Design and Fabrication of Fire Fighting Robot with RF controller 2022-2023

CHAPTER 1
INTRODUCTION
1.1 DESIGN AND FABRICATION OF SEMI-AUTOMATIC FIRE EXTINGUISHER
ROBOT

This advanced project Fire Fighter Robotic Vehicle with Night Vision Camera
allows a user to control a fire fighter robot equipped with water tank and gun remote
wirelessly for extinguishing fires. For this purposes the system uses an RF remote for
remote operation along with RF receiver based microcontroller circuit for operating the
robotic vehicle and water pump. The receiver circuit receives RF signals through RF based
remote transfer user commands.

The receiver circuit now decodes the data commands sent. It then forwards it to the
microcontroller. Now the microcontroller processes these instructions and then instructs
the vehicle motors to run the vehicle in desired directions. It also operates the water pump
motor and pump direction motor to spray water based on user’s command. This allows the
user to operate the robot and put off the fire by standing at a safe distance. This robot body
also has a wireless night vision enabled camera mounted over it. This night vision camera
helps to direct the robot body in which ever direction as needed.

This is because whatever area that will be captured by this wireless camera can be
viewed in PC for reference. The robot operates within 8 meter range of the remote.
Thus this system helps to extinguish fire from a safe distance with the help of the water
tank attached to the robot body.

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Design and Fabrication of Fire Fighting Robot with RF controller 2022-2023

CHAPTER 2
LITERATURE SURVEY

1. Prof. Gaurav Nagdeve et.al., “DESIGN AND FABRICATION OF AUTOMATIC

FIRE FIGHTING ROBOT” International Research Journal of Modernization in
Engineering Technology and Science e-ISSN: 2582-5208 Vol:04 Issue:06/June-
2022.
In this paper the main goal of this project is to design a fire fighting robot by
using remote operation. This robot is loaded with a water tanker and a pump
controlled through wireless communication to sprinkle water. For the desired
operation, an PIC microcontroller is used. At the transmitter end, push buttons are
used to send commands to the receiver end to control the robotic movement, either in
forward, backward, right or left direction. The remote control that has the benefit of
adequate range up to 100 meters with apposite antenna, while the decoder decode
before feeding it to another microcontroller to drive DC motors via motor driver IC
for necessary work. A water tank along with water pump is mounted on the robot
body and its operation is carried out from the microcontroller output through
appropriate signal from the transmitting end. A motor driver IC is interfaced to the
microcontroller through which the controller drives the motors.
This Project presents a fire fighting robot using RF communication and it is
designed and implemented with Atmel 89S52 or 8051 microcontroller (MCU) in
embedded system domain. Experimental work has been carried out carefully. The
result shows that higher efficiency is indeed achieved using the embedded system.
2. Prof. Amol Suradkar et.al., “DESIGN & DEVELOPMENT OF FIRE FIGHTING
ROBOT” International Research Journal of Engineering and Technology e-ISSN:
2395-0056 Volume: 07 Issue: 05 | May 2020.
The firefighting occupation has a long history of dangerous situations. There
has been numerous and devastating human losses because of lack in technological
advancements. In daily life, fire hazards have become more common and it becomes
the responsibility of fire fighters to overcome any difficulties and extinguish fires
protecting the human life and other possible losses. But they are often exposed to
higher risks while performing fire extinguishing operations, especially in hazardous
environments such as in nuclear power plants and petroleum refineries. With the

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development in the field of robotics, human intrusions have become less and robots
are being widely used in order to overcome difficulties faced by firemen. This is one
of the reasons for which robots are used instead of humans to handle fire hazards.
Therefore, this paper presents the development of a firefighting robot that can
extinguish fire without the need for fire fighters to be exposed to unnecessary
danger. In this project, we are developing a robot which can also be used on
domestic levels for fire extinguishing operations.
From this paper explains the designing and construction of microcontroller
based wireless firefighting robot. The required experimental work has been carried
out successfully and the commands given to the robot through RF remote works
perfectly and the microcontroller carries out the necessary operation based on the
user command.
3. Prof. Jayaraman.G et.al., “DESIGN AND ANALYSIS THE FIRE FIGHTING
ROBOT” International Journal of Emerging Technology and Innovative
Engineering Volume 5, Issue 9, September 2019 ISSN: 2394 – 6598.
This paper first introduces the integrated system which is the heart of the
robot. Then the mobile platform and the actuation, they are combined together to
make the robot move. Special sensors are the most important parts. For AR-4, there
are sonar sensors, sharp IR sensors measuring the distance, flame sensor detecting
the fire, and bump sensors in case of an extreme situation.
From this, we successfully approached of modular design strategy was a good
solution in implementing the firefighting robot to help people at the critical
condition. The proposed robot can move in forward, backward, left, right and can
stop also. Robot detects temperature, smoke and flame at the site where the robot
exists. This robot is help full in those areas where natural calamity and bomb
explosions where occurred.
4. Prof. Preethy PK et.al., “FIRE FIGHTING ROBOT” Journal of Xi’an Shiyou
University, Natural Science Edition Volume 18, Issue 3 | December 2021 ISSN :
1673-064X.
In this paper it is proposed that the VIOLENCY Robot. The robot is fitted
with a multi-flame sensor that is used to detect local fire and provides signals on a
small controller to activate a water spray pump to extinguish a fire. This robot can be

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controlled using a cell phone / remote control via Bluetooth / rf / Wi-Fi. It can also
work with autonomous mode.
This thesis is about designing and producing mobile fire extinguishing robots
to extinguish a fire before it spreads in a short period of time and to get information
about fire behavior. Also to help and protect firefighters for other purposes.
Throughout this research, the ideas and designs of a fire extinguisher are discussed.
The robot has been designed and tested according to its architecture. The robot, built,
is a basic representation of what was planned.
5. Prof. Wali Mohammad Abdullah et.al., “A PROPOSED SYSTEM TO GUIDE THE
BEST EXIT PATH DURING FIRE HAZARD IN INDUSTRY ENVIRONMENT”
MIST Journal of Science and Technology|Volume 5|Issue 1|December 2017 ISSN
2224-2007.
Fire protection is the study where it teaches how to survive during fire hazards
and describes the safety measures during construction of the buildings to prevent
destructive fire. Ensuring building code and fire code, government can enforce some
basic safety measures during the construction of buildings. For smart building and
also for already constructed buildings, we need some automated systems to find out
the way of nearest exit for the victims, as well as, finding out the shortest path for the
fire fighters to reach the target point. In this paper, an efficient algorithm is proposed
where it provides immediate and dynamic indication of best possible exit path at the
time of fire accidents in industrial environment.
From this paper, we proposed an efficient algorithm which would work as a
guidance provider component during fire hazard. Implementation of this proposed
system can save people from death by alarming them in a smarter and quicker way.
Existing alarm system informs people of danger but our algorithm will also keep
them a little bit ahead of time as the efficient path to exit is shown.

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CHAPTER 3
PROBLEM STATEMENT

Taking reference from the National Crime Records Bureau (NCRB) statistics
for 2015, The Managing Trustee and President of Beyond Carlton, said five States —
Maharashtra, Uttar Pradesh, Gujarat, Karnataka and Madhya Pradesh — accounted for
over 60% of deaths due to fire. In Karnataka, 1,244 people had died in fires in 2015,
781 of them women. Nationally too, NCRB data for 2015 showed that 17,500 Indians
died in fire accidents in a single year. As many as 7,445 Indians died in their
residences.

“According to the FICCI- Pinkerton India Risk Survey 2017 that analyses the
most significant threats to business perception and risks for the country, fire ranks as
the fifth greatest risk among 12 risks”. Members of Beyond Carlton said there had been
changes since the horrific Carlton Towers tragedy on 23rd February 2010, especially
after a PIL (Public Interest Litigation) filed by Beyond Carlton in the Karnataka High
Court resulted in a government notification laid down stringent preventive measures in
high-rise buildings in the State, but they admitted that more needs to be done for safety
precautions from fire.

3.1 Lack of Uniform Fire Safety Legislation: According to Accidental Deaths &
Suicides in India report 2020, a total of 11,037 cases of fire accidents were reported in
the country during 2020. Despite that there is no uniform legislation regarding fire
safety in India.

3.2 Natural and Climatic Causes: Natural weather phenomena like lightning, extreme
heat with low humidity cause fires in urban areas.

3.3 Absence of Smoke Management and Emergency Lighting: The high-rise

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buildings often contain large enclosed spaces or voids, even a small fire can become a
fire hazard due to the lack of smoke management and warning mechanism through
emergency lighting which will also lead to creating difficulties for firemen to do their
job.

Fig 3.1: Severely injured fire fighter while saving people from the burning building.

Fig3.2: Extinguishing fire through a fire fighting robot.

A firefighter of age 31, died after portion of building collapses on him due to
lack of advancement in the technology of fire safety department. The incident took
place on 9th October 2021 and all three firefighters present at the spot were injured. He
was at the industrial area when he and his team members sustained burn injuries while
trying to control a fire in the Bhorgarh area.

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He was at the industrial area when he and his team members sustained burn
injuries while trying to control a fire in the Bhorgarh area. The men got trapped after a
portion of the building collapsed on them.
He was injured while controlling a factory fire, succumbed due to injuries.
Police said the deceased was posted in the Outer district of Delhi Fire Services and had
completed his training in 2019.
Analyzing these incidents and harms to humanity, we intend to bring
improvements in the technology of firefighting systems through our project of the
prototype of a fire fighter robot. As technology in the fire service can improve fire
fighter safety and readiness.
Technology is the root of almost everything we do, whether in our personal or
professional lives. We will readily admit that some of the advances and uses of certain
technologies have befuddled us. However, for the most part, we believe firmly that
technology has improved what we do and how we perform, and has generally helped
improve the outcomes of our work.
Innovative technology has always been an important part of firefighting.
Technology in the fire service covers far more than computers and software. From
personal protective equipment to fire pumps to radio communication systems,
firefighting technology advances all work together to improve firefighter safety and
effectiveness.

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CHAPTER 4
OBJECTIVES OF THE PROJECT

Fig4.1: Burning building

• Robotic firefighting systems are designed with certain tasks in mind. These
include analyzing and locating fires, conducting search and rescue, monitoring
hazardous variables and the primary task of fire control and suppression.

• Fixed firefighting robotic systems, like automatic fire sprinklers and alarms, are
should be used in heavily populated and hazardous areas for rapidly
extinguishing any threat. These are usually simpler systems relying mostly on
IR sensors.

• Mobile robotic firefighting systems are another type, mostly in the form of
remote controlled vehicles affixed with fire suppression tools like water or
foam hoses. These are capable of travelling into areas unsafe for people through
an array of sensors, visual camera, IR and more technology that transmits
information for navigation to a remote operator.

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• The goal of this competition is to advance the capabilities of robotic fire fighter
robots in particular, the application of fire fighter robots to the suppression of
warehouse fires. Sprinkler systems are effective and reliable.

• Specifically the challenge is for a robot to navigate a model floor plan of a

warehouse with several rooms and hallways. The robot will find the fire and
extinguish it in the shortest time possible.

• This robot will reduce the risk of injury for motivation behind this project is
that firefighter's death. Many firefighters are struggling to perform their duty
which causes many deaths while on a mission and the circumstances related to
each incident.

• Firefighters are our heroes and our sense of security in times of trouble. They
put themselves on dangerous situations to protect us. At present, the world is
moving toward the use of technologies software and hardware.

• This paper proposed a smart fire fighter robot system which designed to detect
the source of fire, extinguish it and increase the knowledge about fire behavior
from the firefighters and possible victims and decrease the monetary losses
which increase considerably as fire duration increases.

• It also makes use of liquid-tank and spray mechanism for extinguishing the fire.
The spraying nozzle is mounted on a servo motor to cover maximum area.

• This Robot can extinguish different types of fire A, B, C, D, K, electric and

metal fire without spreading in the shortest time. While fire can seem like one
big threatening force, it’s important to know that there are actually several
classes of fires.

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CHAPTER 5
TYPES OF FIRE EXTINGUISHABLE BY THE ROBOT

The 5 different classes of fires each have their own best approach to put them out
safely and effectively. A fire’s class can determine how quickly it burns, how dangerous it
is, and the best way to suppressor put it out through our robot.

Fig5.1: Flames

5.1 The five different classes of fire are categorized as follows:

• Class A: solid materials such as wood or paper, fabric, and some plastics
• Class B: liquids or gas such as alcohol, ether, gasoline, or grease
• Class C: electrical failure from appliances, electronic equipment, and wiring  Class

D: metallic substances such as sodium, titanium, zirconium, or magnesium  Class

K: grease or oil fires specially from cooking.

Understanding the 5 different classes of fires can help us determine the biggest fire
risks at our facility and prevent from it through our robotic technology. The potential
application of the multifunctional firefighting system has been defined as a group that
includes the chemical and oil industry, nuclear plants, military storage facilities, as well as
mine fields and dangerous substance transport.

As a lifeless robot, fire fighter robots can fully play their role in various dangerous
and complex environments such as high temperature, toxic, hypoxia, and dense smoke, and

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greatly reduce the casualties of firefighters and as special equipment, fire-fighting robots
can be used repeatedly to exert their effectiveness while being carefully maintained.

CHAPTER 6
METHODOLOGY

To design and build a Fire Fighting robot, where a robot will be put in a house
model where a light candle is available and the robot should be able to detect, and
extinguish the candle in the shortest time while navigating through the house and avoiding
any obstacles in the robot's path. Researches were done in the beginning of the project to
get more information about robotics in general and to think about the design, hardware
components, and the software technique which will control the robot. This robot contains
parts as described below;

6.1 Parts Specification

1) 8051 Microcontroller:
8051 microcontroller is designed by Intel in 1981. It is an 8-bit microcontroller. It is
built with 40 pins DIP (dual inline package), 4kb of ROM storage and 128 bytes of
RAM storage, two 16-bit timers. It consists of are four parallel 8-bit ports, which are
programmable as well as addressable as per the requirement.

Fig6.1:8051 Microcontroller

2) Robotic Chassis:
The chassis is the structural component for the robot which contains the drivetrain
and allows the robot to be mobile by using wheels, tank treads, or another method. A
chassis is sometimes referred to as the robot's frame.

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Fig6.2: Robotic Chassis

3) DC Motor:
DC motor is an electrical machine that converts electrical energy into mechanical
energy. In a DC motor, the input electrical energy is the direct current which is
transformed into the mechanical rotation.

Fig6.5: DC Motor

4) Motor Driver IC:

Motor driver IC is an integrated circuit chip that controls motors in autonomous
robots and embedded circuits

Fig6.6: Motor Driver IC

5) Voltage Regulator IC:

Voltage regulator is an integrated circuit (IC) that provides a constant fixed output
voltage regardless of a change in the load or input voltage.

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Fig6.7: Voltage Regulator

7) Crystal Oscillator:
Crystal oscillator is an electronic circuit that uses a piezoelectric (generates AC
voltage when undergoes mechanical vibrations) crystal. It works on the principle of
inverse piezoelectric effect, which means that when an AC voltage is applied to it, it
vibrates at its natural frequency.

Fig6.8: Crystal Oscillator

8) Transistors:
Transmitter Transistor is a semiconductor device used to amplify or switch electrical
signals and power. The transistor is one of the basic building blocks of modern
electronics. It is composed of semiconductor material, usually with at least three
terminals for connection to an electronic circuit.

Fig6.9: Transistors

9) Capacitors:
Capacitor is a device that stores electrical energy in an electric field by virtue of
accumulating electric charges on two close surfaces insulated from each other. It is a

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passive electronic component with two terminals. The effect of a capacitor is known as
capacitance.

Fig6.10: Capacitor

10)Cables and Connectors:

Connectors and cables go hand-in-hand to connect everything from computers to
business telecommunication systems to home theatres.

Fig6.11: Cables & Connectors

11)Diodes:
Diode is a two-terminal electronic component that conducts current primarily in one
direction; it has low resistance in one direction, and high resistance in the other.

Fig6.12: Diodes

12)PCB and Breadboards:

Printed circuit board, or PCB, is used to mechanically support and electrically connect
electronic components using conductive pathways, tracks or signal traces etched from
copper sheets laminated onto a non-conductive substrate.
Breadboard is a type of prototyping that requires no soldering connections.

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Fig6.13: PCB and Breadboards

13) LED:
Light-emitting diode (LED) is a semiconductor device that emits light when current
flows through it.

Fig6.14: LED

14)Switch & Push Buttons:

Switch is an electrical component that can disconnect or connect the conducting
path in an electrical circuit, interrupting the electric current or diverting it from one
conductor to another.
Pushbutton switch is a mechanical device used by an operator to manually
press a button to control an electrical circuit that operates an internal switching
mechanism.

Fig6.15: Push button

15)Resistors:
Resistor is a passive two-terminal electrical component that implements electrical
resistance as a circuit element. In electronic circuits, resistors are used to reduce current

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flow, adjust signal levels, to divide voltages, bias active elements, and terminate
transmission lines, among other uses.

Fig6.16: Resistors

16) IC Sockets:
IC socket is an essential interconnect component that lets you install or remove
integrated circuits without bending the leads or overheating the chip by soldering.

Fig6.17: IC Sockets

17)Night Vision Camera:

Wireless cameras work by transmitting video and audio through radio waves.
The data they capture is sent to a receiver, which could be a hybrid DVR (Digital
Video Recorder), a computer, or an app on a smart device, where the data is then
stored either to disk or on the cloud. The data is usually accessed via the same
device.
Cameras with night vision are used to maximize a video surveillance system's
effectiveness in low light conditions. The fundamental feature that unites all such
cameras is the presence of IR (I) illumination, without which it is impossible even
to imagine video surveillance at night.

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Fig6.18: Night Vision Camera

18) V380 Pro Application:

V380 Pro is a kind of network camera viewing software which has the following
features:
1. View the real-time video
2. Take photo for real-time video
3. Mobile control
4. Video playback in the SD Card
5. Time zone Settings and mobile phone time Synchronization

Fig6.19: V380 Pro App Icon.

19) Water Tank:
Water tanks are used to provide storage of water for being used as the supplement of
fire extinguishing liquid. The water can be replaced with other fire extinguishing
materials such as potassium bicarbonate or dry carbon dioxide.

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20)Spray pump:
Spray pump is mechanical equipment which is developed to produce a pressure
that is different to spray fluid from the storage tank, via system plumbing.

CHAPTER 7
FLOW CHARTS

1) RF Tx Rx:

This RF module is a combination of RF Transmitter and RF Receiver. The

transmitter/receiver (Tx/Rx) pair operates at a frequency of 433 MHz. The RF
transmitter receives serial data and transmits it wirelessly through its RF antenna.
The transmission occurs at the rate of 1 Kbps – 10 Kbps.

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Fig6.3: Transmitter

Receiver:

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Fig6.4: Receiver

CHAPTER 7

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EXPECTED OUTCOME OF THE PROPOSED PROJECT MODEL

2D DIAGRAM:

3D DIAGRAM:

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CHAPTER 9

REFERENCES

[1] Mustapa, N. B. “Fire_Fighting_Robot” Universiti Teknologi Malaysia 2013.

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[2] Hassan, W. Fire Fighting Robot research gate. Fire_Fighting_Robot. 2010.

[3] David Fernando Zapata García, Mario Andrei Garzón Oviedo, João Ricardo Pereira Valente and Antonio Barrientos,
QuadLab, Journal of Intelligent & Robotic Systems, (2016).

[4] Majid,N.A. Nor_Ayuni_binti_Abd_Majid Motor Speed Control Using Microcontroller, Universiti Teknologi Malaysia,
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[5] H. P. Singh, Akanshu Mahajan, N. Sukavanam, VeenaBudhraja,”Control Of An Autonomous Industrial Fire Fighting
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[6] Kristi Kosasih, E. Merry Sartika, M. Jimmy Hasugian, danMuliady, “The Intelligent Fire Fighting Tank Robot” ,
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[7] Swati A. Deshmukh, Karishma A. Matte and Rashmi A. Pandhare, “Wireless Fire Fighting Robot”, International
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[8] Phyo Wai Aung, Wut Yi Win, “Remote Controlled Fire Fighting Robot”, International Journal of Scientific
Engineering and Technology Research 2014.

[9] Arpit Sharma, ReeteshVerma, Saurabh Gupta and Sukhdeep Kaur Bhatia, “Android Phone Controlled Robot Using
Bluetooth”, International Journal of Electronic and Electrical Engineering. 2014

[10] Lakshay Arora, Prof.AmolJoglekar, “Cell Phone Controlled Robot with Fire Detection Sensors”, (IJCSIT)
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[11] Saravanan P, “Design and Development of Integrated SemiAutonomous Fire Fighting Mobile Robot”, International
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[12] Poonam Sonsale, RutikaGawas, Siddhi Pise, Anuj Kaldate , “Intelligent Fire Extinguisher System”,IOSR Journal of
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[13] Zervas, E. et al., 2011. Multisensor data fusion for fire detection. Information Fusion, 2014.

[14] Khoon, T.N., Sebastian, P. & Saman, A.B.S., Autonomous Fire Fighting Mobile Platform. Procedia Engineering, 2013.

[15] E. Krasnov, D. Bagaev, "Conceptual analysis of firefighting robots' control systems", IV International Conference
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[16] Omar Ismael Al Sanjary, Detection Of Video Forgery: A review of literature 2015.

[17] Mohammed Hazim Alkawaz, Detection of copy-move image forgery based on discrete cosine transform, 2016.

[18] Omar Ismael Al-Sanjary, Ahmed Abdullah Ahmed , Detection clone an object movement using an optical flow
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[19] Omar Ismael Al Sanjary, Development of a video tampering dataset for forensic investigation. 2015.

[20] Omar Ismael Al Sanjary , Semi-automatic Methods in Video Forgery Detection Based on Multi-view Dimension. 2017.

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