ABSTRACT

Now a days, fire accidents are very common and sometimes it becomes very
difficult for a fireman to save someone’s life. It is not possible to appoint a person
to continuously observe for accidental fire where robot can do that. Therefore in
such cases fire fighting robot comes in picture . Robot will detect fire remotely.
These robots are mostly useful in industries where probability of accidental fire is
more. The proposed vehicle is able to detect presence of fire and extinguishing it
automatically by using gas sensor and temperature sensor. It contains gear motors
and motor driver to control the movement of robot . Relay circuit is used to control
the pump and when it will detect fire then it will communicate with
microcontroller (Arduino UNO R3) through Bluetooth module. The proposed
robot has a water jet spray which is capable of sprinkling water. The sprinkler can
be move towards the required direction .At the time of moving towards the source
of fire it may happen that it will come across some obstacles ,then it has obstacle
avoiding capability. It will provide GUI for arduino operation using android. It
detects obstacles using ultrasonic sensors upto range of 80 m. Communication
between the mobile phone and robot will take place through Bluetooth ,which will
have GUI to control the movement of robot . When mobile gets connected to
Bluetooth firstly it will set module name, baud rate . It is feasible to implement
Bluetooth communication between smartphones and microcontroller. Android
controlled robot can be used easily in everyday life such as in homes, market
,companies etc. The development of apps for Android in Android SDK is easy and
free of cost.

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 1

 1.INTRODUCTION
Previously Fire Fighting Robots were controlled by using different electronics
devices But this reduces the scope of control of fire fighting robot .However ,with
the advanced techniques we cane build the same robot by using android application
to control the actions of the robot . With the help of such robots ,fireman By using
an android app fireman man detect the fire and can able to extinguish it .At the
same time robot can detect the obstacles and can avoid them by using ultrasonic
sensors . Our project is designed to build an android application which can control
operations of the fire fighting robot . Fireman can send commands to robot through
Bluetooth module which is mounted on robot itself. Smart phones has facility of
Bluetooth , through that Bluetooth fireman can control the movement of fire
fighting robot . For fire detection it is using two sensors. One is temperature sensor
and second is smoke detector. Fire extinguishing system will be get activated when
fire detection system detects fire .Sprinkler will start sprinkling water when it
detects fire . At the transmitting end android application is used and at receiving
end two motors are interface to microcontroller. With the ever-increasing
technology, the developments are increasing in the face of the situations that cause
human life. Every day, the robot industry emerges as a model that is produced as
an alternative to human element in a new branch. Flying, robots, wheeled robots
legged robots, humandroid robots, underwater robots are just some of them. Fires
are among the most important of these problems. Robot industry has a lot of work
in this area. Some of these are fixed mobile robots with different features, which
are equipped with different sensors that detect before the fire is out, mobile rescue
robots as fire search and rescue equipment, mobile locating robots used for fire
detection, fire extinguishing robots in many different models designed to assist
firefighters in the fire.

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 2

1. PROBLEM IDENTIFICATION
Now a days, fire accidents are very common and sometimes it becomes very
difficult for a fireman to save someone’s life.

It is not possible to appoint a person to continuously observe for accidental fire

where robot can do that. Therefore in such cases fire fighting robot comes in
picture .

Robot will detect fire remotely. These robots are mostly useful in industries where
probability of accidental fire is more.

The proposed vehicle is able to detect presence of fire and extinguishing it

automatically by using gas sensor and temperature sensor

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 3

2. SCOPE
This project has been motivated by the desire to design a system that can detect
fires and intervention. In the present condition it can extinguish fire only in the
way and not in all the rooms. It can be extended to a real fire extinguisher by
replacing the fan by a carbon-di-oxide carrier and by making it to extinguish fires
of all the room using microprogramming. This provides us the opportunity to pass
on to robots tasks that traditionally humans had to do but were inherently life
threatening. Fire-fighting is an obvious candidate for such automation. Given the
number of lives lost regularly in firefighting, the system we envision is crying for
adoption. Of course, this project has only scratched the surface. As in the design
simplifications and the implementation constraints in suggest, our project is very
much a proof-of-concept. In particular, a practical autonomous fire-fighting system
must include a collection of robots, communicating and cooperating in the mission;
furthermore, such a system requires facilities for going through obstacles in the
presence of fire, and ability to receive instructions on-thefly during an operation.
All such concerns were outside the scope of this project. However, there has been
research on many of these pieces in different contexts, e.g., coordination among
mobile agents, techniques fordetecting and avoiding obstacles, on-the-fly
communication between humans and mobile agents, etc. It will be both interesting
and challenging to put all this together into a practical, autonomous fire-fighting
service. The main goal of the mobile fire fighting robot application in this study is
to search the fire with the flow chart determined in the labyrinth created in any way
and to extinguish the fire with the help of the fan when the fire is found.

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 4

 3. LITERATURE SURVEY
In this movable robot consists of sensor like LM35 and Arduino Flame Sensors are
used to detect the fire and distances on its way towards fire. In this for the mobility
of the Robot , two wheels made of Nylon and a caster ball is used. This is mainly a
rear wheel drive type of vehicle. The water container has the capacity to contain at
least 1L water. It is made of strong cardboard which has water resistant propertyA
fuzzy controller is used to control an obstacle avoidance of Vehicle. The aim is to
guide the Vehicle along its path to avoid any static environments containing some
static obstacles in front of it. Obstacle avoidance in real-time is a mandatory
feature for Vehicle in an unknown environment. In this the human can control the
robot by using the Bluetooth module. The Bluetooth module is work with the
android application. In this the Bluetooth model communicate android application
by using driving motor, Arduino mega, voltage divider, tires , Bluetooth, motor
driver.

In this there are three different types of system unit is use 1. Locomotion system 2.
Fire detection system 3. Extinguishing system 4. Communication system. The
Locomotion system is used for obstacle detection and four ultrasonic range finder
to find the distance between obstacle and system. Fire detection system is used for
the detection of fire in this the gas sensor is used. Extinguishing system is for
successfully extinguish the fire.

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 5

 4. MATERIAL AND METHOD
The main goal of the mobile fire fighting robot application in this study is to search
the fire with the flow chart determined in the labyrinth created in any way and to
extinguish the fire with the help of the fan when the fire is found. A variety of
mechanical and electronic components were provided for this purpose and then the
mobile robot was assembled. Finally, the designed robot has been programmed to
perform the intended functions.

4.1. Mechanical and Hardware

Units Used in Navigational Fire Fighting Robot The two wheels that make the
movement of the traveling robot are connected to two reducer motor. It can work
independently from each other within the flow chart determined on both wheels.
Both wheels can operate independently of each other Within the specified flow
chart. Rear wheels are fitted with ball bearings that do not interfere with rotation so
that the wheels can not keep the system standing. The Plexiglas body is used for
the body where all the components belonging to Robota are placed and assembled.
The Arduino Uno R3 central control unit, just above the torpedo was installed and
the other components of the sistem were built on the Plexiglas above the ardunio
uno R3.(fig.1)

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 6

F

Fig.1 arduino uno circuit diagram

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 Fig.2 fire sensor

The first floor of the Navigator firefighting robot has a Plexiglas, at the top of the
chassis: Arduino Uno R3, mounting plastic platforms which holding the sensors (3
pieces), 3 obstacle sensors connected to sensor's platforms, Plastic platform which
holds the fire extinguisher fan and is made by ourselves, beside the sensor which is
in front of this platforma fire extinguisher fan, there is the platform holding the fire
sensor we made and the fire sensor connected to this platform. On the lower part of
the chassis, there are mounted gearmotors (2 pieces), and the wheels connected to
the gearmotors are mounted. All of the complementary parts of the robot are
mounted on these platforms. These complementary components consist of cables,
relay circuit, lipo battery, flame sensor.

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 8

Locomotion system :

In this for the mobility of the Robot , two wheels made of Nylon and a caster ball
is used. This is mainly a rear wheel drive type of vehicle. . The Locomotion system
is used for obstacle detection and four ultrasonic range finder to find the distance
between obstacle and system. LN293 motor.

Fig.3 arduino driving system

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 9

Extinguishing system :

The water container has the capacity to contain at least 1L water. It is made of
strong cardboard which has water resistant property. In this the human can control
the robot by using the Bluetooth module. The Bluetooth module is work with the
android application. In this the Bluetooth model communicate android application
by using driving motor, Arduino mega, voltage divider, tires , Bluetooth, motor
driver.

Fig. extingushing system

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WORKING :
Obstacle detection Module: Check whether there is obstacle in front of the robot. If
obstacle is within the certain range then stop the robot. • Fire detection Module:
The robot will move in the room and detect the fire. If the temperature at certain
place is more than the threshold set then start the water sprinkler. Else detect the
fire inside the room. • Fireman Module: When the robot will be moving inside the
room it can be controlled by the fireman using android phone. When obstacle
detected the robot will be guided by the fireman where to move. The camera on the
robot will allow fireman to analyse the situation and turn the pipe of water
sprinkler.

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 11

 CONCLUSION
The project “DEVELOP A MULTIPLE INTERFACE BASED
FIRE FIGHTING ROBOT” has been successfully designed and
tested. It has been developed by integrating features of all the
hardware components used. Presence of every module has been
reasoned out and placed carefully thus contributing to the best
working of the unit.

Secondly, using highly advanced IC’s and with the help of growing
technology the project has been successfully implemented.

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 12

FUTURE SCOPE :
This project has been motivated by the desire to design a system that can detect
fires and intervention. In the present condition it can extinguish fire only in the
way and not in all the rooms. It can be extended to a real fire extinguisher by
replacing the fan by a carbon-di-oxide carrier and by making it to extinguish fires
of all the room using microprogramming. This provides us the opportunity to pass
on to robots tasks that traditionally humans had to do but were inherently life
threatening. Fire-fighting is an obvious candidate for such automation. Given the
number of lives lost regularly in firefighting, the system we envision is crying for
adoption. Of course, this project has only scratched the surface. As in the design
simplifications and the implementation constraints in suggest, our project is very
much a proof-of-concept. In particular, a practical autonomous firefighting system
must include a collection of robots, communicating and cooperating in the mission;
furthermore, such a system requires facilities for going through obstacles in the
presence of fire, and ability to receive instructions on-thefly during an operation.
All such concerns were outside the scope of this project. However, there has been
research on many of these pieces in different contexts, e.g., coordination among
mobile agents, techniques fordetecting and avoiding obstacles, on-the-fly
communication between humans and mobile agents, etc. It will be both interesting
and challenging to put all this together into a practical, autonomous fire fighting
service.

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 13

REFERANCE :
• 1. Tawfiqur Rakib,M. A. Rashid Sarkar Design and fabrication of an
autonomous firefighting robot with multi sensor fire detection using PID
controller ICIEV Volumn 23 issue-1 JUNE 2016

• 2. Khaled Sailan , Prof. Dr. Ing. Klaus- Dieter Kuhnert Obstacle avoidance
stratergy using fuzzy logic steerig control of amphibious autonomous
Vehicle

• 3. Ineternational journal of innovative science Engg. and Technology

,Volumn 2, 2015

• 4. Shivam Agrawal ,Nidhi Agrawal Interfacing of robot with android app for
to and fro communication IEEE ,2016

• 5. Saravanan P. ,Soni Ishawarya Android controlled intergrated semi

autonomous fire fighting robot.Ineternational journal of innovative science
Engg. and Technology 2015.

• 6. S. Jakthi Priyanka,R. Sangeetha Android controlled firefighting robot

Ineternational journal of innovative science Engg. and Technology ,Volumn
3, 2017.

“Genba Sopanrao Moze College of Engineering, B.E. Mechanical 2019-20” Page 14