment of the extinguishing device is implemented with a custom arm controlled by pic18f4520 microcontroller. Along with these crucial tasks there were other design constraints, such as the size, speed, and supply of power. Each defining characteristic of the robot is described in more detail in this document.

1.2 Problem Definition


1.2.1 Goal To design an autonomous robot that will search out a fire in a simulated maze arena and extinguish it in the most efficient method through the use of microcontrollers, sensors, batteries, and actuators. 1.2.2 Objectives o The robot will navigate a simulated floor plan and identify the area of fire before extinguish the flame autonomously o The robot must be able to handle different types of walls, obstructions, wall hangings, and surfaces such as hardwood, carpet, and ramp. o The robot must be immune to external lighting conditions such as flashes and ultraviolet light.

CHAPTER 2: Literature Survey


2.1 Introduction to Robotics
When we hear robots, we think of science fiction novels and sci-fi movies. It is due to the fact that we do not know how to create robots of high intelligence. However recent trends in technology have made a significant contribution to robotics technology. 2.1.1 Definition A robot is a reprogrammable, multifunctional manipulator designed for performing a variety of tasks. It must have some sort of reprogrammable memory. Robots can function without morality and tiredness. Robots are used for in industrial applications such as pick & place, welding, spray painting etc. Robotics deals with Robot. In general, Robots are designed and meant to be controlled by computer or similar type of devices. The motion of ROBOT is controlled by controller which is under supervision of computer, which, itself, is running me type of program. Thus, if the program changes then the motion of ROBOT will also change. Generally ROBOTS are used to perform certain special task which can be done by running set of program. This is the area where ROBOTICS differs from manipulator.

2.2 Classification of Robotics


ROBOTS can be classified in the following order.
MANUAL HANDLING DEVICE: A device with multiple degree of freedom that is

actually actuated by an operator. FIXED SEQUENCE ROBOT: A device that performs the successive stages of a task according to predetermined, unchanging method and is hard to modify. VARIABLE-SEQUENCE ROBOT: Same as that of fixed-sequence type, but easy to modify.
PLAYBACK ROBOT: A human operator performs the task manually by leading the

ROBOT, which records for lateral motion. It will repeat the same action in next operation. NUMERICAL CONTROL ROBOT: The operator supplies the ROBOT with a moment program rather than teaching it the task manually. INTELLIGENT ROBOT: A ROBOT with means to understand its environment and the ability to successfully complete a task despite changes in the surrounding conditions under which is to be performed.

2.3 Advantages and Disadvantages of Robots


ROBOTICS and automation can, in many situations, increases productivity, safety, efficiency, quality and consistency if products. ROBOTS can work in hazardous environments without for life support, comfort or concern about safety. ROBOTS need no environmental comfort, such as lighting, air conditioning, ventilation, and noise protection ROBOTS works continuously without experience fatigue or boredom, do not get mad and its precision will be high. Small mistake in the setting makes power loss, lack of precision, human injuries.

2.4 Robots Characteristics


The ROBOT has special characteristics than the other which is been tabulated below. Payload. Reach. Precision. Repeatability

2.5 Robots Co-ordinates


CARTESIAN/RECTANGULAR/GANTRY These ROBOTs are made of three linear joints position the end effector, which are usually followed by additional revolute joint that orientate the end effector. CYLINDERICAL. Cylindrical coordinate ROBOTs have two prismatic joints and revolute joint for positioning the part, plus revolute joints for orientating the part. SPHERICAL Spherical coordinate ROBOTs follow a spherical coordinate system, which has one prismatic and two revolute joints for positioning the part, plus addition revolute joints for orientation.

ARTICULATED/ANTHROPOMORPHIC An articulated ROBOTs joints are all revolute, similar to a humans arm. They perhaps the most common configuration for industrial ROBOTs.

2.6 Robots Components


ROBOT consists of following main components. Manipulator: Toy Car End Effector: Motor Driven Sprayer to Extinguish Fire Actuators: DC Motor Controller: pic 18f4520 Processor: Computer Software: MPLAB IDE Editor

2.6.1 Manipulator This is the main body of the ROBOT and consists of link, the joints, and other structural elements of ROBOT. Without other elements, manipulator alone is not a robot. In our project the toy car is used as manipulator. 2.6.2 End Effector This is the part that is connected to the last joint of a manipulator, which generally handles objects, makes connection to other machines, or perform the required task. ROBOT manufactures generally do not design or sell end effectors. In most cases, all they supplies is the gripper. Generally, the hand of a ROBOT has a provision for connecting specialty end effectors that are specifically designed for purpose. This is job of company engineers or outside consultants to design and install the end effectors on the ROBOT and to make it work for the given situation. A welding torch, a paint spray gun, a glue-laying device, and a part handler are but a few of the possibilities. In most cases, the action of the end effectors is either controlled by the Robots controller, or the controller communication with the end effectors controlling devices. In our project the motor driven sprayer is the end effectors .It is used to extinguish fire. Actuators are the muscles of the manipulators. Common types of actuator are

stepper motors, pneumatic cylinders in our project Dc motor are used for movement of robot. 2.6.3 Sensors Sensors are used to collect information about the internal state of ROBOT or to communicate with external environment. Sensors are integrated into ROBOT send information about each joint or link to the controller, which determines the configuration of the ROBOT. ROBOT are often equipped with external sensory devices such as a vision system, touch and tactile senders, speech synthesis, etc., which enable the ROBOT to communicate with external world. In our project, Gas sensor and thermistor are connected to the robot which is used for detecting fire and flammable gases. 2.6.4 Controller The controller is rather similar to your cerebellum, and although it does not have the power of your brain, it still controls your motions. The controller receivers its data from the computers, controls the motion of the actuators, and coordinates the motions with sensory feedback information. Atmelmaga8 is used as controller in our project. 2.6.5 Processor The processor is the brain of the ROBOT. It calculates the motion of ROBOT joints, determines how much and how fast each joint must move to achieve the desired location and speed, and oversees the coordinated action of controller of sensor. The processor is generally a computer, which works as like all computers, but is dedicated for single purpose. It requires an operating system, program, peripheral equipment such as monitors, and has many of the same limitation and capabilities of a PC processor. 2.6.6 Software There are perhaps three groups of software that are used in a ROBOT. One is the operating system, which operates the computer. The second one is the ROBOT software, which calculates the necessary motion of each joint based on the kinematics equation of ROBOT. This information is sent to controller. This software may be at different levels, from machine language to sophisticated languages for modern Robots. AVR studio is used as software in our project.

2.7 Need for Fire Fighter Robot


We are developing autonomous robots which can carry out tasks too dangerous for humans, such as robots that check out hazardous fires. The solution is to introduce automated systems to reduce manpower, reduce human exposure to risk and improve the cost effectiveness of their operation. Fire-fighting robots reduce risk to life. Robotic vehicles are used for the fire-fighting market in developing suitable platforms for domestic, industrial and chemical fires. Last year alone, 683 UK fire fighters were injured while performing their normal day-to-day fire-fighting duties. Our fire robots could substantially reduce these numbers. They are robust and reliable and can safely go into areas that would normally be treated with extreme caution, such as large-scale petroleum fires, hazardous chemical leaks and fires where there is a risk of building collapse. In future, we can further modify it to investigate a hazardous area and relay vital information - such as details of heat accumulation, ventilation points and structural features - back to its remote operator before human fire fighters enter the area with some idea of what they're likely to encounter.

Chapter 3: Detailed Description of IDP


3.1 Block Diagram
The block diagram of our project is divided in two parts. Transmitter Side Receiver Side In transmitter side, there is a sensor that sense the fire near about it and generate a pulse. This pulse then go to the controller after which it transmitted. In receiver side, a receiver circuit is mounted on the robot body. It receives the message from the transmitter and send it to the controller for the further process 3.1.1 Transmitter Side

Figure 3.1 Block Diagram (Transmitter Side)

3.1.2 Receiver Side

Figure 3.2 Block Diagram (Receiver Side)

3.2 Working
3.2.1 Transmitter Side First of all transmitter side circuit is composed of fire sensor, controller, LCD and transmitter circuit. Here fire sensor read the temperature around it within 5cm range and data to the controller. When the temperature goes beyond 50 degree Celsius, the LCD display a message FIRE ALERT and this signal transmitted to the receiver at the robot. 3.2.2 Receiver Side At the receiver side, there is a controller also, a receiver circuit, two IR sensors, LCD, dc motors, motor driver circuit and a relay circuit. When fire alert message receives at the receiver side, the robot approach towards the target. Here the IR sensor help the robot to find the path. It help the robot to follow the black strip on the white floor plane. When robot reaches near the fire which is very close to the fire sensor at the transmitter side circuit, it stops and start the extinguishing task.

Chapter 4: Implementation & Design


4.1 Hardware Description
4.1.1 Controller Circuit We in our project, used 18f4520 as a controller. This family offers the advantages of all PIC18 microcontrollers namely, high computational performance at an economical price with the addition of high endurance, Enhanced Flash program memory. On top of these features, the PIC18F2420/2520/4420/4520 family introduces design enhancements that make these microcontrollers a logical choice for many high-performance, power sensitive applications. New Core Feature Nano Watt TECHNOLOGY All of the devices in the PIC18F2420/2520/4420/4520 family incorporate a range of features that can significantly reduce power consumption during operation. Key items include: Alternate Run Modes: By clocking the controller from the Timer1 source or the internal oscillator block, power consumption during code execution can be reduced by as much as 90%. Multiple Idle Modes: The controller can also run with its CPU core disabled but the peripherals still active. In these states, power consumption can be reduced even further, to as little as 4% of normal operation requirements. On-the-fly Mode Switching: The power managed modes are invoked by user code during operation, allowing the user to incorporate power saving ideas into their applications software design. Low Consumption in Key Modules: The power requirements for both Timer1 and the watchdog Timer are minimized. Multiple Oscillator Option and Features All of the devices in the PIC18F2420/2520/4420/4520 family offer ten different oscillator options, allowing users a wide range of choices in developing application hardware. These include o Four Crystal modes, using crystals or ceramic resonators

o Two External Clock modes, offering the option of using two pins (oscillator input and a divide-by-4 clock output) or one pin (oscillator input, with the second pin reassigned as general I/O) o Two External RC Oscillator modes with the same pin options as the External Clock modes o An internal oscillator block which provides an 8 MHz clock and an INTRC source (approximately 31 kHz), as well as a range of 6 user selectable clock frequencies, between 125 kHz to 4 MHz, for a total of 8 clock frequencies. This option frees the two oscillator pins for use as additional general purpose I/O. o A Phase Lock Loop (PLL) frequency multiplier, available to both the highspeed crystal and internal oscillator modes, which allows clock speeds of up to 40 MHz. Used with the internal oscillator, the PLL gives users a complete selection of clock speeds, from 31 kHz to 32 MHz all without using an external crystal or clock circuit. Besides its availability as a clock source, the internal oscillator block provides a stable reference source that gives the family additional features for robust operation: Fail-Safe Clock Monitor: This option constantly monitors the main clock source against a reference signal provided by the internal oscillator. If a clock failure occurs, the controller is switched to the internal oscillator block, allowing for continued low-speed operation or a safe application shutdown. Two-Speed Start-up: This option allows the internal oscillator to serve as the clock source from Power-on Reset, or wake-up from Sleep mode, until the primary clock source is available.

Table 3.1 Device Features

Block Diagram

Figure 3.3 Block Diagram pic18f4520 microcontroller

Table 3.2 Device Pin out I/O Description

Legend: TTL = TTL compatible input

CMOS = CMOS compatible i/p or o/p

ST = Schmitt Trigger input with CMOS levels

Table 3.2 Device Pin out I/O Description (Continued)

Table 3.2 Device Pin out I/O Description (Continued)

Table 3.2 Device Pin out I/O Description (Continued)

Table 3.2 Device Pin out I/O Description (Continued)

Table 3.2 Device Pin out I/O Description (Continued)

4.1.2 Motor Driver Circuit 4.1.2.1 General Description The Device is a monolithic integrated high voltage, high current four channel driver designed to accept standard DTL or TTL logic levels and drive inductive loads (such as relays solenoids, DC and stepping motors) and switching power transistors. To simplify use as two bridges each pair of channels is equipped with an enable input. A separate supply input is provided for the logic, allowing operation at a lower voltage and internal clamp diodes are included. This device is suitable for use in switching applications at frequencies up to 5 kHz. The L293D is assembled in a 16 lead plastic package which has 4 centre pins connected together and used for heat sinking. The L293DD is assembled in a 20 lead surface mount which has 8 centre pins connected together and used for heat sinking. 4.1.2.2 Block Diagram

Figure 4.1 Block Diagram L293 DC Motor Driver IC 4.1.2.3 Features 600mA Output Current Capability per Channel 1.2A Peak Output Current (non repetitive) per Channel ENABLE FACILITY OVERTEMPERATURE PROTECTION LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V INTERNAL CLAMP DIODES

Table 4.1 Absolute Maximum Rating

4.1.2.4 Pin Connection

Figure 4.2 Pin Diagram L293 DC Motor Driver IC

4.1.2.5 Electrical Characteristic

Table 4.2 ELECTRICAL CHARACTERISTICS

For each channel, VS = 24 V, VSS = 5 V

Tamb = 25 C, unless otherwise specified

4.1.3 Path Detection Circuit 4.1.3.1 General Description The IR Sensor-Single is a general purpose proximity sensor. Here we use it for collision detection. The module consist of an IR emitter and IR receiver pair. The high precision IR receiver always detects an IR signal. The module consists of 358 comparator IC. The output of sensor is high whenever it IR frequency and low otherwise. The on-board LED indicator helps user to check status of the sensor without using any additional hardware. The power consumption of this module is low. It gives a digital output.

4.1.3.2 Pin Configuration The figure to the right is a top view of the IR Sensor module. The following table gives its pin description. Table 3.3 Pin Configuration

4.1.3.3 Application Ideas Obstacle detection Shaft encoder Fixed frequency detection

4.1.3.4 Functional Block Diagram /Schematic Diagram

Figure 4.3 Functional Block Diagram /Schematic Diagram Overview of Schematic The sensitivity of the IR Sensor is tuned using the potentiometer. The potentiometer is tuneable in both the directions. Initially tune the potentiometer in clockwise direction such that the Indicator LED starts glowing. Once that is achieved, turn the potentiometer just enough in anti-clockwise direction to turn off the Indicator LED. At this point the sensitivity of the receiver is maximum. Thus, its sensing distance is maximum at this point. If the sensing distance (i.e., Sensitivity) of the receiver is needed to be reduced, then one can tune the potentiometer in the anti-clockwise direction from this point. Further, if the orientation of both Tx and Rx LEDs is parallel to each other, such that both are facing outwards, then their sensitivity is maximum. If they are moved away from each other, such that they are inclined to each other at their soldered end, then their sensitivity reduces. Tuned sensitivity of the sensors is limited to the surroundings. Once tuned for a particular surrounding, they will work perfectly until the IR illumination conditions of that region nearly constant. For example, if the potentiometer is tuned inside room/building for maximum sensitivity and then taken out in open sunlight, it will require retuning, since suns rays also contain Infrared (IR) frequencies, thus acting as a IR source (transmitter). This will disturb the receivers sensing capacity. Hence it needs to be returned to work perfectly in the new surroundings.

The output of IR receiver goes low when it receives IR signal. Hence the output pin is normally low because, though the IR LED is continuously transmitting, due to no obstacle, nothing is reflected back to the IR receiver. The indication LED is off. When an obstacle is encountered, the output of IR receiver goes low, IR signal is reflected from the obstacle surface. This drives the output of the comparator low. This output is connected to the cathode of the LED, which then turns ON.

Table 4.4 Maximum Rating

4.1.4 Fire Sensor 4.1.4.1 General Description The LM35 series are precision integrated-circuit temperature sensors, with an output voltage linearly proportional to the Centigrade temperature. Thus the LM35 has an advantage over linear temperature sensors calibrated in Kelvin, as the user is not required to subtract a large constant voltage from the output to obtain convenient Centigrade scaling. The LM35 does not require any external calibration or trimming to provide typical accuracies of C at room temperature and C over a full 55C to +150C temperature range. Low cost is assured by trimming and calibration at the wafer level. The low output impedance, linear output, and precise inherent calibration of the LM35 make interfacing to readout or control circuitry especially easy. The device is used with single power supplies, or with plus and minus supplies. As the LM35 draws only 60 A from the supply, it has very low self-heating of less than 0.1C in still air. The LM35 is rated to operate over a 55C to +150C temperature range, while the LM35C is rated for a 40C to +110C range (10 with improved accuracy). The LM35 series is available packaged in hermetic TO transistor packages, while the LM35C, LM35CA, and LM35D are also available in the plastic TO-92 transistor package. The LM35D is also available in an 8-lead surface-mount small outline package and a plastic TO-220 package.

Figure 4.4 Full-Range Centigrade Temperature Sensor

Figure 4.5 Basic Centigrade Temperature Sensor

(+2C to +150C) Figure 4.6 LM35 Interfacing with Microcontroller

Table 4.5 ABSOLUTE MAXIMUM RATINGS

4.1.4.2 Typical Performance Characteristics

Figure 4.7 Typical Performance Characteristics

4.1.5 RF Transceiver Module 4.1.5.1 General Description The QBT37-XXX and QBR37-XXX are miniature narrow band transmitter and receiver UHF radio modules, which enable the implementation of a simple telemetry link at data rates up to 20Kbits/s. Available for operation between 433.075 and 434.725 MHz in 50KHz steps these modules give the possibility of 34 different frequency channels and are able to transmit at distances of up to 400m. The QBT37-XXX and QBR37-XXX modules will suit one-to-one and multi-node wireless links in applications including building and car security, remote industrial process monitoring and computer networking. Because of their small size and low power requirements, both modules are ideal for use in portable battery powered wireless applications

4.1.5.2 Features Miniature Module FM Narrow Band Modulation Optimal Range 400m Operates Within 433 Licence Free Band 34 Channels Available Single Supply Voltage 4.1.5.3 Applications In Vehicle Telemetry Systems Wireless Networking Domestic And Commercial Wireless Security System Panic Attack Facility 4.1.5.4 Absolute Maximum Ratings: Transmitter Operating temperature: Storage temperature: Supply Voltage (pin 3): Data input (pin 5): -10C to +55C -40C to +100C 10V 10V

Table 4.6 Electrical Characteristics: Transmitter

Note 1: measured into a 50W impedance 4.1.5.5 Absolute Maximum Ratings: Receiver Operating temperature: Storage temperature: Supply Voltage: Data input: -10C to +55C -40C to +100C 10V 10V

Table 4.7 Electrical Characteristics: Receiver

4.1.5.6 Transmitter Connection Diagram

Figure 4.8 Narrow Band Transmitter

Pin Description: GND (pin 1) Ground connection, connected to pins 4 and 5. MODULATION INPUT (pin 2) A digital data signal (0-5V) or an analogue signal (3VP-P) directly coupled with a 0.1 0.22mF capacitor must be directly connected to this pin. A 1st order low-pass filter is used internally and so there is a resulting frequency deviation of 7 KHz. Note: a DC bias of 2.5 V is present on this pin. CV1 must be adjusted to obtain the centre channel frequency with the modulation input terminal disconnected. UNCONNECTED (pin 3) Extra SIL pin for additional mechanical retention. GND (pin 4 and pin 5) Ground connection, connected to pins 1 RF OUT (pin 6) Antenna output VCC (pin 7) +Ve supply pin. Operation from a 5V supply able to source 22mA 4.1.5.7 Receiver Connection Diagram

Figure 4.9 Narrow Band Receiver Pin Description: VCC (pin 1) +Ve supply pin. Operation from a 5V supply able to source 14mA. Connected to pin 9.

GND (pin 2,pin 4 and pin 5) Ground connection RF IN (pin 3) Antenna input. RSSI (pin 6) The Received Signal Strength Indicator provides a DC output voltage proportional to the RF input signal AF OUT (pin 7) Analogue signal output. A 100nF series capacitor is required. DATA OUT (pin 8) CMOS compatible output. This may be used to drive external decoders VCC (pin 9) +Ve supply pin. Operation from a 5V supply able to source 14mA. Connected to pin 1.

4.2 Software Description


4.2.1 MPLAB IDE Editor MPLAB IDE is a software program that runs on a PC to develop applications for microchip microcontrollers. It is called an Integrated Development Environment, or IDE, because it provides a single integrated .environment. to develop code for embedded microcontrollers.

4.2.2 Additional Features MPLAB IDE contains additional features to aid in device setup, code debugging and general support. Configuration Bits Configuration bits can be programmed (read as 0), or left unprogrammed (read as 1), to select various device configurations. Consult your device data sheet for more information. Watch Window Although there are many debug windows available with MPLAB IDE via the View menu, a particularly useful one is the Watch window (or Watch windows if you count each Watch view as a separate window). This window allows you to select only the variables you wish to observe, instead of having to open several windows to see all the variables or one cluttered window with variables you dont.t need to observe. The Watch window is made visible on the desktop by selecting View>Watch. It contains four selectable Watch views (via tabs) in which to view variables (SFRs and symbols). Breakpoints Breakpoints allow you to specify conditional program halts so that you may observe memory, register or variable values after a run-time execution. You may set breakpoints in either the file (editor) window, the program memory window or the disassembly window. High-Level Language Support Low-level languages, like assembly, are close to the machine language supported by the hardware. By contrast, high-level languages, like C or Basic, are more like human languages and are more removed from the hardware. A compiler can be used to go from the high-level language, to a low-level language, and then to machine code. Because the high-level language is more removed from the hardware, it can be more

complex to debug. MPLAB IDE has several features which aid in developing and debugging this type of code. Microchip Help Microchip Technology provides on-line HTML help for MPLAB IDE and each of its development tools. Select Help>Topics to bring up a list of available help files in the Help Topics dialog.

Chapter 5: Result

Chapter 6: Work Planning


6.1 Project I

Week 1 2 3 4 &5 6 7 &8 9 10 &11 12 &13 14&15

Work done Finalizing of the project title & abstract. Decide the technology & fix the block diagram. IDP/UDP form & report presentation. Survey of literature review. Overview about software. Designing of Basic Structure. Find out the Main Circuit Diagram. Implementation in MPLAB IDE Editor. Debugging. Submitting the work and report

6.2 Project II
Implementation of Microcontroller Coding in MPLAB IDE Editor Implementation of Sensors

Chapter 7: Conclusion
Our project Fire Fighter Robot explains how we can extinguish fire and detect fire and how the damages caused by fire accidents can be avoided easily. It stops the spreading of fire effectively. It can also detect flammable gases during fire accidents thus minimizing the damage. It can effectively stop fire until human fire fighters arrive. These robots will be vital for our day today life.

Chapter 8: References
Books
Embedded.com, Quadrature-Encoded Position and Beyond, Don Morgan, 26 February 2001, http://embedded.com/columns/spectra/9900043 Pulse width modulation quietens fans and blowers, Zetex Semiconductors, Laurence Armstrong, September 2004 Tone Detect, http://members.cox.net/rbirac3/Snuffy/tone_detect.htm NTE Electronics, Datasheet, NTE832, Integrated Circuit Tone Decoder Texas Advanced Optical Solutions, Datasheet, TSL257, and High-Sensitivity Lightto-Voltage Converter.

Websites
http://www.microchip.com/downloads/en/devicedoc/39631a.pdf http://users.ece.utexas.edu/~valvano/Datasheets/L293D_ST.pdf http://www.ti.com/lit/ds/symlink/lm35.pdf http://www.robosoftsystems.co.in/roboshop/media/catalog/product/pdf/IR_single.pdf

http://www.cytron.com.my/usr_attachment/PR4_DD.pdf

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