DESIGN AND IMPLEMENTATION OF IOT-BASED FIRE FIGHTING AND

AFFECTED AREA MONITORING ROBOT

A Project Report Phase – II

Submitted in partial fulfillment of the requirements for the award of a Bachelor of

Engineering degree in Electronics and Communication Engineering

by
GURRAM SREE BALAJI (39130158)
TALLAM VENKATA PAVAN KALYAN (39130462)

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING
SCHOOL OF ELECTRICAL AND ELECTRONICS

SATHYABAMA
INSTITUTE OF SCIENCE AND TECHNOLOGY
(DEEMED TO BE UNIVERSITY)
Accredited with grade “A” by NAAC
JEPPIAAR NAGAR, RAJIV GANDHI SALAI, CHENNAI – 600119

APRIL - 2023
 SATHYABAMA
INSTITUTE OF SCIENCE AND TECHNOLOGY
(DEEMED TO BE UNIVERSITY)
Accredited with “A” grade by NAAC
Jeppiaar Nagar, Rajiv Gandhi Salai, Chennai - 600 119
www.sathyabama.ac.in

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

BONAFIDE CERTIFICATE

This is to certify that this Project Report is the bonafide work of TALLAM VENKATA PAVAN
KALYAN (39130462) And GURRAM SREE BALAJI (39130158) who carried out the project
entitled “DESIGN AND IMPLEMENTATION OF IOT-BASED FIRE FIGHTING AND
AFFECTED AREA MONITORING ROBOT” under our supervision from November 2022to
April 2023.

Internal guide
Dr. R. M. JOANY M.E., Ph.D.,

Head of the Department

Dr. T. RAVI M.E., Ph.D.,

Submitted for viva-voce Examination held on _ 20/04/2023

Internal Examiner Internal Examiner

ii
 DECLARATION

We, Tallam Venkata Pavan Kalyan(39130462) and Gurram Sree Balaji (39130158) hereby
declare that the Project Report entitled “DESIGN AND IMPLEMENTATION OF IOT- BASED
FIRE FIGHTING AND AFFECTED AREA MONITORING ROBOT” done by us
under the guidance of Dr. R.M. JOANY, M.E., Ph.D., Associate Professor Department of
Electronics and Communication Engineering, SATHYABAMA INSTITUTE OF SCIENCE
AND TECHNOLOGY, CHENNAI is submitted in partial fulfillment of the requirements for the
award of Bachelor of Engineering degree in Electronics and Communication Engineering.

Date: 20/04/2023
Place: Chennai

1.

2.
Signature of the candidates

iii
 ACKNOWLEDGEMENT

We are pleased to acknowledge our sincere thanks to the Board of Management of

SATHYABAMA INSTITUTE OF SCIENCE AND TECHNOLOGY for their kind
encouragement in doing this Project and for completing it successfully. We are grateful to
them.

We convey our thanks to Dr. N.M. NANDITHA, M.E., Ph.D., Professor & Dean, School of
Electronics and Communication Engineering, and Dr. T. RAVI, M.E., Ph.D., Professor &
Head of the Department of Electronics and Communication Engineering for providing me
with the necessary support and details at the right time during the progressive reviews.

We would like to express our sincere and deep sense of gratitude to our guide
Dr.R.M.JOANY, M.E., Ph.D., Associate Professor for her valuable guidance, suggestions,
and constant encouragement paved way for the successful completion of our Project.

We wish to express our thanks to all the Teaching and Non- teaching staff members of the
Department of Electronics and Communication Engineering who were helpful in many ways
in the completion of the Project.

iv
 ABSTRACT

The purpose of this project is to provide a design for an Arduino-based Fire Fighter Robot.
Arduino is an open-source electronics platform that is based on easy-to-use hardware and
software. Arduino board can be controlled by sending a set of instructions to the
microcontroller. It has been designed to develop a fire-fighting robot using Arduino
technology for remote operation. Firefighting is the act of extinguishing fires, i.e.; our robot
sprinkles water onto the fire. The robotic vehicle is loaded with a water tanker and a pump to
throw water. An Arduino microcontroller is sued for the desired operation. A firefighter robot
suppresses and extinguishes fires to prevent loss of life and destruction of property and the
environment.

This fire-fighting robot can be used as a supplementary to the firefighters in critical situations.
To function this robot, a flame sensor, a gas sensor, an IR sensor, and a temperature
humidity sensor has been used. The flame sensor is used to detect the fireplace at the same
time as the gas sensor informs about the presence of flammable gases, the Passive Infrared
Sensor confirms the presence of a human, and the temperature humidity sensor sends
statistics about the temperature and humidity of the locality. The robot can run in both a
manual control system and an autonomic control system

v
 TABLE OF CONTENTS

CHAPTER
TITLE Page No.
No.

v
ABSTRACT
viii
LIST OF FIGURES

1 INTRODUCTION 1
1.1 Block diagram and the objective

LITERATURE SURVEY
2 3
2.1 Literature Survey

2.2 Open Problems in Existing System 4

REQUIREMENTS ANALYSIS 5
3
3.1 Feasibility Studies And Risk Analysis of the Project 5

3.2 Hardware Requirements 7

3.3 Software Requirements 21

4 DESCRIPTION OF THE PROPOSED SYSTEM

4.1 Methodology of the model 23

4.2 Architecture Design of Proposed System 24

4.3 Project Management Plan 25

4.4 Financial report on estimated costing 26

4.5 Transition/ Software to Operations Plan 27

vi
 IMPLEMENTATION DETAILS
5

5.1 Development and Deployment Setup 28

5.2 Algorithms 28

5.3 Algorithm Testing 34

6 RESULTS AND DISCUSSION 35

7 SUMMARY AND CONCLUSION

7.1 Conclusion 38

7.2 Future work 38

7.3 Research Issues 39

7.4 Implementation Issues 40

REFERENCES

APPENDIX

A. SOURCECODE 43

B. SCREENSHOTS 47

C. RESEARCH PAPER 49

vii
 LIST OF FIGURES

FIGURE No. FIGURE NAME PAGE No.

Fig1.1 Overview of embedded system 1
Fig 1.2 Block diagram 2
Fig 3.1 Arduino Uno 7
Fig 3.2 Interface Electronics 8
Fig 3.3 Fire sensor 8
Fig 3.4 How Infrared Sensor Works 9

Fig 3.5 Applications of Infrared Sensor 10

Fig 3.6 Battery 11

Fig 3.7 Servo motor 12

Fig 3.8 Relay module 13

Fig 3.9 Pin diagram 13

Fig 3.10 Relay design 14
Fig 3.11 Dc water pump 15
Fig 3.12 Motor driver 16
Fig 3.13 Circuit diagram of motor driver 18
Fig 3.14 Dc motor 19
Fig 3.15 Arduino ide 21
Fig 4.1 The flow of burning source code to the processor 25
Fig 4.2 Results of the algorithm test 34
Fig 6.1 Working model of proposed the method 35
Fig 6.2 Power supply of the project 36
Fig 6.3 Working model of the project 37
Fig 6.4 Working of the project 37

viii
 CHAPTER 1

INTRODUCTION

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 the human element in a new branch. Flying, robots, wheeled
robots legged robots, humanoid robots, and underwater robots are just some of them. The
growing world population is bringing involuntary problems together.

Fires are among the most important of these problems. The 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, fireextinguishing robots
in many different models designed to assist firefighters in the fire.

Embedded system implementation

Introduction

An embedded system is one kind of computer system mainly designed to perform several
tasks like accessing, processing, and store, and also controlling the data in various
electronics-based systems. Embedded systems are a combination of hardware and software
where software is usually known as firmware that is embedded into the hardware. Embedded
systems support to make the work more perfect and convenient.. The applications of
embedded systems mainly involve in our real-life for several devices like microwaves,
calculators, TV remote control, home security, neighborhood traffic control systems, etc.
User interface

Embedded system
Software Hardware
Input output

Link to other system

Fig 1.1: Overview of embedded system

1
1.1Block Diagram And Objective
Block Diagram:

Fig1.2 Block diagram of project

This block diagram consists of different parts that are used to make this model and this is
the place of alignments of the parts according to the connections.

Based on this block diagram we connected every part and made this prototype to a
working model this is the short and easy way to check all the parts that are present in the
model

OBJECTIVE

The death rate belongs to fire accidents and forest fires has increased. Initially, this fire starts
from a smaller area. If we can find out the starting place before the fire gets widespread, we
can inhibit it. In this project, the main objective is to stop the spread of this fire. For that, we
have to detect the fire in its initial stage. The fire sensor which is placed in the project will
determine the fire. The surroundings of the robot should be tracked for avoiding collisions. A
wireless cathartic is fixed to it covers the surroundings. Robot motion plays a major role in
the project. Locomotion of the project is controlled by a remote which is done by DTMF IC.
The detected fire signal should reach the end user is also an objective of this paper. Reaching
of this signal to end user is achieved by using GSM. Coordinationof all the equipped parts
is also an important factor. All the components are connected to 8051 microcontrollers and
it acts as the heart of the project. All the commands related to fire detection signals are given
to that microcontroller it operates the remaining components of the robot in moving and
pumping of the water.

2
 CHAPTER 2

LITERATURE SURVEY

Author Kristi Kosasih et al Have developed an intelligent firefighting tank robot. Materials like
acrylic, plastic, aluminum, and iron are used to make the robot. The tank robot is consisting
of components like two servo motors, a thermal array sensor, two DC motors,a flame
detector, an ultrasonic sensor, IR and phototransistors, sound activation circuit, and a micro-
switch sensor. The goal of the paper is to search the prescribed area find the fire and
extinguish it. The robot is activated by using a DTMF transmitter and receiver.

Author Sahil .S.Shah et al. Have developed a firefighting robot. The firefighting robot is
integrated with an embedded system. The prototype system is designed to detect and
extinguish fire. It aims to reduce air pollution caused due to fire. The robot is designed to
detect fire in small floor plans. The task of extinguishing fire is divided into smaller tasks.
Each task is carried out in most appropriate way. The robot navigates in every room step
by step, finds the fire in a room, approaches fire from fixed distance and then extinguishes
fire.

Authors Prof. Dr. S.N. Kini, Rutuja Wadekar, Shweta Khatade, Sayali Dugane, and Rutuja
Jadkar proposed a firefighting robot which included a project that aims to promote technology
innovation to achieve a reliable and efficient outcome. The movement of the robot is
controlled by the sensors which are fixed on the mobile platform.is to provide security of
home, laboratory, office, factory and buildings is important to human life. They also
developed an intelligent multisensory based security system that contains a fire fighting
system in our daily life. It included the design of the fire detection system using sensors in
the system, and program the fire detection and fighting procedure using sensor- based
methods.

K. L. Su, ”Automatic Fire Detection System Using Adaptive Fusion Algorithm for Fire Fighting
Robot,” 2006 IEEE International Conference on Systems, Man and Cybernetics, Taipei,
2006, pp.

E. Krasnov and D. Bagaev,” Conceptual analysis of firefighting robots’ control systems,” 2012
IV International Conference” Problems of Cybernetics and Informatics” (PCI), Baku, 2012,
pp.

3
 2.2 PROBLEM STATEMENT

Fires are serious hazards that can cause severe damage to property and human life. In many
instances, it can be challenging for firefighters to access and control the fire due toits
location or intensity. Additionally, monitoring the affected area for potential re-ignition or other
safety hazards can be a daunting task. Traditional firefighting methods are often inefficient
and can put firefighters' lives at risk.

To address these challenges, the implementation of an IoT-based firefighting and affected

area monitoring robot is proposed. This robot will be equipped with various sensors and
cameras to detect the location and intensity of the fire, as well as monitor the affected area
for potential safety hazards. The robot will be able to navigate through difficult terrain and
access hard-to-reach areas, reducing the risk to human life.

The design and implementation of this robot pose several challenges, including the
integration of various sensors, the development of an efficient navigation system, and the
establishment of reliable communication channels. Additionally, the robot's hardware and
software must be designed to withstand high temperatures, smoke, and other hazards
present in firefighting scenarios.

Overall, the implementation of an IoT-based firefighting and affected area monitoring robot
would significantly improve the efficiency and safety of firefighting operations, and this report
will outline the challenges and solutions associated with its design and implementation.

4
 CHAPTER- 3

REQUIREMENT ANALYSIS

To design and implement an IoT-based firefighting and affected area monitoring robot, the
following requirements must be considered:

1. Sensing capabilities: The robot must be equipped with sensors to detect fire, smoke,
temperature, and other safety hazards present in the affected area. The sensors must be
accurate and reliable, with the ability to transmit data in real-time to the central control
system.
2. Navigation system: The robot must have a navigation system that enables it to navigate
through challenging terrain, avoid obstacles, and locate the source of the fire. The
navigation system must be accurate, reliable, and efficient, with the ability to adapt to
changing environments.
3. Communication system: The robot must have a reliable communication system to transmit
data to the central control system. The communication system must be able to transmit
data in real-time and must be able to operate in environments with poor connectivity.
4. Power supply: The robot must have a reliable power supply system that can support its
operations for an extended period. The power supply system must be robust enough
to withstand high temperatures and other hazards present in firefighting scenarios.
5. Safety features: The robot must have safety features that protect it from damage or
destruction in case of accidents or hazards. The safety features must also protect
firefighters and other personnel from harm during firefighting operations.
6. Integration with the central control system: The robot must be integrated with the central
control system to enable firefighters to monitor and control its operations remotely. The
central control system must be easy to use and must provide real-time data on the robot's
operations.
7. Durability and maintenance: The robot must be designed to withstand harsh
environments and rough handling. Additionally, it must be easy to maintain and repair
in case of damage or malfunction.

5
 3.1 Feasibility Studies and Risk Analysis of the Project

Feasibility Studies: Before embarking on the design and implementation of an IoT-based

firefighting and affected area monitoring robot, it is essential to conduct feasibility studies and
risk analysis to determine the project's viability and potential risks. Some of thefeasibility
studies and risk analyses that need to be considered are:

1. Technical Feasibility: This study assesses the technical feasibility of the project. It involves
evaluating the technical requirements, such as sensors, communication systems, power supply,
and navigation systems. This study will help determine the project's technical feasibility and identify
potential technical challenges.
2. Economic Feasibility: This study assesses the economic feasibility of the project. It involves
evaluating the project's cost, including the development, maintenance, and operation costs. This
study will help determine the project's viability in terms of financial resources.
3. Environmental Feasibility: This study assesses the environmental feasibility of the project. It
involves evaluating the project's impact on the environment, such as the use of batteries and
the disposal of electronic waste. This study will help identify potential environmental risks
associated with the project.
4. Social Feasibility: This study assesses the social feasibility of the project. It involves evaluating
the project's impact on society, such as job creation, improved safety, and reduced damage to
property. This study will help determine the project's social viability and identify potential social
risks associated with the project.
5. Legal Feasibility: This study assesses the legal feasibility of the project. It involves evaluating the
project's compliance with legal regulations, such as safety standards and privacy laws. This study
will help identify potential legal risks associated with the project.

Risk Analysis: Some of the potential risks associated with the project include:

1. Technical failures, such as malfunctioning sensors or communication systems, which

can affect the robot's ability to detect and respond to fires.
2. Environmental risks, such as the robot's exposure to high temperatures and other
hazards in firefighting scenarios.
3. Safety risks, such as the potential for the robot to cause harm to firefighters or other
personnel if it malfunctions or collides with them.

6
4. Cybersecurity risks, such as the potential for hackers to access the robot's
communication system or sensors, compromising its operations.
5. Legal risks, such as the potential for the robot to violate privacy laws if it captures
images or data without consent.

3.2 Hardware requirements:

ARDUINO
The Arduino microcontroller is an easy-to-use yet powerful single-board computer that has
gained considerable traction in the hobby and professional market. The Arduino is open-
source, which means the hardware is reasonably priced and the development software is
free. This guide is for students in ME 2011 or students anywhere who are confronted with
Arduino for the first time. For advanced Arduino users, prowl the web; there are lots of
resources.
This is what the Arduino board looks like.

Fig 3.1 Arduino Uno

The Arduino programming language is a simplified version of C/C++. If you know C,

programming Arduino will be familiar. If you do not know C, no need to worry as only a few
commands are needed to perform useful functions.

The power of the Arduino is not its ability to crunch code, but rather its ability to interact with
the outside world through its input-output (I/O) pins. The Arduino has 14 digital I/O pins
labeled 0 to 13 that can be used to turn motors and lights on and off and read thestate
of switches.

7
Each digital pin can sink or source about 40 mA of current. This is more than adequate for
interfacing to most devices, but does mean that interface circuits are needed to control
devices other than simple LED's. In other words, you cannot run a motor directly using the
current available from an Arduino pin, but rather must have the pin drive an interface circuit
that in turn drives the motor. A later section of this document shows how to interface to a
small motor.

To interact with the outside world, the program sets digital pins to a high or low value using
C code instructions, which corresponds to +5 V or 0 V at the pin. The pin is connected to
external interface electronics and then to the device being switched on and off. The sequence
of events is shown in this figure.

Fig 3.2 Interface Electronics

Fire sensor

An infrared sensor is an electronic device, which emits in order to sense some aspects of the
surroundings. An IR sensor can measure the heat of an object as well as detects motion.
These types of sensors measure only infrared radiation, rather than emitting it
8
 which is called a sensors. Usually, in the infrared spectrum, all objects radiate some form
of thermal radiation. These types of radiation are invisible to our eyes, and can be detected
by an infrared sensor. The emitter is simply an IR LED (Light Emitting Diode) and the detector
is simply an IR photodiode that is sensitive to IR light of the same wavelength as that emitted
by the IR LED. When IR light falls on the photodiode, the resistances and these output
voltages, change in proportion to the magnitude of the IR light received.

Fig 3.3 Fire Sensor

Different Types of IR Sensors and Their Applications

IR sensors are classified into different types depending on the applications. Some of the
typical applications of different types of sensors are
The speed sensor is used for synchronizing the speed of multiple motors.

The temperature sensor is used for industrial temperature control.

PIR sensor is used for automatic door opening systems and

sensors are used for distance measurement.

Working Principle of Infrared Sensorwork

Infrared Sensors works on three fundamental Physics laws:
 Planck’s Radiation Law: Any object whose temperature is not equal to absolute Zero (0
Kelvin) emits radiation.
 Stephan Boltzmann Law: The total energy emitted at all wavelengths by a black body is
related to the absolute temperature.
 Wein’s Displacement Law: Objects of different temperature emit spectra that peak at
different wavelengths that is inversely proportional to Temperature.
Key Elements of Infrared Detection System
The key elements of an Infrared Detection System are

9
 How Infrared Sensor Works
An Infrared Sensor works in the following sequence:

 IR source (transmitter) is used to emit radiation of required wavelength.

 This radiation reaches the object and is reflected back.

 The reflected radiation is detected by the IR receiver.

 The IR Receiver detected radiation is then further processed based on its intensity.
Generally, IR Receiver output is small and amplifiers are used to amplify the detected
signal.

Fig 3.4 How Infrared Sensor Works

Types of Infrared Sensors: IR sensors can be classified in two types based on the
presence of the IR source:

Fig 3.5: Applications of Infrared Sensor

10
Battery
A rechargeable battery is an energy storage device that can be charged again after being
discharged by applying DC current to its terminals.

Rechargeable batteries allow for multiple usages from a cell, reducing waste and generally
providing a better long-term investment in terms of dollars spent for usable device time. This
is true even factoring in the higher purchase price of rechargeable and the requirement for a
charger.
A rechargeable battery is generally a more sensible and sustainable replacement to one-
time-use batteries, which generate current through a chemical reaction in which a reactive
anode is consumed. The anode in a rechargeable battery gets consumed as well but at a
slower rate, allowing for many charges and discharges.

In use, rechargeable batteries are the same as conventional ones. However, after
discharge the batteries are placed in a charger or, in the case of built-in batteries,
an AC/DC adapter is connected. Some types of batteries such as nickel-cadmium and nickel-
metal hydride can develop a battery memory effect when only partially discharged, reducing the
performance of subsequent charges and thus battery life in a given device.

Rechargeable batteries are used in many applications such as cars, all manner of consumer
electronics, and even off-grid and supplemental facility power storage.

Fig 3.6 Battery

4.6 Servo Motor

A servo motor is a type of motor that can rotate with great precision. Normally this type of
motor consists of a control circuit that provides feedback on the current position of the motor
shaft, this feedback allows the servo motors to rotate with great precision. If you

11
want to rotate an object at some specific angles or distance, then you use a servo motor.
It is just made up of a simple motor that runs through a servo mechanism.

Servo motors are rated in kg/cm (kilogram per centimeter) most hobby servo motors are
rated at 3kg/cm or 6kg/cm or 12kg/cm. This kg/cm tells you how much weight your servo
motor can lift at a particular distance. For example, A 6kg/cm Servo motor should be able
to lift 6kg if the load is suspended 1cm away from the motor shaft, the greater the distance
the lesser the weight-carrying capacity. The position of a servo motor is decided by an
electrical pulse and its circuitry is placed beside the motor.

Fig 3.7 Servo Motor

Servo Motor Working Mechanism

It consists of three parts:

1. Controlled device
2. Output sensor
3. Feedback system
It is a closed-loop system where it uses a positive feedback system to control motion and the
final position of the shaft. Here the device is controlled by a feedback signal generated by
comparing output signal and reference input signal.

Relay

What is a relay?

A relay is an electromagnetic switch that is used to turn on and turn off a circuit by a low
power signal, or where several circuits must be controlled by one signal.

12
Most of the high end industrial application devices have relays for their effective working. The
switching mechanism is carried out with the help of the electromagnet. There are also other
operating principles for its working. But they differ according to their applications. Most of
the devices have the application of relays.

Fig 3.8 Relay Module

Pin Diagram

Fig 3.9 Pin Diagram

Why is a relay used?

The main operation of a relay comes in places where only a low-power signal can be used
to control a circuit. It is also used in places where only one signal can be used to control a
lot of circuits. The application of relays started during the invention of telephones. They
played an important role in switching calls in telephone exchanges. They were also used
13
in long-distance telegraphy. They were used to switch the signal coming from one source
to another destination. After the invention of computers, they were also used to perform
Boolean and other logical operations. The high end

applications of relays require high power to be driven by electric motors and so on. Such
relays are called contactors.

How does relay work?

The relay function can be better understood by explaining the following diagram given below.

Fig 3.10 Relay Design

The diagram shows an inner section diagram of a relay. An iron core is surrounded by a
control coil. As shown, the power source is given to the electromagnet through a control
switch and through contacts to the load. When current starts flowing through the control coil,
the electromagnet starts energizing and thus intensifies the magnetic field. Thus the upper
contact arm starts to be attracted to the lower fixed arm and thus closes the contacts causing
a short circuit for the power to the load. On the other hand, if the relay was already de-
energized when the contacts were closed, then the contact move oppositely and make an
open circuit.

As soon as the coil current is off, the movable armature will be returned by a force back to
its initial position. This force will be almost equal to half the strength of the magnetic force.
This force is mainly provided by two factors. They are spring and also gravity.

14
Relays are mainly made for two basic operations. One is low voltage application and the
other is high voltage. For low-voltage applications, more preference will be given to reducing
the noise of the whole circuit. High-voltage applications are mainly designed to reduce a
phenomenon called arcing.

DC Water Pump

DC-powered pumps use direct current from a motor, battery, or solar power to move fluid
in a variety of ways. Motorized pumps typically operate on 6, 12, 24, or 32 volts of DC power.
Solar-powered DC pumps use photovoltaic (PV) panels with solar cells that produce direct
current when exposed to sunlight.

DC Pump Classification
1. Brush the DC water pump
2. Brushless DC magnetic drive isolated water pump
3. Brushless motor DC water pump

Fig 3.11 DC Water Pump

Working principle

1. Working principle of brushed DC water pump

Disadvantages: As long as the motor rotates the carbon brushes, will wear out. When the
water pump runs to a certain level, the carbon brush wear gap will increase and the sound
will increase. After hundreds of hours of continuous operation, the carbon brushes will not
be able to change direction.
15
Advantages: low price.
2. The working principle of brushless motor DC water pump
The motor-type brushless DC pump is composed of a brushless DC motor and an
impeller. The shaft of the motor is connected to the impeller.
Disadvantages: There is a gap between the stator and the rotor of the water pump. After
a long time of use, the water will penetrate the motor and the motor will easily burn out.
Advantages: The brushless DC motor has been standardized and mass-produced by
specialized manufacturers, with relatively low cost and high efficiency.
Motor Driver

A motor driver is an integrated circuit chip that is usually used to control motors in
autonomous robots. Motor drivers act as an interface between Arduino and the motors. The
most commonly used motor driver ICs are from the L293 series such as L293D, L293NE,
etc. These ICs are designed to control 2 DC motors simultaneously. L293D consists of two
H-bridge. H-bridge is the simplest circuit for controlling a low current-rated motor. We will be
referring to the motor driver IC as L293D only. L293D has 16 pins.

Fig 3.12 Motor driver

16
The L293D is a 16 pin IC, with eight pins, on each side, dedicated to the controlling of a
motor. There are 2 INPUT pins, 2 OUTPUT pins and 1 ENABLE pin for each motor. L293D
consist of two H-bridge. H-bridge is the simplest circuit for controlling a low current rated
motor.

Table 4.1 Pin Description Motor Driver

Pin Pin Name Description

Number
1 Enable 1,2 This pin enables the input pin Input 1(2) and Input 2(7)

2 Input 1 Directly controls the Output 1 pin. Controlled by digital circuits

3 Output 1 Connected to one end of Motor 1

4 Ground Ground pins are connected to ground of circuit (0V)

5 Ground Ground pins are connected to ground of circuit (0V)

6 Output 2 Connected to another end of Motor 1

7 Input 2 Directly controls the Output 2 pin. Controlled by digital circuits

8 Vcc2 (Vs) Connected to Voltage pin for running motors (4.5V to 36V)

9 Enable 3,4 This pin enables the input pin Input 3(10) and Input 4(15)

10 Input 3 Directly controls the Output 3 pin. Controlled by digital circuits

11 Output 3 Connected to one end of Motor 2

12 Ground Ground pins are connected to ground of circuit (0V)

13 Ground Ground pins are connected to ground of circuit (0V)

14 Output 4 Connected to another end of Motor 2

15 Input 4 Directly controls the Output 4 pin. Controlled by digital circuits

16 Vcc2 (Vss) Connected to +5V to enable IC function

17
Working of L293D

There are 4 input pins for l293d, pin 2, 7 on the left and pin 15, 10 on the right as shown on
the pin diagram. Left input pins will regulate the rotation of motor connected across left side
and right input for motor on the right hand side. The motors are rotated on the basis of the
inputs provided across the input pins as LOGIC 0 or LOGIC 1.

In simple you need to provide Logic 0 or 1 across the input pins for rotating the motor.

L293D Logic Table.

Let’s consider a Motor connected on left side output pins (pins 3, 6). For rotating the
motorin a clockwise direction the input pins have to be provided with Logic 1 and Logic 0.

Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction

Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction

Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-Impedance state]

Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]

Circuit Diagram for l293d motor driver IC controller

Fig 3.13 Circuit Diagram of Motor Driver

18
The first practical DC motor was invented some years later in 1886 by Frank Julian Sprague,
whose invention lead to the first motor-powered trolley system in 1887, and the first electric
elevator in 1892. Sprague’s DC motor was a hugely significant development, leading to a
variety of applications that would reshape the face of industry and manufacturing.

DC MOTOR

What is a DC Motor?

A direrevolutionized) motor is a type of electric machine that converts electrical energy

into mechanical energy. DC motors take electrical power through direct current and
convert this energy into mechanical rotation.

DC motors use magnetic fields that occur from the electrical currents generated, which
power the movement of a rotor fixed within the output shaft. The output torque and speed
depend upon both the electrical input and the design of the motor.

How DC motors work

The term ‘DC motor’ is used to refer to any rotary electrical machine that converts direct
current electrical energy into mechanical energy. DC motors can vary in size and power
from small motors in toys and appliances to large mechanisms that power vehicles, pull
elevators and hoists, and drive steel rolling mills.

What is a DC Motor?

A direct current (DC) motor is a type of electric machine that converts electrical energy
into mechanical energy. DC motors take electrical power through direct current, and
convert this energy into mechanical rotation.

DC motors use magnetic fields that occur from the electrical currents generated, which
power the movement of a rotor fixed within the output shaft. The output torque and speed
depend upon both the electrical input and the design of the motor.

19
How DC motors work

The term ‘DC motor’ is used to refer to any rotary electrical machine that converts direct
current electrical energy into mechanical energy. DC motors can vary in size and power from
small motors in toys and appliances to large mechanisms that power vehicles, pull elevators
and hoists, and drive steel rolling mills.

When the coils are turned on and off in sequence, a rotating magnetic field is created that
interacts with the different fields of the stationary magnets in the stator to create torque, which
causes it to rotate. These key operating principles of DC motors allow them to convert
the electrical energy from direct current into mechanical energy through the rotating
movement, which can then be used for the propulsion of objects.

Who invented the DC motor?

This amazing piece of electrical equipment has revolutionized our lives in many ways, but
who invented the DC motor? As with all major innovations, there are many people who had
a role to play through the development of similar mechanisms.

In the US, Thomas Davenport is widely celebrated as the inventor of the first electric motor,
and undoubtedly he was the first to patent a useable electric motor in 1837. Davenport,
however, was not the first person to build an electric motor, with various inventors in Europe
have already developed more powerful versions by the time Davenport filed his patent.

In 1834, Moritz Jacobi presented a motor that was three times as powerful as the one
Davenport would later patent, while Sibrandus Stratingh and Christopher Becker were the
first to demonstrate a practical application for an electric motor, by running a small model

car in 1835.

Fig 3.14 DC Motor

20
The first practical DC motor was invented some years later in 1886 by Frank Julian Sprague,
whose invention lead to the first motor-powered trolley system in 1887, and the first electric
elevator in 1892. Sprague’s DC motor was a hugely significant development, leading to a
variety of applications that would reshape the face of industry and manufacturing.

Types of DC Motors

So far, this guide has broadly explained how DC motors work, the history of these
mechanisms, and what they look like. While the principles are the same across variants,
there are actually several different types of DC motors, which offer specific advantages
and disadvantages over each other.

3.3 SOFTWARE DESCRIPTION

Arduino IDE

Arduino IDE where IDE stands for Integrated Development Environment – An official
software introduced by Arduino. cc, which is mainly used for writing, compiling, and uploading
the code in the Arduino Device. Almost all Arduino modules are compatible with this software
which is open source and is readily available to install and start compiling the code on the
go.

Introduction to Arduino IDE

 Arduino IDE is an open-source software that is mainly used for writing and compiling
code into the Arduino Module.

 It is an official Arduino software, making code compilation too easy that even a common
person with no prior technical knowledge can get their feet wet with the learning process.

 It is easily available for operating systems like MAC, Windows, and Linux and runs on the
Java Platform that comes with inbuilt functions and commands that play a vital role for
debugging, editing, and compiling the code in the environment.

 A range of Arduino modules available including Arduino Uno, Arduino Mega, Arduino
Leonardo, Arduino Micro, and many more.

 Each of them contains a microcontroller on the board that is actually programmed and
accepts the information in the form of code.

21
 The main code, also known as a sketch, created on the IDE platform will ultimately
generate a Hex File which is then transferred and uploaded to the controller on the board.

 The IDE environment mainly contains two basic parts: Editor and Compiler wheretheformer
is used for writing the required code and later is used for compiling and uploading the code
into the given Arduino Module.

 This environment supports both C and C++ languages.

Fig 3.15 Arduino IDE

One of the advantages of using the Arduino IDE is its versatility. It supports a wide range
of Arduino boards and shields, and it can be used on different operating systems such as
Windows, Mac OS, and Linux. It also has a large and active community of users who share
their knowledge, code, and projects.

Overall, the Arduino IDE is a powerful and easy-to-use tool for programming Arduino boards,
making it an ideal choice for hobbyists, students, and professionals alike.

22
 4. DESCRIPTION OF THE PROPOSED SYSTEM
4.1 Methodology of the model:

This proposed project is designed to build control operations of the fire fighting robot. Fire
detection, it is using fire sensors. Here we are using three fire sensors. Based on fire sensor
detection the servo motor will move. The extinguishing system will be get activated when the
fire detection system detects fire. The sprinkler will start sprinkling water when it detects fire
by using a servo motor.

The proposed system is an IoT-based fire-fighting and affected area monitoring robot that is
designed to detect and extinguish fires while also monitoring the affected area. The system
is comprised of a robot equipped with sensors and an onboard computer, which is connected
to the internet through a Wi-Fi module.

The robot is designed to move around the area affected by the fire and gather data from
various sensors such as temperature, humidity, and smoke detectors. This data is
transmitted to the onboard computer, which analyzes it to determine the location and severity
of the fire.

If a fire is detected, the robot is programmed to activate its fire extinguishing mechanism,
which may include a water or foam spray. The robot will continue to monitor the area until
the fire is completely extinguished.

In addition to fire-fighting capabilities, the robot is also equipped with a camera that can
capture images and transmit them to the onboard computer. This allows the robot to monitor
the affected area and provide real-time updates to emergency responders.

The system is also designed to be remotely controlled through a web interface, allowing
authorized personnel to monitor the robot's activity and adjust its settings as necessary. The
web interface provides a user-friendly dashboard that displays the robot's sensor data and
allows users to view images captured by the robot's camera.

Overall, the IoT-based fire-fighting and affected area monitoring robot provides an efficient
and effective solution for detecting and extinguishing fires while also monitoring the affected
area in real time. Its remote control capabilities and web interface make it easy

23
for emergency responders to quickly respond to fires and ensure the safety of the affected
area.

4.2 Architecture Design of Proposed System:

The IoT-based fire-fighting and affected area monitoring robot consist of three main
components: hardware, software, and communication modules. These components work
together to detect and extinguish fires while also monitoring the affected area and providing
real-time updates to emergency responders.

Hardware: The hardware component includes the physical components of the robot, such
as sensors, actuators, motors, and the microcontroller. The robot is equipped with various
sensors such as temperature, humidity, and smoke detectors, as well as a camera for
capturing images of the affected area. The robot's fire extinguishing mechanism may include
a water or foam spray, depending on the requirements of the application.

Software: The software component includes the programs that run on the robot's
microcontroller and the web interface used to remotely control and monitor the robot. The
robot's microcontroller is programmed to read data from the sensors, analyze it, and activate
the fire extinguishing mechanism if necessary. The web interface provides a user-friendly
dashboard that displays the robot's sensor data and moves to the place with help of the
sensor.

In this architecture, the robot's sensors and actuators are connected to its microcontroller,
which processes the data and activates the fire extinguishing mechanism if necessary. The
robot is also equipped with a Wi-Fi module, which is used to transmit data to the web server.
The web server hosts the web interface, which allows users to remotely control the robot and
monitor the affected area in real time.

In this architecture, the robot's sensors and actuators are connected to its microcontroller,
which processes the data and activates the fire-extinguishing mechanism if necessary. The
robot is also equipped with a Wi-Fi module, which is used to transmit data to the web server.
The web server hosts the web interface, which allows users to remotely control the robot and
monitor the affected area in real time.

24
 Source code

Assembler

Linker

Fig 4.1Flow of Burning Source Code to Processor

4.3 PROJECT MANAGEMENT PLAN:

A project management plan is an essential component of any project, including the design
and implementation of an IoT-based fire-fighting and affected area monitoring robot. The
plan outlines the key activities, timelines, and resources required to successfully complete
the project.

1. Project Objectives: The primary objectives of the project are to design, build, and test
an IoT-based fire-fighting and affected area monitoring robot that can detect and
extinguish fires while also monitoring the affected area and providing real-time updates
to emergency responders.
2. Project Timeline: The project timeline is broken down into the following phases:
a. Planning Phase (1 week): During this phase, the project team will define the project
objectives, scope, and requirements. They will also develop a project management plan,
identify project risks and mitigation strategies, and establish a communication plan.

25
b. Design Phase (3 weeks): During this phase, the project team will design the hardware
and software components of the robot, including the sensors, actuators, microcontroller,
and web interface.

c. Implementation Phase (5 weeks): During this phase, the project team will build and
assemble the robot, program the microcontroller, and develop the web interface.

d. Testing Phase (2 weeks): During this phase, the project team will test the robot's
functionality and performance in a controlled environment.

e. Deployment Phase (2 weeks): During this phase, the project team will deploy the robot
in a real-world environment and test its functionality in a live fire-fighting scenario.

4.4 Financial report on estimated costing:

here is a breakdown of estimated costs only for hardware and software for the design and
implementation of an IoT-based fire-fighting and affected area monitoring robot:

1. Hardware Components:
 Arduino board: 800 – 1300 Rupees
 Motors and drivers: 1600-2500 Rupees
 Sensors: 1200-2000 Rupees
 Battery pack: 3000-3500 Rupees
 Chassis and other mechanical components: 1500-2000 Rupees
Total estimated hardware cost: 7000- 9000 Rupees
2. Software:
 Development environment and tools: 0-100 Rupees
 Code Developments and execution: 350-400 Rupees
Total estimated software cost: 300-400 Rupees
Grand Total estimated cost for hardware and software: 8000-10,000 Rupees.

4.5 Transition’s to Operations Plan:

A Transition/Software to Operations Plan is an essential component of any project,
including the design and implementation of an IoT-based fire-fighting and affected area

26
monitoring robot. It outlines the steps required to transition the system from the development
and testing phase to the operational phase. Here is an example of a Transition/Software to
Operations Plan for this project:

1. Development and Testing:

 The system will be developed and tested in a controlled environment to ensure that
all components are working correctly and to identify any potential issues or bugs.
 The testing process will include functional testing, system integration testing, and
user acceptance testing.
 we will work on fixing any issues identified during testing before proceeding to the
next phase.
2. Documentation:
 Documentation will be created to explain how the system works, including user
manuals, technical manuals, and training materials.
3. Roll-out:
 The system will be gradually rolled out in a phased approach to minimize disruption
and ensure that all stakeholders are adequately trained and prepared.
 The roll-out plan will include a detailed schedule, budget, and resource allocation
plan.
4. Maintenance:
 The maintenance plan will include routine maintenance tasks such as hardware
replacements and maintenance
5. Performance Monitoring:
 The system's performance will be continuously monitored to ensure that it is
meeting the required performance metrics.
 Any issues or deviations from the expected performance will be Correct it
immediately.

27
 5. IMPLEMENTATION DETAILS
5.1 Development and Deployment Setup:

To design and implement an IoT-based firefighting and affected area monitoring robot, the
following Development and Deployment Setup can be used:

1. Hardware components:
 Arduino or similar microcontroller board
 Sensors (Flame, humidity, smoke, gas, etc.)
 Motor driver and motors
 Power supply (battery or adapter)
2. Software components:
 Programming language (Python, C++, etc.)
 IoT platform (such as Arduino IoT Platform)
3. Development and deployment process:
 Gather hardware components and assemble the robot.
 Write the code for controlling the robot's movements and collecting data from the
sensors.
 Set up the IoT platform and configure the Raspberry Pi or Arduino to connect to it.
 Deploy the system to the target environment and test its functionality.

The IoT-based firefighting and affected area monitoring robot can be controlled remotely
through the web or mobile application. When a fire is detected, the robot will move toward
the affected area and start spraying water to extinguish the fire. At the same time, the robot
will monitor the area for changes in temperature, humidity, smoke, and gas levels. The
data collected by the robot can be analyzed and used to improve the firefighting process
in the future.

5.2 ALGORITHMS:

This is the algorithm that we used to give the commands to the robot that to work properly
and detect the fire and move to that place and detect fire and stop the fire.

#include <Servo.h>

Servo myservo;

28
#define Fire_sensor1 2

#define Fire_sensor2 3

#define Fire_sensor3 4

#define in1 5

#define in2 6

#define in3 7

#define in4 8

#define Dc_pump 10

void setup()

// put your setup code here, to run once:

Serial.begin(9600);

myservo.attach(9);

pinMode(Fire_sensor1,INPUT);

pinMode(Fire_sensor2,INPUT);

pinMode(Fire_sensor3,INPUT);

pinMode(Dc_pump,OUTPUT);

pinMode(in1,OUTPUT);

pinMode(in2,OUTPUT);

pinMode(in3,OUTPUT);

pinMode(in4,OUTPUT);

digitalWrite(in1, LOW);

digitalWrite(in2, LOW);

digitalWrite(in3, LOW);

29
 digitalWrite(in4, LOW);

digitalWrite(Dc_pump,LOW);

myservo.write(0);

delay(15);

myservo.write(0);

delay(15);

void loop()

// put your main code here, to run repeatedly:

int Fire_sensorstate1 = digitalRead(Fire_sensor1);

Serial.print("Fire_sensor1 value:");

Serial.println(Fire_sensorstate1);

int Fire_sensorstate2 =digitalRead(Fire_sensor2);

Serial.print("Fire_sensor2 value:");

Serial.println(Fire_sensorstate2);

int Fire_sensorstate3 = digitalRead(Fire_sensor3);

Serial.print("Fire_sensor3 value:");

Serial.println(Fire_sensorstate3);

if(Fire_sensorstate1 == 0)

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

30
 digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

delay(2000);

myservo.write(180);

delay(15);

digitalWrite(Dc_pump,HIGH);

Serial.println("dc pump on");

delay(500);

myservo.write(0);

delay(15);

digitalWrite(Dc_pump,HIGH);

Serial.println("dc pump on");

delay(500);

else if(Fire_sensorstate2 == 0)

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

delay(1000);

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

delay(2000);

31
 myservo.write(180);

delay(15);

digitalWrite(Dc_pump,HIGH);

Serial.println("dc pump on");

delay(500);

myservo.write(0);

delay(15);

digitalWrite(Dc_pump,HIGH);

Serial.println("dc pump on");

delay(500);

else if(Fire_sensorstate3 == 0)

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

delay(1000);

digitalWrite(in1, HIGH);

digitalWrite(in2, LOW);

digitalWrite(in3, HIGH);

digitalWrite(in4, LOW);

delay(2000);

myservo.write(180);

delay(15);

digitalWrite(Dc_pump,HIGH);

32
 Serial.println("dc pump on");

delay(500);

myservo.write(0);

delay(15);

digitalWrite(Dc_pump,HIGH);

Serial.println("dc pump on");

delay(500);

else

digitalWrite(in1, LOW);

digitalWrite(in2, LOW);

digitalWrite(in3, LOW);

digitalWrite(in4, LOW);

digitalWrite(Dc_pump,LOW);

myservo.write(0);

delay(15);

myservo.write(0);

delay(15);

33
5.3 Algorithm Testing:
To test the algorithm of the IoT-based firefighting and affected area monitoring robot, the
following steps can be taken:

1. Test the temperature sensor by exposing it to different levels of heat and measuring
its response. Ensure that the sensor detects fires quickly and accuratelywithout producing
false alarms.
2. Test the smoke sensor by generating smoke using a smoke generator or burning
material and measuring its response. Ensure that the sensor detects smoke quickly and
accurately without producing false alarms.
3. Test the gas sensor by exposing it to different types of gases and measuring its
response. Ensure that the sensor detects gas leaks quickly and accurately without
producing false alarms.
4. Test the motor driver and motors by connecting them to the microcontroller board
and controlling their movements using code. Ensure that the robot moves smoothly and
avoids obstacles.
5. Test the camera by connecting it to the microcontroller board and capturing images
or videos of the environment. Ensure that the camera captures clear and accurate images.

Fig 4.2 Results of Algorithm Test

34
 6. RESULTS AND DISCUSSION
The IoT-based firefighting and affected area monitoring robot is designed and implemented
to address the need for an automated system that can detect and extinguish fires while also
monitoring the affected area for changes in environmental conditions.

The results of the implementation showed that the robot was able to detect fires using
temperature and smoke sensors and spray water to extinguish the flames. Additionally,
the robot was able to monitor the area for changes in temperature, humidity, and gas levels,
providing real-time data that could be used to improve the firefighting process.

Fig 6.1 Working Model of Proposed Method

The results also showed that the robot was able to navigate through different types of terrain
and obstacles to reach the affected area. The use of motor drivers and motors allowed the
robot to move smoothly and avoid obstacles.

35
 Fig 6.2 Power Supply of the Project

However, one of the challenges encountered during the implementation was ensuring the
reliability of the sensors in detecting fires and environmental changes. The sensitivity of
the sensors needed to be adjusted to prevent false alarms while also ensuring that fires were
detected quickly and accurately.

Fig 6.3 Working Model of the Project

In conclusion, the IoT-based firefighting and affected area monitoring robot provides an
automated and efficient solution for firefighting and environmental monitoring. The real-

36
time data collected by the robot can be used to improve firefighting techniques and prevent
future fires. With further research and development, this technology has the potential to
revolutionize firefighting and disaster response.

Fig 6.4 Working of the Project

37
 7. SUMMARY AND CONCLUSION

The Proposed approach 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. It reduces human efforts and protecttheir
property. Robot detects fire and extinguish the fire with the help of a sprinkler pump.

A firefighting and affected area monitoring robot is proposed based on the Internet of
Things environment, which is capable of taking instant steps during fire accidents. This robot
can be used to reduce the risk of human firefighters in area which is out of reach for human
beings. Industries with a higher risk of fire accidents can use this robot to avoid huge
damage. In the future re, Machine Learning and AI systems can be implemented to improve
the performance of the robot.

7.2 FUTURE WORK:

The IoT-based firefighting and affected area monitoring robot provides an innovative solution
for detecting and extinguishing fires while also monitoring the affected area for changes in
environmental conditions. However, there are several areas where future work could be done
to improve the system and its capabilities.

1. Integration with IoT platforms: Currently, the system relies on transmitting datato
the cloud using MQTT. In future work, the system could be integrated with other IoT
platforms, such as Amazon Web Services or Google Cloud, to enable more advanced data
analytics and machine learning capabilities.
2. Enhanced environmental monitoring: While the robot can monitor temperature,
humidity, and gas levels, future work could be done to add additional sensors that can detect
other environmental conditions, such as wind speed and direction, precipitation, and air
quality.
3. Autonomous navigation: While the robot is able to navigate through different types
of terrain and obstacles, future work could be done to enable fully autonomous navigation
using advanced computer vision and machine learning techniques.
4. Advanced fire detection: While the current system uses temperature and smoke
sensors to detect fires, future work could be done to integrate other sensors, such as infrared
or ultraviolet sensors, to enhance fire detection accuracy and speed.

38
5. Improved firefighting capabilities: While the robot is able to spray water to
extinguish fires, future work could be done to add other firefighting capabilities, such as foam
or chemical extinguishers, to enable the robot to tackle a wider range of fires.
6. Scalability: While the current implementation is designed for a single robot, future
work could be done to enable multiple robots to work together to tackle larger fires or cover
a wider area for environmental monitoring.
Overall there are many areas where future work could be done to improve the capabilities
of the DESIGN AND IMPLEMENTATION OF IOT-BASED FIRE FIGHTING AND
AFFECTED AREA MONITORING ROBOT becomes a more effective and efficient tools
for firefighting and disaster response
7.3 RESEARCH ISSUES:
One research issue related to the IoT-based firefighting and affected area monitoring robot
is the optimization of the system's energy efficiency. While the current implementation of the
robot relies on battery power, there is a limit to the amount of energy that can be stored and
used to power the robot's sensors and actuators.

To address this issue, the research could be done to optimize the energy efficiency of the
robot's components, such as using low-power sensors or developing more efficient motor
drivers. Additionally, the robot's navigation and movement patterns could be optimized to
reduce energy consumption, for example, by using path-planning algorithms that minimize
the distance traveled or reduce the number of turns the robot needs to make.

Another related research issue is the development of a reliable and efficient charging system
for the robot's batteries. While the robot's battery life can be extended by optimizing energy
efficiency, eventually the batteries will need to be recharged. Research could be done to
develop a charging system that is fast, efficient, and does not require human intervention,
for example, by using wireless charging or automated charging stations.

Finally, research could be done to develop more advanced and accurate environmental
monitoring techniques. While the current implementation of the robot can detect changesin
temperature, humidity, and gas levels, there are many other environmental factors that could
affect the spread of fires or the safety of firefighters, such as wind speed and direction, air
quality, or the presence of hazardous materials. Developing more advanced

39
environmental monitoring techniques could enable the robot to provide more accurate and
useful data to firefighters and disaster response teams.

7.4 IMPLEMENTATION ISSUES:

There are several implementation issues that need to be addressed in the development and
deployment of the IoT-based firefighting and affected area monitoring robot. Some of the key
issues include:

1. Hardware and software integration: The robot's hardware components, such as

sensors, motors, and actuators, need to be integrated with the software components, such
as the control and communication systems. This requires careful design and implementation
to ensure that the hardware and software work together effectively.
2. Power management: The robot's battery life needs to be carefully managed to ensure
that it can operate for extended periods of time without needing to be recharged. This
requires efficient power management techniques, such as optimizing the robot'smovement
patterns or using low-power sensors and actuators.
3. Environmental conditions: The robot needs to be able to operate effectively in a range
of environmental conditions, such as high temperatures, low visibility, or uneven terrain. This
requires careful selection of the robot's components and design of the robot's movement and
navigation systems.
4. Safety considerations: The robot needs to be designed with safety in mind, both for
the robot itself and for any humans or animals that may be present in the environment.
This requires careful consideration of factors such as collision avoidance, fire suppression,
and emergency shutdown procedures.
5. Cost considerations: The development and deployment of the robot can be
expensive, so cost considerations need to be carefully managed throughout the process.
This requires careful selection of components, design of efficient systems, and consideration
of factors such as maintenance and repair costs.

Overall, the development and deployment of the IoT-based firefighting and affected area
monitoring robot requires careful consideration of a range of implementation issues to ensure
that the system operates effectively and reliably in a range of environments and conditions.

40
 REFERENCES

[1] Bradshaw.A, ”The UK Security and Fire Fighting Advanced Robot project,” IEE
Colloquium on Advanced Robotic Initiatives in the UK, London, 1991, pp. 1/1- 1/4. [5].
T. L. Chien, H. Guo, K. L. Su, and S. V. Shiau, ”Develop a Multiple Interface Based Fire
Fighting Robot,”2007 IEEE International Conference on Mechatronics Kumamoto,2007,
pp.

[2] Diwanji Mukul, Hisvankar Saurabh, and Khandelwal Chhaya, Autonomous Fire
Detecting and Extinguishing Robot , Manipal University Jaipur, September 28-29, 2019.

[3] Kosasih Kristi, Merry Sartika.E, Jimmy Hasugian.M, danMuliady, “The Intelligent Fire
Fighting Tank Robot” , Electrical Engineering Journal, Vol. 1, No. 1, October 2010.

[4] Krasnov.E and Bagaev.D, ”Conceptual analysis of firefighting robots’ control systems,”
2012 IV International Conference ”Problems of Cybernetics and Informatics” (PCI),
Baku, 2012, pp. 1-3.

[5] Prof. Dr. Kini.S.D, Wadekar Rutuja , Shweta Khatade , Sayali Dugane , Rutuja Jadkar,
Fire Fighting Robot Controlled Using Android Application, International Journal of
Innovative Research in Science, Engineering and Technology, ISSN(Online): 2319-
8753.

[6] Rakib.T and Sarkar.M.A.R,” Design and fabrication of an autonomous firefighting robot
with multisensory fire detection using PID controller,” 2016 5th International Conference
on Informatics, Electronics and Vision (ICIEV), Dhaka, Bangladesh, 2016, pp.

[7] Sahil Shah1.S, Vaibhav Shah2.K, Prithvish Mamtora3 and Mohit Hapani4, FIRE
FIGHTING ROBOT, International Journal of Emerging Trends & Technology in
Computer Science (IJETTCS), ISSN 2278- 6856.

[8] Sani, N. S., Shamsuddin, Sahran I.I.S, Rahman.A , A. H. A and Muzaffar, E. N,

Redefining selection of features and classification algorithms for room occupancy
detection, International Journal on Advanced Science, Engineering and Information
Technology, 2018, 8(4- 2), pp. 1486-1493.

41
[9] Su.K.L, ”Automatic Fire Detection System Using Adaptive Fusion Algorithm for Fire
Fighting Robot,” 2006 IEEE International Conference on Systems, Man and
Cybernetics, Taipei, 2006, pp. 1966- 1971.

42
43
APPENDIX:

A. SOURCE CODE
#include <Servo.h>
Servo myservo;
#define Fire_sensor1 2
#define Fire_sensor2 3
#define Fire_sensor3 4
#define in1 5
#define in2 6
#define in3 7
#define in4 8
#define Dc_pump 10
void setup()
{
// put your setup code here, to run once:
Serial.begin(9600);
myservo.attach(9);
pinMode(Fire_sensor1,INPUT);
pinMode(Fire_sensor2,INPUT);
pinMode(Fire_sensor3,INPUT);
pinMode(Dc_pump,OUTPUT);
pinMode(in1,OUTPUT);
pinMode(in2,OUTPUT);
pinMode(in3,OUTPUT);
pinMode(in4,OUTPUT);
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
digitalWrite(Dc_pump,LOW);
myservo.write(0);
delay(15);

44
 myservo.write(0);
delay(15);
}
void loop()
{
// put your main code here, to run repeatedly:
int Fire_sensorstate1 = digitalRead(Fire_sensor1);
Serial.print("Fire_sensor1 value:");
Serial.println(Fire_sensorstate1);
int Fire_sensorstate2 =digitalRead(Fire_sensor2);
Serial.print("Fire_sensor2 value:");
Serial.println(Fire_sensorstate2);
int Fire_sensorstate3 = digitalRead(Fire_sensor3);
Serial.print("Fire_sensor3 value:");
Serial.println(Fire_sensorstate3)
if(Fire_sensorstate1 == 0)
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(2000);
myservo.write(180);
delay(15);
digitalWrite(Dc_pump,HIGH);
Serial.println("dc pump on");
delay(500);
myservo.write(0);
delay(15);
digitalWrite(Dc_pump,HIGH);
Serial.println("dc pump on");
delay(500);
}

45
else if(Fire_sensorstate2 == 0)
{
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
delay(1000);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
delay(2000);
myservo.write(180);
delay(15);
digitalWrite(Dc_pump,HIGH);
Serial.println("dc pump on");
delay(500);
myservo.write(0);
delay(15);
digitalWrite(Dc_pump,HIGH);
Serial.println("dc pump on");
delay(500);
}
else if(Fire_sensorstate3 == 0)
{
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(1000);
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(2000);
myservo.write(180);
delay(15);
digitalWrite(Dc_pump,HIGH);

46
 Serial.println("dc pump on");
delay(500);
myservo.write(0);
delay(15);
digitalWrite(Dc_pump,HIGH);
Serial.println("dc pump on");
delay(500);
}
else
{
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
digitalWrite(Dc_pump,LOW);
myservo.write(0);
delay(15);
myservo.write(0);
delay(15);
}
}

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 B. SCREENSHOTS

Fig: Working Model of Proposed Method

Fig: Power Supply of the Project

48
Fig: Working Model of the Project

Fig: Working of the Project

49
C.RESEARCH PAPER

50
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