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Firefighter Robot: Instructables

This document describes the design and implementation of a firefighter robot. The robot uses flame sensors to detect fires and ultrasonic sensors to avoid obstacles while navigating. It can extinguish fires by spraying water from a pump and servo-controlled water gun. The robot sends an email notification when the fire is extinguished. It is designed with an Arduino microcontroller and components like DC motors, sensors, and water pump controlled by code. Technical details are provided on the choice of components and manufacturing of parts using 3D printing and laser cutting.

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Quirico Hechanova
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230 views11 pages

Firefighter Robot: Instructables

This document describes the design and implementation of a firefighter robot. The robot uses flame sensors to detect fires and ultrasonic sensors to avoid obstacles while navigating. It can extinguish fires by spraying water from a pump and servo-controlled water gun. The robot sends an email notification when the fire is extinguished. It is designed with an Arduino microcontroller and components like DC motors, sensors, and water pump controlled by code. Technical details are provided on the choice of components and manufacturing of parts using 3D printing and laser cutting.

Uploaded by

Quirico Hechanova
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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instructables

Firefighter Robot

by Firefighter_VUB

This is a firefighter robot made to detect fire by means of flame sensors, going toward it and put the fire off by
water. It can also avoid obstacles while going toward fire by means of Ultrasonic sensors. In addition, it sends an
email to you when it puts the fire off.

Bruface Mechatronics Project Group 5

Team members:

Arntit Iliadi

Mahdi Rassoulian

Sarah F. Ambrosecchia

Jihad Alsamarji

https://youtu.be/16p6Wh-B1j0

Firefighter Robot: Page 1


Step 1: Shopping List

Arduino Mega 1X Arduino Cables

9V DC motor 2X 9V battery 1X

Micro servo 9g 1X 9V battery plug 1X

Servo motor 442hs 1X LIPO 7.2Volt battery 1X

Water Pump 1X Rubber track set 2X

Ultrasonic sonic sensor 2X Motor mounting 2X

1way Flame sensor 4X Spacer (M3 female-female 50mm) 8X

H-bridge 2X Screws (M3)

Wi-Fi module 1X Water tank (300 ml) 1X

On/off Switch 1X Water hose 1X

Mini breadboard 1X

Step 2: Some Technical Hints on the Choice of Components

Firefighter Robot: Page 2


DC motors with encoder : to have motors that can provide relatively precise
motion in a specific range. For what regards, there
The advantage of encoder DC motor over a simple exist two choices : servo motor OR stepper motor
DC motor is the ability to compensate speeds when
having more than one motor and the same speed for generally a stepper motor is cheaper than a servo
all of them is desired. Generally, when you have more motor.However, depend on the application, there are
than one motor with the same input (Voltage and many other factors that should be taken into account.
current) and your target is to have them exactly with For our project we have considered the following
the same speed, what might happen is that some factors:
motors might slip which will cause a difference in
speed between them which e.g. for our case (two 1) The Power/mass ratio of servo motor is higher than
motors as driving power) could cause a deviation to steppers, which means for having the same amount
one side when the target was to go forward. what of power the stepper is going to be heavier than the
encoders do is to count the number of rotations for servo motor.
both motors and in case of having a difference,
compensate them. However since when we have 2) A servo motor consume less energy than a stepper
tested our robot, no difference was observed in the which is due to the fact that servomotor consumes
speed of the two motors, we did not use the power as it rotates to the commanded position but
encoders. then the servomotor rests. Stepper motors continue to
consume power to lock in and hold the commanded
Servo motors : position.

For the water gun mechanism what we needed was 3) Servo motors are more capable of accelerating

loads than steppers. Arduino Mega :

These reasons will lead to less consumption of The reason for choosing an arduino mega over an
energy which was important in our case since we arduino UNO is as following :
used a Battery as the power supply for all motors.
1) Having a Wi-Fi module increase the number of
In case that you are interested to know more about lines in the code dramatically and needs a more
differences between servo and stepper check the powerful processor to avoid possible chance of
following link : crashing while running the code.

http://www.cncroutersource.com/stepper-vs- 2) having higher number of pins in case of being


servo.ht... interested to expand the design and add some more
features.
H-bridge :
Rubber Tracks:
What it does is to make you capable of controlling
both direction and speed of your dc motors. In our Rubber tracks are used to avoid any problem or
case we just used them to control the direction of slippage in case of having a slippery floor or small
rotation for both DC motors (Connected to driving objects in the way of moving.
wheels).

In addition, another h-bridge is used as a simple


on/off switch for the pump. (This can be also done by
means of a transistor)

Ultrasonic sensors:
Firefighter Robot: Page 3
These are used for being able of avoiding obstacles.
We have used 2 sensors, however you can increase
the range of observable area by increasing the
number of sensors. (Effective range of each
ultrasonic sensor : 15 degrees)

Flame sensors :

Totally 4 flame sensors are used . 3 sensors under


the chassis are connected to both analogue and
digital pins of Arduino. The digital connections are
used for detecting the fire for further actions while the
analogue connections are used only to provide
readings of the distance to fire for the user. The other
sensor on the top is used digitally and it's function is
to send the command for stopping the vehicle at a
suitable distance from the fire, so in the moment that
the sensor on the top which has an specific angle
detect the fire, it will send the command for stopping
the vehicle and starting the pump the water and
running the water gun to put the fire off.

Step 3: Manufacturing Parts

In the following, technical drawings of the parts which Side Part (MDF 3mm) 2X
are produced either by 3D printer or by Laser cutter is
provided. The appearance of your firefighter can be 3D printed parts:
changed based on your interest, so you can change
the shape of the body and the design in whatever Ultra-sonic holder 2X
way that suits you.
Flame sensor holder 1X
Main Body Laser cutted parts:
Wheel bearing holder 4X
Chassis (Plexiglas 6mm) 1X
Water gun set-up 1X
Roof Part (Plexiglas 6mm) 1X

Back Part (MDF 3mm) 1X

Firefighter Robot: Page 4


Step 4: Laser Cutting(all Dimensions in Cm)

Firefighter Robot: Page 5


Step 5: Technical Drawings for 3D Printing: (all Dimensions in Cm)

Firefighter Robot: Page 6


Step 6: Experiments

This is a short video that shows some experiments for checking the functionality of different components.

https://youtu.be/yWS5sF-Ofwo

Step 7: Servo Motors and Water Gun Assembly

Firefighter Robot: Page 7


https://youtu.be/vHpgeWMIJco

Step 8: Final Assembly

https://youtu.be/OPZwFETFB8c

Step 9: Wiring Components to Arduino

Firefighter Robot: Page 8


Step 10: Associated Pins to Arduino

Step 11: Program Flowchart

Firefighter Robot: Page 9


Step 12: Programming

V2 is the main program and other codes are sub-programs .

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great idea. i like the job

Good job ! Credits to the team !

Firefighter Robot: Page 10


That was awesome ! good job and very nice idea.

Great work!
A very safe and efficient way to put up a fire with nearly 0 human losses, and have access to
places fire fighters and fire alarm systems can not reach!
Best of luck!

This is a great project!


I have a DFRobot Devastator platform that's not really doing much. it would be great to use to build
this on top of!

That's a really neat design :)

Firefighter Robot: Page 11

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