KING SAUD UNIVERSITY

ALMUZAHMIYAH BRANCH,

COLLEGE OF APPLIED ENGINEERING

System Dynamic and Control

( Automatic Fire Fighting Robot using Arduino)

Prepared by:

Rayan Gahithan Alamri

442170016

Supervisor:

Dr. Nasser Shelil

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Table of Contents

Abstract

1. Introduction..............................................................................................................4
2. METHODOLOGY
………………………………………………………………...5

3. Design ………………………….............................................................................5
3.1 Design Structure……………………………………………….………………5
3.2 Hardware Implementation..……………………………………………………6
3.3 HARDWARE USED …………………………………………………..…….. 7
3.4 Circuit Diagram……………………………………………………..……......10
3.5 Programming……………………………………………………....................11
4. The most source likely to be utilized in Saudi Arabia..........………………….…11
5. Conclusion..........…………………………………………………………………12
6. Reference..........…………………………………………………………………..13

List of Figures

Figure 1: Causes of Fire Accidents................................................................................4

Figure 2: Fire Fighting Robot........................................................................................6
Figure 3: Block Diagram of Fire Fighting Robot...........................................................6
Figure 4: Arduino UNO.................................................................................................7
Figure 5: IR Flame Sensor.............................................................................................8
Figure 6: L293D Motor Driver.......................................................................................8
Figure 7: L293D Motor Driver.......................................................................................9
Figure 8: Submersible Water Pump..............................................................................9
Figure 9: BO Motor.....................................................................................................10
Figure 10: Circuit Diagram..........................................................................................10
Figure 11: Arduino IDE program.................................................................................11
Figure 12: Fire Fighting Robot.....................................................................................12

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 Abstract

A fire outbreak is a hazardous act that leads to numerous consequences. Detecting a

fire at an early stage and extinguishing it can aid in prevention of various accidents.
Till now we rely on human resource. This often leads to risking the life of that person.
Therefore, fire security becomes an important aspect to save human lives. In this
paper a fire extinguishing robot has been proposed and designed which detects the fire
location and extinguish fire by using sprinklers on triggering the pump. This robot
uses three flame sensors for accurate fire detection. This proposed model of Fire
Extinguishing Robot using Arduino used to detect presence of fire and extinguishing
it automatically without any human interference. It contains gear motors and motor
driver to control the movement of robot when it detects any presence of fire and will
automatically start the water pump to extinguish that fire breakout. This model robot
has a water ejector which is capable of ejecting water at the fire breakout place. The
water ejector pipe can be move towards the required direction using servo motor. The
whole operation is controlled by an Arduino UNO micro-controller.

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 1. Introduction

One of the most important parameter in fire disaster is life, i.e. lives lost in saving
someone else life. It is sometimes impossible for fire-fighters personnel to access the
site of a fire because of explosive materials, smoke, and high temperatures. A fast
response to detect the fire can avoid many disastrous things. From the given statics
(Fig.1), it is observed that fire can take place at domestic as well as at industrial level.
A normal spark can generate a massive fire breakout. Not only lives of industrial
people but also the lives of domestic’s people are at risk because of poor fire
management system. Fire can take many lives to and can injure many people for their
life time. But it can be avoided using proper fire controlling methods.

Figure 1: Causes of Fire Accidents

For such environments, fire-fighting robot is proposed. In today’s generation a lot of

robots are proposed and designed to remove the human factor from dangerous and
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deadly work. The use of robots is becoming very common that safely completes the
labor intensive or deadly work for human beings. A Fire Extinguishing Robot is based
on IOT Technology. In Fire Extinguishing robot, we intend to build a system that
could extinguish a small flame by sensing and moving to the location itself.

It will automatically detect the fire with the help of flame sensors. Once it detects the
fire breakout location, it navigates itself accordingly to reach the fire source and
extinguishes the fire by using built-in fire extinguishing system. For fire detection it is
using three flame sensors. First one for the left direction, second one for the forward
direction and third one for the right direction. Fire extinguishing system will get
activated when fire detection system detects fire. It then reaches the breakout point
and water pump will start ejecting the water when it detects fire. The key features of
this system is to provide surveillance of fire so that major fire accidents can be
prevented and loss of human lives gets minimized.

2. METHODOLOGY

The theme of this paper is to automatically sense the environmental fire and
extinguish it without human intervention. The methodology is divided into three parts.
The first part is on the design structure, followed by hardware description and the
finally on the programming design. All these three parts were assembled together and
experiments were then performed to build a system that can extinguish the fire that
was carried out.

3.1 Design Structure

In this section, the prototype of robotic system is presented, in which it consists of IR

flame sensors, servo motors, submersible water pump, motor driver, mini breadboard,
BO motors, rubber wheels, processor, and communication module for exchanging
data between the fire-fighting robot and Arduino software. Fig 2 shows the basic
prototype of our firefighting robot. The robot carries four main functions: First, it
initializes itself i.e. its sensors gets initializes as the power is supplied. Second, robot
sense the surrounding environment (for instance for the level of temperature) and
identify the fireplace. Third, robot sends the navigating information and starts to

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navigate itself towards the fireplace. Fourth, finally the robot starts to extinguish the
fire with the help of servo motors and submersible water pump.

Figure 2: Fire Fighting Robot

3.2 Hardware Implementation

The hardware part is one of the crucial parts in the development of firefighting robot.
It includes Arduino UNO, IR flame sensors, servo motors, submersible water pump,
motor driver, mini breadboard, BO motors, and rubber wheels. Fig 3 shows the block
diagram of firefighting robot which consists of three IR flame sensors as the input of
the system. Arduino UNO is used as a micro-controller that connects other
components. L293D Motor driver is used to drive motors and is capable of running
two DC motors (Left DC motor and Right DC motor) at the same time.

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 Figure 3: Block Diagram of Fire Fighting Robot

3.3 HARDWARE USED:

1. ATmega328P IC (Arduino UNO):

Figure 4: Arduino UNO

Fig 4. shows the Arduino UNO board. It is basically a micro-controller kit that is used
to get data from peripheral devices (sensors, motors, etc.). The Arduino UNO Micro-
controller board is based on the ATmega328P IC. The ATmega328P is good platform
for robotics application which makes robot to extinguish fire in real time. Arduino

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UNO board consist the sets of digital and analog pins that may act as an interface to
various expansion boards and other circuits. It contains everything needed to support
the microcontroller.

2. IR Flame Sensor:

Fig 5. shows the IR Flame Sensor. The IR flame sensor senses the environment and
detects the presence of fire or flame. The module is based on the IR receiver and
basically detects the presence of flammable and harmful gases like nitrogen,
hydrogen, carbon mono oxide. The signal detection capacity is adjustable. The robot
contains three flame sensors.

Figure 5: IR Flame Sensor

3. L293D Motor Driver:

Fig 6 shows the L293D Motor Driver. L293D is a Motor Driver or Motor Driver IC
which is responsible for the movement of DC motor on either direction. L293D is a

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16-pin IC through which we are able to run two DC motors simultaneously in any
direction.

Figure 6: L293D Motor Driver

4. Servo Motors:

Fig 7 shows the Servo Motors. Servo Motors are electronic devices that are mainly
used for providing specific velocity and acceleration.

Figure 7: L293D Motor Driver

5. Submersible Water Pump:

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Fig 8 shows the Submersible Water Pump. Submersible Water Pump is ideal for
making automatic watering system using Arduino. The water pump is an important
part of the robot as it will pump water to extinguish the fire.

Figure 8: Submersible Water Pump

6. BO Motors:

Fig 9 shows the BO Motor. BO Motor is a dual shaft motor having 300rpm.It converts
electrical energy into mechanical energy. It is the replacement to our metal gear DC
motors. Our robot uses four dual shaft motors.

Figure 9: BO Motor

3.4 Circuit Diagram

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Make all the connection as the given in the circuit diagram. After completing the
Connection next step is to write the code and program for our project.

Figure 10: Circuit Diagram

3.5 Programming

For programming, the Arduino software provides an integrated development

environment (Arduino IDE) and core libraries. The Arduino IDE program is a
software program written in Java language and based on the Processing. The Arduino
IDE is basically a framework built on top of C and C++ and compiled using avr-gcc
and AVR Libc. The open source Arduino IDE makes it easy to write code and upload
it to the Arduino Uno for execution. It is available for all major desktop platforms i.e.,
Windows, Mac OS X, and Linux. Fig 11 shows the Arduino IDE program.

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 Figure 11: Arduino IDE program

4. RESULT DISCUSSION

Fire Fighting Robot has developed to reduce human life lost and to develop such a
device that automatically sense fire and extinguish it without human intervention. In
this the fireplace is detected using the IR Flame sensors and are connected to Arduino
UNO, which control the movement of Motor drive that helps the robot to reach the
fireplace and extinguishes it with the pumping mechanisms. In the industry if any fire
accident occurs, there is a need of person to monitor continuously and rectify it. In
this process if any time delay takes place irreparable loss occurs in industry. The
firefighting robot continuously monitors the surrounding and helps in extinguishing
the fire. Fig 12 shows the overall prototype of Fire Fighting Robot.

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 Figure 12: Fire Fighting Robot

5. CONCLUSION

This model of Fire Extinguishing Robot aids to share out the burden of fire fighters in
firefighting task. Our project aims to build a real time firefighting robot which moves
in a constant speed, identify the fire and then extinguish it with the help of pumping
mechanism. The detection and extinguishing was done with the help basic hardware
components attached with the robot. Firstly, IR Flame sensors are used for the
detection of fire. Secondly, BO Motors and Rubber wheels are used to navigate the
robot to reach the fireplace. Finally, the robot extinguishes the fire with the help of
submersible water pump and servo motors.

6. Reference

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1. International Journal of Innovative Science and Research Technology ISSN

No:-2456-2165 Automated Fire Fighting Robot, Nandakumar S, Sanjay Sagar

I, Subash R, Vishal Vaitheeshwaran R.K Dr. S. Uma Maheswari-M.E, Ph.D.
(Professor)-Electronics and Communication-Panimalar engineering college-
Chennai, Tamilnadu
2. https://www.ijraset.com/research-paper/arduino-based-fire-fighting-robot
3. Review Paper on Arduino Based Fire Fighting Robot, Authors: Anam Sheikh,
Gopal Purohit, Vaishnavi. C. Raut, Rehan Rashid Abdul, Prof. C. H. Kidile
4. https://www.instructables.com/Fire-Fighting-Robot-Using-Arduino/
5. https://techatronic.com/fire-fighter-robot-using-arduino-fire-fighting-robot/
6. https://quartzcomponents.com/blogs/electronics-projects/fire-fighting-robot-
using-arduino

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