10 XI November 2022

https://doi.org/10.22214/ijraset.2022.47452
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue XI Nov 2022- Available at www.ijraset.com

IoT Based Bomb Diffusing Robot

Komal Naik1, Sneha Kore2, Rutuja Biradar3
1, 2, 3
Department of Electronics and Telecommunication Shivajinagar, Pune

Abstract: Diffusing any explosive materials is an extremely dangerous and risky task which needs constant attention and high
degree of accuracy. Keeping in view the current law and order situation throughout the world, everyday hundreds of trained
bomb diffuser squad members are either injured or lose their lives while defusing bombs. Hence we have come up with the
design and prototype of a robot with the help of Embedded and IOT Technology, which will help the bomb diffusing squad
members to diffuse the bomb from safer distance without actual human interference at the site thus minimizing the risk of any
health hazards/ serious life injury of people present at the site.
Keywords: IOT, robot, Arduino microcontroller, Sensor, DC Motor, Wifi, PCB.

I. INTRODUCTION
This innovative system is made for operations which involve high risk for humans to enter, especially for some criminal cases and
may prove very beneficial for military area for spying purposes. This system makes use of robotic arm as well as robotic vehicle
which helps to enter an area involving high risk and diffuse the bomb.
The proposed robot provides an extra layer of protection to the bomb diffuser squad by allowing them to check and analyze a
suspicious packet before actually approaching it for diffuser. Mobile robots reduce and eliminate a bomb technician’s time-on-target.
A robot takes risk out of potentially deadly scenarios and lets the bomb technician focus on what to do an explosive device rather
than on the immediate danger to life and limb. The system sends commands to the receiving circuit mounted on the vehicle through
android device application. The receiving circuit involves arduino microcontroller and a Wi-Fi device which receives commands
sent by the Android app. The android application involves commands F, B, R, L, I, G and U so as to control the robotic arm.
Our project is designed keeping in mind, the view of the current civil wars, military instability and terrorist scenarios across the
globe. Almost every day so many trained people gets either injured or loses their lives while dealing with or trying to defuse bombs.
All this can be perceived by the countless number of news articles and documentaries that appears daily on news channels and print
media around the world.
Though the idea of our project is original, some projects with similar objectives can also be found. Examples of the French Police
have a bomb disposal robot, the Army of Israel possesses it and it is also in use by the bomb squads in a number of states of USA.
The main idea of the robot here is to serve the bomb disposal squad with proving safety and security from the dangers that they are
facing in their daily lives. The bomb squads in India have metal detectors and may be some other equipment for detecting the bomb
and disposing it, but still they have to keep their lives at risk by going near the bomb physically or the suspicious packets without
any safety and precautions.

II. LITERATURE SURVEY

Paper Authors Publications and Methodology Advantages Disadvantages
Title Details
Wireless Shinde IRJET volume:03 Atmega controller Easy to Handle, Range limitation
Bomb Pushpa, Issue:04 unit along with zigbee Robust, and
disposing Davane Apr 2016 module, display unit , Fast. Remote
Robot Rahul,Patil wireless camera controlled
Poonam
Iot Robot : Devendra R IRJET Arduino controller Fast and Robust Internet
With Bomb Bodkhe, Volume: 03 Issue: with IR sensor Metal No Range connectivity is
Diffusing Pravin F Rane, 12 | Dec -2016 Detector and cutter at limitation and can required
Application Mahesh C. the arm to diffuse the be operated from
Waghmare bomb anywhere

©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 787
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue XI Nov 2022- Available at www.ijraset.com

Military Spying 1chaitrali jadhav, (IRJET) PIC controller with Visual feedback Connectivity
and Bomb 2shamli gibile, Volume: 05 Issue: ESP8266 Android issue
Disposal Robot 3snehal gaikwad, 04 | Apr-2018 Wifi module and operated
Using IOT 4neelum dave Metal detector

Wireless Bomb Prof. (IJSRET), ISSN Pic micro user friendly Expensive
Defusing Robot Vaibhavjoshi, 2278 – 0882 Controller remote monitoring And
with camera SonaliKatore, Volume 5, Issue 4, With wireless and controlling Complex
interfacing Yogini Bhandare, April 2016 transmission Circuitry
AmolKanade module

Bomb disposal robot Abdul Kadir Bin Dept. of Electrical PIC CONTROLLER, Easy to use It has
Motaleb, & Electronic DC servo motors and user some
Mohammad Engineering getting PWM signals friendly Limitation
BusayeedHoque International from the controller s in
Dept. of Electrical Islamic University practical
& Electronic Chittagong (IIUC) point of
Engineering view.
International
Islamic University
Chittagong (IIUC)
Kumira,
Chittagong,
Bangladesh
Design,control and Dr. Hasan U. North South Arduino controller is Compact ,us NO pick
performance analysis of Zaman1 , Baized1 , University1 used and an ip er and
muktibot Chowdhury1 , Leading University camera is used for friendly,surv place ,uses
Uddin1 , Bangladesh3 survillence. illence,cost Rf
Rezwan1 , efficient module.
Ishaque1 ,
NaziaNawar
Hassan3
Department of
Electrical and
Computer
Engineering

III. SYSTEM SPECIFICATIONS

A. Hardware Requirements
1) Power Supply
a) DC Regulated Power Supply 5v
b) Input Voltage: 230V, 50Hz, AC
c) Output Voltage: 5V DC
d) Voltage Regulator: IC7805

©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 788
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue XI Nov 2022- Available at www.ijraset.com

2) Microcontroller IC: Atmega32

3) Sensor: Metal Detector
4) Motor And Motor Driver Used: DC motor and L293D
5) Display Unit: Laptop/ PC
6) Wireless Camera: Mobile camera
IV. BLOCK DIAGRAM

V. HARDWARE SYSTEM DESIGN

A. Components
ATMEGA32 MICROCONTROLLER
1) High-performance, Low-power Atmel AVR 8-bit Microcontroller.
2) Advanced RISC Architecture.
3) 32Kbytes of In-System Self-programmable Flash program memory.
4) 2Kbytes Internal SRAM.
5) I/O and Packages: 32 Programmable I/O Lines 40-pin DIp.
6) Operating Voltages: 4.5V - 5.5V for Atmega

©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 789
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue XI Nov 2022- Available at www.ijraset.com

B. Metal Detector Sensor

A metal detector is an electronic instrument which detects the presence of metal nearby. Metal detectors are useful for finding metal
inclusions hidden within objects, or metal objects buried underground. They often consist of a handheld unit with a sensor probe
which can be swept over the ground or other objects. If the sensor comes near a piece of metal this is indicated by a changing tone
in earphones, or a needle moving on an indicator. Usually the device gives some indication of distance; the closer the metal is, the
higher the tone in the earphone or the higher the needle goes. Another common type are stationary "walk through" metal detectors
used for security screening at access points in prisons, courthouses, and airports to detect concealed metal weapons on a person's
body .Detects metal objects up to 7 cm giving active low output with LED indication & buzzer on detecting metal.
1) Features
a) Detection range adjustable up to 7 cm
b) Operation range varies according to size of the metallic object
c) Power Supply: 5V DC Power Consumption: 50mA max.
d) Detection Indicator LED and Buzzer
e) Digital output. Active with logic ―0ǁ
f) Dimensions: 52x71 mm

2) Operation
The heart of this sensor is the inductive oscillator circuit which monitors high frequency current loss in coil. The circuit is designed
for any metallic body detection by detecting the variations in the high frequency Eddy current losses. With an external tuned circuit
they act as oscillators. Output signal level is altered by an approaching metallic object. Output signal is determined by supply
current changes.
Independent of supply voltage, this current is high or low according to the presence or the absence of a close metallic object. If the
metal object is near the searching coil, the output current will flow more. On the other hand, the current will be decrease when the
object is far from the searching coil.

3) Applications
a) Detect presence of any metallic object.
b) Locate pipes, cables, metal studs.

C. Motor Driver L293D

1) Features
a) It has 5 high torque DC motors for driving the robot.
b) L293D Motor driver is interfaced with microcontroller to control the robot.
c) It can drive two DC motors at a same time.
d) Over temperature protection.

D. DC Motor
In a DC motor, an armature rotates inside a magnetic field. Basic working principle of DC motor is based on the fact that whenever
a current carrying conductor is placed inside a magnetic field, there will be mechanical force experienced by that conductor.
1) Features:
a) It consist of 12v and 150mA current..
b) Available for low and high voltage applications.

2) Advantages:
a) Use of permanent magnets reduces manufacturing cost.
b) No need of electrical supply for field excitation, hence PMDC motor is relatively more efficient.
c) Relatively smaller in size.
d) Cheap in cost.

©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 790
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue XI Nov 2022- Available at www.ijraset.com

E. ESP8266 Wi-Fi Module

ESP8266 is serial Wi-Fi transceiver module. It contains the integrated TCP/IP protocol stack which gives access with any
microcontroller to your Wi-Fi network. Each ESP8266 module is work with AT commands so it is very easy to operate it.
1) Features
a) Integrated TCP\IP protocol stack
b) 802.11standard wireless protocol
c) Integrated temperature sensor
d) Integrated low power 32-bit MCU
e) Integrated 10-bit ADC
2) ESP8266 Applications
a) Smart power plugs
b) Home automat

F. Wireless Camera
A camera phone is a mobile camera is good quality, high resolution which is able to capture photographs and often record video
using one or more built-in digital cameras • It consists of an IP camera with Wi-Fi hotspot connectivity. It may consist of a camera
with Wi-Fi router whose IP address is known to us. Also it can be an android smartphone running Wi-Filive stream software.

G. Display Unit
We use local machine such as PC or Laptop to see live footage. A display unit is use to display the received video information
which is used for robot navigation, bomb detection and diffusing the bomb.

VI. SOFTWARE SYSTEM DESIGN

A. Algorithm
1) Start
2) Receives information about suspicious
3) Reaches the desired location
4) Metal sensor gets ON
5) Detects the presence of bomb
6) Generates buzzer
7) After metal detection user sends the commands to robot
8) When Forward command sent
9) Vehicle moves Forward
10) When backward command sent
11) Vehicle moves backward
12) When left command sent
13) Vehicle moves towards left direction
14) When right command sent
15) Vehicle moves towards right direction
16) When arm up command sent
17) Arm of the bot moves in upward direction
18) When arm down command sent
19) Arm of the bot moves in downward direction
20) When arm join up command sent
21) Arm of the bot moves in upward direction from the joint
22) When Cut command sent
23) One Arm cuts the wire
24) When pick command sent
25) Second arm picks the bomb
26) When place command is sent

©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 791
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue XI Nov 2022- Available at www.ijraset.com

27) Second arm place that bomb on the specific place

28) Again by the same process it will work.
29) Stop

VII. FLOWCHART

VIII. CONCLUSION AND FUTURE SCOPE

1) Disposing a bomb is a quite challenging job to military & law enforcement agency worldwide and that’s why bomb disposal
robot demand will increase day by day. .
2) It will be the best choice of military defense system as it built feasibly, sustainably and in affordable way.
3) The cheap price, practical implementation and exhibition prove that this bomb disposal robot is most suitable for third world
country in all respect. Technology mentioned here is simple, efficient and cost effective
4) This prototype has few limitations in practical point of view, but improvement in design, dexterity, DOF can enhance the
chance to implement in real life application
5) In future the proposed system can be modified according to the following types:
a) Step Climbing Mechanism.
b) Vision Sensing Technique.
c) Multi gripper Robotic Arm.

REFERENCES
[1] Senthamizh.R1,Prof.M.Priyadarshini(Department Of ECE, DSCET, Anna University, India) , Advanced Military Spying and Bomb Disposal Robot.
[2] Abdul Kadir Bin Motaleb, Mohammad Busayeed Hoque, Bomb disposal Robot Discarding explosive through wireless controlled method
[3] Ali UNLUTURK, Design and Implementation of a Mobile Robot used in Bomb Research and Setup Disposal.
[4] Dr. Hasan U. Zaman1, Design, Control & Performance Analysis of Muktibotan android& radio transmitter controlled bomb disposal robot

©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 792