PROJECT ON

Fire Fighting Robotic Vehicle

A DISSERTATION SUBMITTED IN PARTIAL FULFILMENT OF THE

REQUIREMENTS FOR THE DEGREE OF BACHELOR IN TECHNOLOGY
IN ELECTRONICS AND COMMUNICATION ENGINEERING

By
SHOUVICK DAS
ROLL NO: 14300310009

Under the guidance of

Prof (Dr.) Arun Kumar Mondal

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

GURU NANAK INSTITUTE OF TECHNOLOGY
KOKATA
INDIA

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 GURU NANAK INSTITUTE OF TECHNOLOGY
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
KOLKATA: 700114
INDIA

CERTIFICATE OF RECOMMENDATION

This is to certify that the work in preparing the dissertation entitled “Project on Fire Fighting Robotic Vehicle”
has been carried out by Shouvick Das under my supervision and may be accepted as a partial fulfilment of the
requirement for the degree leading to Bachelor in Technology on Electronics and Communication
Engineering.

............................................................. ....................................................................
Prof (Dr.) Arun Kumar Mondal Dr. Sunipa Roy
Professor Head,
Department of Electronics and Communication Department of Electronics and Communication
Engineering Engineering
Guru Nanak Institute of Technology Guru Nanak Institute of Technology
Kolkata- 700114 Kolkata- 700114

GURU NANAK INSTITUTE OF TECHNOLOGY

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 DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
KOLKATA: 700114
INDIA

CERTIFICATE OF APPROVAL

The project is hereby approved as a satisfactory study of an engineering subject carried out to warrant its
acceptance as a pre-requisite to the degree for which it has been submitted. This approval, however, does not
necessarily endorse of accept every statement made or conclusion drawn in the project but approve the project
only for the purpose for which it is submitted.

.....................................................
Project Guide

.....................................................
Examiner

Dated:

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 ACKNOWLEDGEMENT

I would like to acknowledge my sincere appreciation to Prof. Dr. Arun Kumar Mondal, Department of
Electronics and Communication Engineering, Guru Nanak Institute of Technology for his immense guidance,
valuable advices and constructive suggestion in carrying out this project work. He directed me very patiently
but with great enthusiasm and concrete interest towards the great efficiency of this work. I also express my
sincere gratitude to him for teaching ma this subject in every possible way. I was fully allowed to have
necessary freedom to exercise thoughtful and scientific approach to this problem.
My sincere thanks go to Dr. S. K. Das, Dean of Guru Nanak Institute of Technology, for the necessary facilities
which were provided to me for carrying out this project.
I am grateful to my group mates for their continuous support and co-operation for carrying out this project
work.
Finally, I would like to thank all persons who have helped me directly or indirectly for the success in my work.

-----------------------------------------------

(SHOUVICK DAS)

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 CONTENTS

Chapter-1 Introduction and Objective 7-8

Chapter-2 Block diagram and its descriptions 9-10
2.1 Descriptions 9
2.1.1 Power supply 9
2.1.2 ATMEGA32 microcontroller IC 9
2.1.3 L293D motor driver IC 10
2.1.4 Motor 10
2.1.5 Pump 10
2.1.6 Switch panel 10
Chapter-3 Components 11
3.1 Software 11
3.2 Hardware 11
3.3 Equipments for soldering 11
Chapter-4 ATMEGA32 microcontroller IC 12-14
4.1 Features of ATMEGA32 12
4.2 Pin details 13
Chapter-5 L293D motor driver IC 15-17
5.1 Datasheet of L293D 15
5.2 Pin details 16
Chapter-6 Circuit diagram 18
Chapter-7 Working principle 19-20
Chapter-8 Source code 21-22
Chapter-9 Scope of the project 23
Chapter-10 Conclusion 24
Chaptr-11 Bibliography 25

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 LIST OF FIGURES

2.1 Block diagram 9

4.1 Pin diagram of ATMEGA32 13
5.1 Pin diagram of L293D 16
6.1 Internal circuit diagram of robotic vehicle 18
7.1 Diagram of switch panel 19
7.2 Different parts of the robot 20

LIST OF TABLES

7.1 Function of switch panel 20

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 CHAPTER-1

INTRODUCTION

In the age of communication and information technology there are tremendous impacts on globalization that
affect our life. As we move deeper into the 21st century several pressing issues are coming into focus. The
main issues are energy, agriculture and food, disease control, security, and environmental issues. In all these
areas robots can facilitate information gathering, task implementation and safety management. Robots are
autonomous, communication devices, which have a real connection with the environment. They can literally
tirelessly carry out tasks and record information. They can go where people cannot go and into situations
which endanger human life.

In our project, we have used microcontroller-based robot which is controlled by a switching panel. A user will
control the switches for the movement of our robot. We will move the robot in basic four directions- forward,
reverse, left and right. There is another switch for the pump. When the switch is on, pump will suck water
from the container and spread it through the pipe to the fire-attacked zone. During the movement of robot we
can use the pump simultaneously and separately too.

Fire fighting robot can be very much useful for the safety of society. In broader application, we can use this
unmanned vehicle to move it any direction of our desired location and extinguish the fire from a safe zone.

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 OBJECTIVE

We have designed our robotic vehicle to fulfil following objectives:

 To design a robot that will work as a fire extinguisher.

 To build an unmanned vehicle that will spread water from a large distance.

 To move the vehicle smoothly in all possible directions through a switch panel.

 To study thoroughly the ATMEGA32 microcontroller.

 To study the working of L293D motor driver IC.

 To gain an idea of designing a fire fighting robot with much more facilities for broader applications.

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 CHAPTER - 2

Block Diagram & its descriptions

FIGURE 2.1: BLOCK DIAGRAM

2.1 DESCRIPTION
2.1.1 POWER SUPPLY
The power supply draws power from two 9V batteries in series. The 18V power supply is regulated to 12V
DC output using a 7812 voltage regulator IC. This 12V power supply is required for the motors and the pump.
The 12V power supply is then regulated to a 5V DC output using a 7805 voltage regulator IC. This 5V power
supply is needed for the ATMEGA32 microcontroller IC and the L293D motor driver ICs.

2.1.2 ATMEGA32 MICROCONTROLLER IC

It is a low power CMOS 8 bit microcontroller based on the AVR enhanced RISC architecture by executing
powerful instructions in a single clock cycle, the ATMEGA32 achieves throughputs approaching 1 MIPS per
MHz allowing the system-designer to optimise the power consumption vs. processing speed.
The AVR core combines a rich instruction set with 32 general purpose working registers. All the 32 registers
are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent registers to be accessed
in one single instruction executed in one clock cycle. The resulting architecture is more code efficient while
achieving throughputs up to ten times faster than conventional CISC microcontrollers.

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The ATmega32 AVR is supported with a full suite of program and system development tools including: C
compilers, macro assemblers, program debugger/simulators, in-circuit emulators, and evaluation kits.

2.1.3 L293D MOTOR IC

L293D is a typical Motor driver or Motor Driver IC which allows DC motor to drive on either direction.
L293D is a 16-pin IC which can control a set of two DC motors simultaneously in any direction. It means that
you can control two DC motor with a single L293D IC. It works on the concept of H-bridge. H-bridge is a
circuit which allows the voltage to be flown in either direction. As you know voltage need to change its
direction for being able to rotate the motor in clockwise or anticlockwise direction, hence H-bridge IC are
ideal for driving a DC motor. In a single l293d chip there two h-Bridge circuit inside the IC which can rotate
two dc motor independently. Due its size it is very much used in robotic application for controlling DC motors.
2.1.4 MOTOR
We are using two dc motors for the movement of the vehicle and also for the pump. These are 12V DC motors
having speed 100 rpm.
2.1.5 PUMP
The pump is driven by 12V DC motor. A pipe is fitted at its outlet for spreading water.
2.1.6 SWITCH PANEL
5 switches are used here. 4 switches are used for different movements of robot. Rest of the switch is used for
the function of pump. These are all push-button switches. Basic four movements-left, right, forward and
backward and all other movements combining these are done by the earlier 4 switches. They are shown in the
working principle.

CHAPTER-3

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 COMPONENTS

3.1 SOFTWARE:
1. Proteus 8 professional
2. WinAVR
3. ProgISP 7
4. Programmer’s Notepad

3.2 HARDWARE:
1. ATMEGA32 microcontroller
2. L293 motor driver IC
3. 12 volt DC motor
4. Pump
5. 10K resistors
6. 7805 and 7812 voltage regulator IC
7. Push-button switches
8. Vero board
9. Wheels
10. Track-belt
11. Water-tank
12. Pipe
13. Chassis
14. FRC cable
15. 2-pin and 6-pin socket
16. Jumper wires
17. Batteries
18. Nuts and bolts

3.3 Equipments for soldering:

1. Soldering iron
2. Solder wire
3. Flux
4. Desolder-wick

CHAPTER-4

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 ATMEGA32 MICROCONTROLLER IC
4.1 FEATURES OF ATMEGA32

• High-performance, Low-power AVR® 8-bit Microcontroller

• Advanced RISC Architecture

– 131 Powerful Instructions – Most Single-clock Cycle Execution
– 32 x 8 General Purpose Working Registers
– Fully Static Operation
– Up to 16 MIPS Throughput at 16 MHz
– On-chip 2-cycle Multiplier

• Non volatile Program and Data Memories

– 32K Bytes of In-System Self-Programmable Flash
Endurance: 10,000 Write/Erase Cycles
– Optional Boot Code Section with Independent Lock Bits
In-System Programming by On-chip Boot Program
True Read-While-Write Operation
– 1024 Bytes EEPROM
Endurance: 100,000 Write/Erase Cycles
– 2K Byte Internal SRAM
– Programming Lock for Software Security

• JTAG (IEEE std. 1149.1 Compliant) Interface

– Boundary-scan Capabilities According to the JTAG Standard
– Extensive On-chip Debug Support
– Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface

• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
– One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture
Mode
– Real Time Counter with Separate Oscillator
– Four PWM Channels
– 8-channel, 10-bit ADC
– 8 Single-ended Channels
– 7 Differential Channels in TQFP Package Only
– 2 Differential Channels with Programmable Gain at 1x, 10x, or 200x
– Byte-oriented Two-wire Serial Interface
– Programmable Serial USART
– Master/Slave SPI Serial Interface
– Programmable Watchdog Timer with Separate On-chip Oscillator
– On-chip Analog Comparator

• Special Microcontroller Features

– Power-on Reset and Programmable Brown-out Detection
– Internal Calibrated RC Oscillator
– External and Internal Interrupt Sources
– Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby and Extended Standby

• I/O and Packages

– 32 Programmable I/O Lines
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– 40-pin PDIP, 44-lead TQFP, and 44-pad MLF

• Operating Voltages
– 2.7 - 5.5V for ATmega32L
– 4.5 - 5.5V for ATmega32

• Speed Grades
– 0 - 8 MHz for ATmega32L
– 0 - 16 MHz for ATmega32

• Power Consumption (at 1 MHz, 3V, 25°C)

– Active: 1.1 mA
– Idle Mode: 0.35 mA
– Power-down Mode: < 1 mA

FIGURE 4.1: PIN DIAGRAM OF ATMEGA32

4.2 PIN DETAILS

VCC
Digital supply voltage.

GND
Ground.

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Port A (PA7-PA0)
Port A serves as the analog inputs to the A/D Converter. Port A also serves as an 8-bit bi-directional I/O port,
if the A/D Converter is not used. Port pins can provide internal pull-up resistors (selected for each bit). The
Port A output buffers have symmetrical drive characteristics with both high sink and source capability. When
pins PA0 to PA7 are used as inputs and are externally pulled low, they will source current if the internal pull-
up resistors are activated. The Port A pins are tri-stated when a reset condition becomes active, even if the
clock is not running.

Port B (PB7-PB0)

Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port B
output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs,
Port B pins that are externally pulled low will source current if the pull-up resistors are activated. The Port B
pins are tri-stated when a reset condition becomes active, even if the clock is not running.

Port C (PC7-PC0)

Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port C
output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs,
Port C pins that are externally pulled low will source current if the pull-up resistors are activated. The Port C
pins are tri-stated when a reset condition becomes active, even if the clock is not running. If the JTAG interface
is enabled, the pull-up resistors on pins PC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if a reset
occurs. The TD0 pin is tri-stated unless TAP states that shift out data are entered. Port C also serves the
functions of the JTAG interface.

Port D (PD7-PD0)

Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port D
output buffers have symmetrical drive characteristics with both high sink and source capability. As inputs,
Port D pins that are externally pulled low will source current if the pull-up resistors are activated. The Port D
pins are tri-stated when a reset condition becomes active, even if the clock is not running.

RESET

Reset Input. A low level on this pin for longer than the minimum pulse length will generate reset, even if the
clock is not running. Shorter pulses are not guaranteed to generate a reset.

XTAL1
Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.
XTAL2
Output from the inverting oscillator amplifier.
AVCC

AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally connected to VCC,
even if the ADC is not used. If the ADC is used, it should be connected to VCC through a low-pass filter.

AREF
AREF is the analog reference pin for the A/D Converter.
CHAPTER-5
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 L293D MOTOR DRIVER IC

5.1 DATASHEET OF L293D

ABSOLUTE MAXIMUM RATINGS
Symbol Parameter Value Unit
Vs Supply Voltage 36 V
Vss Logic Supply Voltage 36 V
Vi Input Voltage 7 V
Ven Enable Voltage 7 V
Io Peak Output Current (100 microsec per repetitive) 1.2 A
Ptot Total Power Dissipation at Tpins = 90° C 4 W
o
Tstg, Tj Storage and Junction Temperature -40 to 150 C

ELECTRICAL CHARACTERISTICS
Symbol Parameter Test conditions Min. Typ. Max. Unit
Vs Supply Voltage Vss 36 V
Vss Logic Supply Voltage 4.5 36 V
Is Quiescent Supply Current Vi=L; I0=0; Ven=H 2 6 mA
Vi=H; I0=0; Ven=H 16 24 mA
Ven=L 4 mA
Iss Quiescent Logic Supply Current Vi=L; I0=0; Ven=H 44 60 mA
Vi=H; I0=0; Ven=H 16 22 mA
Ven=L 16 24 mA
VIL Input Low Voltage -0.3 1.5 V
VIH Input High Voltage Vss<= 7V 2.3 Vss V
Vss> 7V 2.3 7 V
IIL Low Voltage Input Current VIL= 1.5 V -10 µA
IIH High Voltage Input Current 2.3 V<=VIH<=Vss0.6 V 30 100 µA
Ven L Enable Low Voltage -0.3 1.5 V
Ven H Enable High Voltage Vss<= 7V 2.3 Vss V
Vss> 7V 2.3 7 V
Ien L Low Voltage Enable Current Ven L= 1.5 V -30 -100 µA
Ien H High Voltage Enable Current 2.3V<=VenH<=Vss-0.6 V 10 µA
VCE(sat)H Source Output Saturation Voltage I0= -0.6 A 1.4 1.8 V
VCE(sat)L Sink Output Saturation Voltage I0= +0.6 A 1.2 V
VF Clamp Diode Forward Voltage I0= 600 nA 1.3 V
tr Rise Time 0.1 to 0.9 Vo 250 ns
tf Fall Time 0.9 to 0.1 Vo 250 ns
ton Turn-on Delay 0.5 Vi to 0.5 Vo 750 ns
toff Turn-off Delay 0.1 Vi to 0.5 Vo 200 ns

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 FIGURE 5.1: PIN DIAGRAM OF L293D

5.2 PIN DETAILS

ENABLE
There are two Enable pins on l293d. Pin 1 and pin 9, for being able to drive the motor, the pin 1 and 9 need to
be high. For driving the motor with left H-bridge you need to enable pin 1 to high. And for right H-Bridge
you need to make the pin 9 to high. If anyone of the either pin1 or pin9 goes low then the motor in the
corresponding section will suspend working. It’s like a switch.
INPUT
The there 4 input pins for this l293d, pin 2,7 on the left and pin 15 ,10 on the right as shown on the pin diagram.
Left input pins will regulate the rotation of motor connected across left side and right input for motor on the
right hand side. The motors are rotated on the basis of the inputs provided across the input pins as LOGIC 0
or LOGIC 1.In simple you need to provide Logic 0 or 1 across the input pins for rotating the motor.
Logic table
• Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction
• Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction
• Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-Impedance state]
• Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]
In a very similar way the motor can also operated across input pin 15, 10 for motor on the right hand side.

OUTPUT
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Output of the driver IC can be taken from four pins- 3, 6, 11, 14
VCC
VCC is the voltage that it needs for its own internal operation 5v; L293D will not use this voltage for driving
the motor. For driving the motors it has a separate provision to provide motor supply VSS (V supply). L293d
will use this to drive the motor. The maximum voltage for VSS motor supply is 36V. It can supply a max
current of 600mA per channel. Since it can drive motors Up to 36v hence you can drive pretty big motors with
this l293d. VCC pin 16 is the voltage for its own internal Operation. The maximum voltage ranges from 5v
and up to 36v. We should not exceed the Vmax Voltage of 36 volts or it will cause damage.

CHAPTER-6

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 CIRCUIT DIAGRAM

FIGURE 6.1: INTERNAL CIRCUIT DIAGRAM OF THE ROBOTIC VEHICLE

CHAPTER-7

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 WORKING PRINCIPLE

ATMEGA32 microcontroller IC and L293D motor driver IC are two most necessary elements for the
implementation of our projects. At first proper source code is loaded in the microcontroller through a burner
circuit. ‘Proteus 8 Professional’ software is used for designing the internal circuit and the program is written
in the programmer’s notepad of WinAVR.
5 volt dc supply is fed to the µc through pin 10 and pin 11 is grounded. Input is given through the push button
switches (S1, S2, S3, and S4). These four switches are used for controlling the movement of the vehicle. Pin
14, 16, 15, 17 are used for S1, S2, S3, and S4 respectively. Switch S5 (connected to pin 20) is used for
operating the pump. Switches are also fed by 5 volt dc supply. So, port D is used for input purpose. We receive
respective outputs at different pins of port B. Hence port B is designated as output port. One of two motor
driver ICs is used for the dc motors and the rest one is for the pump.
These dc motors having speed 100 rpm are run by 12 volt dc supply. VCC is used for the driver IC’s internal
operation and use 5 volt dc supply. Now we will show how switches provide different movements.

Figure 7.1: SWITCH PANEL

STATUS OF SWITCH FUNCTION

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 Only S1 and S2 are closed Forward movement
Only S3 and S4 are closed Backward movement
Only S1 and S4 are closed Left movement
Only S2 and S3 are closed Right movement
Only S1 is closed Forward right movement
Only S2 is closed Forward left movement
Only S3 is closed Backward right movement
Only S4 is closed Backward left movement
Only S5 is closed Pump is on and water is spread out

TABLE 7.1: FUNCTION OF SWITCH PANEL

According to switch positions two motors move accordingly. We have used four wheels. Two wheels are in
one side and rest two are in other side, supported by a chassis using screws and nuts. First driver IC provide
two pairs (pin 6,3 and 11,14) of separate connections for two motors. Second driver IC is used for enabling
the function of the pump. The veroboard and the water container are placed on a chassis. Container is
connected to the pump through a pipe. When a user presses the switches according to desired direction, The
robot moves in that way. Simultaneously, the water can be spread using S5 switch.
Different sections of the vehicle are shown in the following diagram-

PIPE

WATER CONTAINER

WHEEL

CHASSIS

TRACK BELT

FIGURE 7.2: DIFFERENT PARTS OF THE ROBOT

CHAPTER-8
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 SOURCE CODE

#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include <util/delay.h>
int main()
{
DDRD = 0xB0;
PORTD = 0x00;
DDRB = 0xFF;
PORTB = 0x00;
while (1)
{
if(PIND == 0b00000101)
PORTB = 0b00001010;
else if(PIND == 0b00001010)
PORTB = 0b00000101;
else if(PIND == 0b00000110)
PORTB = 0b00000110;
else if(PIND == 0b00001001)
PORTB = 0b00001001;
else if(PIND == 0b00000100)
PORTB = 0b00000010;
else if(PIND == 0b00000001)
PORTB = 0b00001000;
else if(PIND == 0b00001000)
PORTB = 0b00000001;
else if(PIND == 0b00000010)
PORTB = 0b00000100;

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 else if(PIND == 0b01000000)
PORTB = 0b10000000;
else if(PIND == 0b01000101)
PORTB = 0b10001010;
else if(PIND == 0b01001010)
PORTB = 0b10000101;
else if(PIND == 0b01000110)
PORTB = 0b10000110;
else if(PIND == 0b01001001)
PORTB = 0b10001001;
else if(PIND == 0b01000100)
PORTB = 0b10000010;
else if(PIND == 0b01000001)
PORTB = 0b10001000;
else if(PIND == 0b01001000)
PORTB = 0b10000001;
else if(PIND == 0b01000010)
PORTB = 0b10000100;
else
PORTB = 0b00000000;
}
return 0;
}

CHAPTER-9

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 SCOPE OF THE PROJECT

 The bot can be used in future in larger applications with some more modifications.

 Instead of using a wired switching panel, wireless technology can be used by controlling the robot by
a remote controller.

 Encoder and decoder can be used to implement wireless technology.

 More sensors can be used for accurate operation and widening its working in the field.

 Cameras can also be implemented for the viewing of fire attacked zone and operation in non LOS
zones.

CHAPTER-10
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 CONCLUSION

Thus we have presented a brief report on our project “FIRE FIGHTING ROBOTIC VEHICLE”. We have
included a brief description of all the major components used in this project along with a basic block
diagram as well as the different pin configurations of the various components & different circuit diagrams.
We have tried to build a robot that will serve the purpose of fire brigade. It is an unmanned vehicle that will
be helpful to the society as we can extinguish fire from a safe distance and protect people.

CHAPTER-11
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 BIBLIOGRAPHY

We have taken help from the following sites and e-books:-

 en.wikipedia.org/wiki/Robot

 www.atmel.in/Images/doc2503.pdf

 www.alldatasheet.com/datasheet-pdf/pdf/77378/.../ATMEGA32.html

 www.engineersgarage.com/electronic-components/l293d-motor-driver-ic

 atmega32-avr.com/category/avr-ebook

 ebookbrowsee.net/mi/microcontroller-atmega32

 ebookbrowsee.net/pr/proteus-8

 industry.americancss.com/Electronic-communication/The.../941697.html

 www.microdigitaled.com/AVR/.../CprogrammingInAVRStudio.pdf

 www.electroons.com/ebooks/AVR.pdf

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