A Project Report

on

“FIRE FIGHTING ROBOT”

Submitted in partial fulfilment for requirement of the degree of
BACHELOR OF TECHNOLOGY

in

Robotics and Artificial Intelligence Department

Prescribed by
Rashtrasant Tukadoji Maharaj Nagpur University, Nagpur (M.S.)

Submitted by

105 Laxmi.D.Meshram 108 Sanika.A.Meshram

106 Rashmi.E.Warbhe 109 Saniya.S.Rahate

Under the Guidance of

Preshita Tadas

DEPARTMENT OF ROBOTICS AND ARTIFICIAL

INTELLIGENCE

PRIYADARSHINI COLLEGE OF ENGINEERING, NAGPUR

Session 2024-25
 PRIYADARSHINI COLLEGE OF ENGINEERING, NAGPUR
(M.S.)

DEPARTMENT OF Robotics and Artificial

Intelligence

Certificate
It is to certify that this is a bonafide record of Project Work entitled
“FIRE FIGHTING ROBOT”
Carried out by

105 Laxmi.D.Meshram 108 Sanika.A.Meshram

106 Rashmi.E.Warbhe 109 Saniya.S.Rahate
of
8th Semester
B. Tech. ROBOTICS AND ARTIFICIAL INTELLIGENCE
during the academic year 2024-25 in partial fulfillment of the
requirement for the award of the degree of
BACHELOR OF TECHNOLOGY
offered by

RASHTRASANT TUKADOJI MAHARAJ NAGPUR

UNIVERSITY, NAGPUR (M.S.)

Preshita Tadas Dr. Chetan K. Tembhurkar

Project guide Project Co-ordinator

Dr. (Mrs.) M. V. Vyawahare Dr. S. A. Dhale

Head of the dept. Principal
 PRIYADARSHINI COLLEGE OF ENGINEERING,
NAGPUR (M.S.)

DEPARTMENT OF Robotics and Artificial

Intelligence

DECLARATION

We hereby declare that the work of “Fire Fighting Robot” presented in the
project report have been carried out by us under the guidance of Preshita Tadas in
Department of Robotics and Artificial Intelligence, Priyadarshini College of
Engineering, Nagpur.

The work is original and has not been submitted earlier as a whole or part for
the degree at this or any other institution. It contain no material which is previously
published or written by another person nor material which has been accepted for the
award of any other degree or diploma of the university or other institution of higher
learning except where due acknowledgment has been made in the text.

Place: Nagpur

Date:

Laxmi.D.Meshram
Rashmi.E.Warbhe
Sanika.A.Meshram
Saniya.S.Rahate

iii
 ACKNOWLEDGEMENT

Before we get into thick of things, we would like to add few heartfelt words for
the people who were part of this project in numerous ways, people who gave their
seemingly endless support right from the stage of selection of the project topic. This
word of acknowledgement is to express our deep sense of gratitude to all those
luminaries and unseen hands without whose support the completion of this detailed
discourse would not have been materialized.
We shall never be able to describe the spirit of co-operation with which we
worked together, nor shall ever be able to express our feelings towards our guide
Preshita Tadas, who has provided us latest knowledge and techniques especially for
our project work. The pleasure of contemplating this project would never have been
ours without the firm support extended to us by him who gave us inspiration,
determination, co-operation and guidance towards the project.
We express our deep sense of gratitude and thanks to Dr. Chetan K.
Tembhurkar, Project Co-ordinator for helping us and giving us the support for
completion of this project.
We express our deep sense of gratitude to the head of Robotics and Artificial
Intelligence Department Dr. (Mrs.) M. V. Vyawahare who gave the inspiration to
pursue this project and providing all facilities needed.
Finally, we thank our principal Dr. S. A. Dhale, for his encouragement and
providing all facilities needed.
Projectees

Laxmi Meshram
Rashmi Warbhe
Sanika Meshram
Saniya Rahate

iv
 CONTENTS

Title Page………………………………………………………………………… i
Certificate of Approval …………………………………………………………. ii
Declaration……………………………………………………………………… iii
Acknowledgment……………………………………………………………….. iv
Index…………….………………………………………………………….... v-vi
Abstract………………………………………………………………………… vii

INDEX

Chapter 1 Introduction 1
1.1 Overview 2
1.2 Problem Statement 3
1.3 Objective of the Project 4
1.4 Contribution 4

Chapter 2 Literature Review 5

2.1 Overview 6
2.2 Literature survey 6
2.3 Conclusion 7
2.4 Background 7
2.5 Research Papers 9

Chapter 3 Work Done 12

3.1 Methodology 13
3.2 Working of Flame Sensor 15
3.3 Working of RF Module 18
3.4 Working of the System 21
3.5 Advantages of the System 24
3.6 Component Used 25
3.7 Flow Chart of Project Process 40
3.8 Block Diagram 41
3.9 Circuit Diagram 42

v
 Chapter 4 Summary and Conclusion 43
4.1 Summary 44
4.2 Conclusion 46
4.3 Future Scope 47

Chapter 5 Code 49
5.1 Code 50

Chapter 6 References 56

Appendices…………………………………………....……………………………..57

vi
 Abstract

The fire detection robot is an autonomous system designed to detect and respond to
fires, providing an effective solution for fire prevention and control. At its core, the
system integrates an Arduino Nano microcontroller with a flame sensor to identify the
presence of fire. Upon detection, the robot activates various components to address the
fire risk. The system is built to operate independently, offering a level of safety and
responsiveness that can be useful in a variety of environments, including residential,
commercial, and industrial settings.

Once the flame sensor detects the presence of fire, the Arduino Nano acts as the central
control unit, coordinating responses to manage the situation. The system has multiple
output mechanisms to signal and respond to fire events. The LCD display provides a
visual indication of the fire, allowing for real-time monitoring, while the buzzer emits
a loud alert to notify people in the vicinity. This dual notification approach helps ensure
that the fire is quickly recognized and acted upon, potentially reducing property damage
and saving lives.

To actively respond to the fire, the robot includes a motor-driven pump connected to a
relay, which can be triggered by the Arduino Nano to extinguish flames. This action is
accompanied by the illumination of a red LED to signify an active fire-fighting
operation. The RF module can be used for remote communication, enabling the robot
to send status updates or receive commands from a distance. Together, these features
create a comprehensive fire detection and response system that can operate
independently or as part of a broader safety network.

Keywords: fire detection, robot, Arduino Nano, flame sensor, LCD display, buzzer,
RF module, motor, motor driver, relay, pump, fire prevention, autonomous system,
safety.

vii
 CHAPTER 1
INTRODUCTION

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1.1 OVERVIEW
The fire detection robot is a compact, autonomous system designed to recognize and address
fire hazards promptly. Built around the Arduino Nano microcontroller, the robot leverages a
flame sensor to continuously monitor its surroundings for the presence of fire. Its purpose is
to enhance fire safety in diverse environments, including homes, commercial spaces, and
industrial settings, where early detection can prevent disaster.
The core of the system is the Arduino Nano, a small yet powerful microcontroller that serves
as the central brain of the robot. This device processes input from the flame sensor and
coordinates actions across all components. By using a low-cost and programmable platform
like Arduino Nano, the robot becomes highly customizable and accessible for users aiming
to develop or upgrade fire detection systems.
A flame sensor mounted on the robot detects infrared light emitted by flames. This sensor is
sensitive enough to identify fires at an early stage, enabling quick intervention. Once a flame
is detected, the sensor sends a signal to the Arduino Nano, initiating a series of
preprogrammed responses that form the system’s fire mitigation process.
One of the first actions taken by the system upon fire detection is alerting nearby individuals.
This is done using both auditory and visual cues. The buzzer generates a high-pitched sound
to draw attention, while an LCD screen displays messages or warning signs, ensuring that
anyone in the vicinity is made aware of the threat immediately.
To actively suppress fires, the robot includes a motor-operated water pump connected
through a relay module. When activated by the Arduino Nano, the relay powers the motor to
spray water toward the source of the fire. This feature transforms the robot from a passive
monitoring system into an active fire-fighting agent, enhancing its practical utility in
emergency situations.
A red LED is also activated during the extinguishing process, serving as a visual signal that
a fire-fighting operation is in progress. This helps distinguish between mere detection and
actual engagement with the fire, which can be helpful for users monitoring multiple robots
or integrating the system into larger safety protocols.
For enhanced functionality and scalability, the robot is equipped with an RF (radio frequency)
communication module. This enables wireless communication between the robot and a
remote control center or mobile device. Through this, the robot can transmit real-time status
updates or receive manual override commands, allowing for semi-autonomous or supervised

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operation when needed.
The combination of detection, alert, extinguishing, and communication mechanisms makes
this system highly effective for small to medium-scale fire management. It’s particularly
useful in areas where continuous human supervision is impractical or dangerous, such as
chemical storage rooms, server rooms, or isolated warehouses.
Overall, the fire detection robot represents a cost-effective, modular, and intelligent approach
to fire safety. It not only alerts users of fire threats but also responds actively, helping to
mitigate damage. With simple integration possibilities and scalable design, the system can be
customized or expanded to fit various applications, ultimately contributing to enhanced safety
and peace of mind.
The fire detection robot is an autonomous system designed to detect and respond to fire
hazards. It uses an Arduino Nano and a flame sensor for real-time fire detection. Once a fire
is detected, the system activates a buzzer and displays a warning on an LCD screen to alert
nearby individuals. A relay-controlled water pump is triggered to extinguish the fire, and a
red LED indicates the active firefighting process. Additionally, an RF module allows for
remote communication and control. The system is compact, cost-effective, and suitable for
use in residential, commercial, and industrial environments, providing an intelligent and
automated fire safety solution.

1.2 PROBLEM STATEMENT

1. Delayed fire detection can lead to severe damage and loss of life in
residential, commercial, and industrial areas.
2. Traditional fire safety systems often lack real-time response capabilities.
3. Manual fire detection and intervention is time-consuming and risky for
human operators.
4. High costs and complexity of advanced fire suppression systems limit
their accessibility.
5. Lack of mobility and automation in conventional fire alarms and
extinguishers reduces efficiency.
6. Inadequate alert mechanisms may fail to notify people quickly and
effectively in emergency situations.
7. Absence of integrated communication modules restricts remote
monitoring and control.

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 8. Need for a compact, low-cost, and autonomous system that can detect,
alert, and suppress fire automatically.

1.3 OBJECTIVES OF THE PROJECT

Objectives of the Fire Detection Robot:

● To detect fire automatically using a flame sensor integrated with an

Arduino Nano microcontroller.

● To alert nearby individuals through a buzzer and LCD display for

immediate awareness and response.

● To suppress fire actively by activating a motor-driven pump system via

relay control.

● To provide visual feedback using a red LED to indicate ongoing fire-

extinguishing activity.

● To ensure autonomous operation without the need for human

intervention during fire emergencies.

● To enable remote monitoring and control using an RF module for

wireless communication.

● To develop a compact and low-cost system suitable for deployment in

various environments.

● To enhance overall fire safety by combining detection, alert, and

extinguishing functions in one unit.

1.4 CONTRIBUTION

Chapter 1 Gives the overview of the project with objectives and thesis
contribution.

Chapter 2 Discusses the details of the literature survey.

Chapter 3 Discusses the work-done including components used.

Chapter 4 Discusses the overall summary, conclusion and future scope

Chapter 5 References
Page | 4
 CHAPTER 2
LITERATURE REVIEW

Page | 5
2.1 OVERVIEW
The rise of automation and intelligent systems has significantly advanced the field of
fire safety, leading to the development of autonomous fire-fighting robots. These
systems combine sensors, microcontrollers, wireless communication, and actuators to
detect and extinguish fires without human intervention. This chapter explores existing
research and developments in the field of fire-fighting robots, laying the foundation for
the current project.

2.2LITERATURE SURVEY

2.2.1 Fire Detection and Control Using Sensors and Arduino

Sridevi Chitti et al. (2020) proposed a fire-fighting robot equipped with flame sensors
and controlled using an Arduino microcontroller. The robot could detect fire through
infrared signals and respond by activating a suppression mechanism. This study
highlighted the use of low-cost components for effective fire detection and direction
control, forming a practical solution for indoor fire safety.

2.2.2 Visual-Based Fire Alarm and Mapping Robot

Bingchen Zhang et al. (2021) introduced a robot capable of early fire detection using
visual tracking and environmental sensors. Using fuzzy logic and SLAM
(Simultaneous Localization and Mapping), the robot could navigate and map hazardous
zones while issuing fire alerts. The integration of image processing and environmental
data made the system more accurate for industrial settings.

2.2.3 Deep Learning for Fire Classification and Detection

M. Benedict Tephila et al. (2022) combined deep learning and robotics for a more
intelligent fire-detection robot. By employing convolutional neural networks (CNN)
like AlexNet, the robot achieved over 97% fire detection accuracy and could classify
fire types. This showed the potential of AI for enhancing the responsiveness and
reliability of fire safety systems.

2.2.4 Autonomous Fire-Fighting Robot with Actuation System

Joseph Azeta et al. (2023) developed a fully autonomous robot equipped with IR
sensors, DC motors, and a servo-based fire suppression system. It was tested in
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controlled environments and demonstrated successful navigation and suppression of
fire hazards. This project emphasized mechanical and circuit design as essential
elements of fire response automation.

2.2.5 Multi-Sensor Fusion for Fire Scene Awareness

Shanshan Zhang et al. (2022) presented a robot that uses a combination of temperature
sensors, gas sensors, and IR flame detectors for better environmental awareness. The
system was tested in simulated fire scenarios and showed improvement in early
detection and risk assessment. The research demonstrated how multi-sensor fusion can
enhance robotic decision-making in unpredictable fire conditions.

2.3 CONCLUSION
The literature indicates that significant progress has been made in the development of
fire-fighting robots. While early systems relied primarily on flame sensors and basic
actuation, recent innovations have incorporated deep learning, environmental mapping,
and remote communication. These systems serve as a foundation for the present
project, which aims to design a low-cost, Arduino-based autonomous fire detection and
suppression robot. Building on previous technologies and methodologies, the proposed
system integrates flame detection, alert mechanisms, and active fire suppression using
a motor-driven pump and RF communication.

2.4 BACKGROUND
The fire detection robot is a product of continuous advancements in fire safety
technology and robotics. To understand the background of this system, it’s essential to
consider earlier methods of fire detection and response, as well as the evolution of
technology that made such autonomous systems possible.

2.4.1 Early Fire Detection Systems

Historically, fire detection relied on simple mechanisms such as smoke detectors and
heat sensors. Smoke detectors were designed to sense smoke particles in the air,
typically using either ionization or photoelectric technology. Ionization smoke
detectors contain a small amount of radioactive material, which ionizes the air and
triggers an alarm when smoke interrupts the ionization process. Photoelectric smoke

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detectors, on the other hand, use a beam of light that gets disrupted by smoke particles,
signaling an alarm when the light is obstructed.

Heat sensors, which are also commonly used in fire detection, work by detecting a
significant rise in temperature. These sensors are designed to trigger an alarm when
they sense heat above a certain threshold. While both smoke and heat detectors are
useful for alerting occupants to fire, they have limitations in terms of response time and
do not directly address the fire hazard.

2.4.2 Transition to Automated Systems

As technology advanced, there was a shift towards automated fire detection systems.
These systems incorporated more sophisticated sensors capable of detecting specific
characteristics of fire, such as the infrared and ultraviolet light emitted by flames.
Automated fire detection systems became more accurate and capable of providing
earlier warnings compared to traditional smoke and heat detectors. However, these
systems were still largely dependent on human intervention to address the fire, typically
involving manual activation of fire suppression equipment or calling emergency
services.

2.4.3 Robotic Solutions in Fire Safety

The introduction of robotics into fire safety marked a significant turning point. Robotic
systems offered the potential to automate both fire detection and response, reducing the
need for human intervention in hazardous environments. Early robotic fire-fighting
systems were designed for industrial applications, such as automated sprinkler systems
or fire-fighting drones equipped with cameras and sensors to detect and suppress fires
in large facilities.

Despite these advancements, early robotic systems had limitations in terms of

flexibility and adaptability. They often operated within predefined parameters and were
not designed for autonomous navigation or multi-sensor integration. This limited their
use to specific industrial contexts and made them less practical for broader applications
in residential and commercial settings.

2.4.4 Emergence of Microcontroller-Based Systems

The development of microcontrollers like the Arduino Nano opened new possibilities
for autonomous fire detection robots. Microcontrollers allowed for more complex

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programming, enabling robots to process sensor data and perform automated tasks
without human intervention. This technology facilitated the creation of robots that
could not only detect fires but also respond to them by activating fire-fighting
mechanisms.

With the inclusion of additional components such as LCD displays, buzzers, and RF
modules, these systems could provide visual and audible alerts, as well as remote
communication capabilities. The combination of automated fire detection and active
response mechanisms represented a significant leap forward in fire safety technology,
offering a comprehensive solution for various environments.

The background of the fire detection robot reflects a progression from basic fire
detection methods to more complex, automated systems. By integrating
microcontrollers, sensors, and robotic technology, the fire detection robot addresses the
limitations of earlier systems, offering a more proactive and autonomous approach to
fire safety. This evolution underscores the importance of technological innovation in
improving safety and reducing the risks associated with fire hazards.

2.5 RESEARCH PAPERS

[1] “Fire Detection and Direction Control of Fire Fighting Robot”, October 2020,
Sridevi Chitti, P. Ramchandar Rao, Ch. Padmaja.
This paper discusses the risks that fire-fighters face when tackling fires and the
potential for artificial intelligence and robotics to reduce those risks. Every year, fire-
fighters around the world put their lives on the line to combat dangerous fire incidents.
Robotics, which has seen applications in mining, construction, pharmaceuticals, and
other industries, is now also playing a role in assisting fire-fighters. These robots are
designed for extreme conditions and can be controlled wirelessly, allowing them to
locate and manage fires remotely, reducing the risk to human life. The fire-fighting
robots are equipped with sensors to detect fire and are controlled through a wireless
system, providing a safer approach to fire-fighting. The purpose of this paper is to raise
awareness and encourage further development in robotic technology to improve safety
and reduce damage to both people and property.

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[2] “Research on the Design of Fire Alarm and Pre-treatment Robot System”,
April 2021, Bingchen Zhang, Long Bai, Xiaohong Chen.
This paper explores the development of fire warning robots that leverage sensor
technology and artificial intelligence, marking a new frontier in research. The proposed
design involves robots that utilize visual tracking to autonomously patrol spaces,
instead of relying on humans. By employing fuzzy theory algorithms, the robots can
analyze environmental data gathered from sensors, allowing them to issue fire warnings
and alarms. Additionally, they can process infrared images from electrical equipment
using machine vision to monitor operational conditions, and construct fire site maps
through simultaneous localization and mapping (SLAM) using laser radar. The fire
warning and pre-processing robots described in this paper are designed to perform
autonomous inspections, early fire detection, extinguishing, and obstacle removal. This
approach capitalizes on the critical time window to control fires, thereby helping to
safeguard lives and property.

[3] “Deep Learning and Machine Vision based Robot for Fire Detection and
Control”, December 2022, M.Benedict Tephila; P.M. Aswini; S. Abhinandhan
This paper examines the integration of robotics and deep learning algorithms in modern
technology, particularly for image recognition tasks. The majority of recent
advancements in this area rely on deep learning, big data analysis, and artificial
intelligence. In this study, a firefighting robot employing deep learning techniques is
designed to detect fire and, upon detection, classify the type of fire using a combination
of ImageNet and AlexNet. The proposed system is implemented on a Raspberry Pi,
programmed to effectively identify and categorize fire incidents. The results indicate
that the robot achieves a classification accuracy of 92% and a fire detection accuracy
of 97.75%. These findings demonstrate a significant improvement in fire detection
accuracy when utilizing robotic systems and machine vision-based classification. The
study underscores the potential of robotics and deep learning in enhancing the
efficiency and effectiveness of fire detection and classification.

[4] “Implementing a Prototype Autonomous Fire Detecting and Firefighting

Robot”, May 2023, Joseph Azeta, Idowu Ayoade, Cosmas Nwakanma
This paper explores the creation of an autonomous robot designed to detect and fight
fires, with the aim of reducing the risks associated with traditional firefighting methods.
The robot is equipped with sensors, algorithms, and actuators to detect, locate, and

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extinguish fires independently. The mechanical and electrical systems were designed,
built, and tested within a controlled setting to determine the robot's ability to navigate
around obstacles, detect fires, and suppress them autonomously. The results
demonstrate that the robot can effectively detect and extinguish fires, suggesting that it
could be a valuable addition to firefighting operations. This study advances the field of
autonomous firefighting robots, contributing to both the safety of firefighters and the
efficiency of firefighting efforts.

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CHAPTER 3
WORK-DONE

Page | 12
3.1 METHODOLOGY
The methodology for constructing a fire detection robot involves a detailed process that
integrates a variety of components to create an autonomous system capable of detecting
and responding to fire hazards. This section discusses the key steps involved in
designing, assembling, and programming the fire detection robot, emphasizing the
technology and processes used to ensure reliable and efficient operation.

3.1.1 System Design and Component Selection

The first step in the methodology involves designing the overall system architecture
and selecting the appropriate components to achieve the desired functionality. The goal
is to create a compact yet powerful fire detection robot that can operate autonomously
and effectively respond to fire hazards. The core of the system is the Arduino Nano, a
versatile microcontroller known for its small size and robust performance. This
microcontroller is selected for its ability to process sensor data, control output devices,
and execute complex programming logic.

The primary sensor used in the system is the flame sensor, which is responsible for
detecting the presence of fire. The flame sensor is sensitive to specific wavelengths of
light emitted by flames, allowing it to quickly identify potential fire hazards. The sensor
is positioned to maximize its field of view, ensuring that the robot can detect fires from
various angles.

Additional components are selected to enhance the system's functionality. The LCD
display provides a visual interface, displaying information about the robot's status and
fire detection events. The buzzer is included to provide an audible alert when a fire is
detected, while the red LED serves as a visual indication that the robot is actively
responding to a fire. The RF module is chosen for its remote communication
capabilities, allowing the robot to send status updates and receive commands from a
distance.

To enable the robot to respond to fire, a motor-driven pump and a relay are incorporated
into the system. The pump is connected to a reservoir of fire-extinguishing material,
and the relay allows the Arduino Nano to control the pump's activation. This setup
enables the robot to actively combat fires, adding a layer of firefighting capability to
the system.

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 3.1.2 System Assembly and Wiring

The next step in the methodology involves assembling the system and wiring the
components to the Arduino Nano. This process requires careful planning to ensure that
all components are connected correctly and that the system is structurally sound. The
flame sensor is connected to one of the Arduino Nano's analog input pins, allowing the
microcontroller to read the sensor's output. The LCD display, buzzer, and red LED are
connected to digital output pins, enabling the Arduino Nano to control these devices
based on the system's logic.

The RF module is connected to the Arduino Nano's serial communication pins,

allowing for data exchange between the robot and external devices. The motor-driven
pump is connected to the relay, which is, in turn, connected to a digital output pin on
the Arduino Nano. This configuration allows the microcontroller to activate the pump
when needed to extinguish fires.

To ensure the system's stability and reliability, a power supply and voltage regulator
are incorporated into the design. The power supply provides a stable source of energy
to the robot, while the voltage regulator ensures that the components receive a
consistent voltage level, preventing damage due to voltage fluctuations.

3.1.3 Programming and Logic Development

With the system assembled, the next step is to program the Arduino Nano to manage
the fire detection and response process. This involves developing the logic and
algorithms that govern the robot's behavior. The primary function of the code is to
continuously monitor the flame sensor for signs of fire and, upon detection, trigger the
appropriate response actions.

The program starts with an initialization phase, where the Arduino Nano sets up the
connections to the various components and ensures that all devices are operational.
Once initialized, the robot enters a continuous monitoring loop, where it reads data
from the flame sensor at regular intervals. If the sensor detects a fire, the Arduino Nano
activates the buzzer and displays a fire alert on the LCD screen. The red LED is also
illuminated to indicate an active fire response.

In addition to the alert mechanisms, the program controls the motor-driven pump via

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the relay. If a fire is detected, the Arduino Nano triggers the relay to activate the pump,
releasing the fire-extinguishing material to combat the fire. This automated response
adds a layer of safety by allowing the robot to take immediate action without human
intervention.

The RF module is programmed to facilitate remote communication. The robot can send
status updates to a remote control unit, providing information about fire detection
events and the robot's current state. Additionally, the RF module allows for remote
control of the robot, enabling external commands to be sent to the system for more
advanced operations.

3.1.4 Testing and Calibration

The final step in the methodology involves testing and calibrating the system to ensure
that it operates as intended. This process includes a series of tests to validate the
functionality of each component and the overall system. The flame sensor is tested for
sensitivity and accuracy in detecting fire, while the LCD display and buzzer are
checked for proper alert mechanisms.

The motor-driven pump and relay are also tested to ensure that the firefighting response
is effective and reliable. This includes calibrating the relay's activation timing and the
pump's output to ensure that it can adequately extinguish fires. Remote communication
functionality is tested by sending and receiving data through the RF module, validating
the system's ability to communicate remotely.

Once the system has passed all tests and calibrations, it is considered ready for
deployment. The fire detection robot, with its autonomous fire detection and response
capabilities, represents a significant advancement in fire safety technology. Its
comprehensive methodology ensures that the system operates reliably and effectively
in various environments, providing an innovative solution to fire hazards.

3.2 WORKING OF FLAME SENSOR

The flame sensor is a crucial component in the fire detection robot, responsible for
detecting the presence of fire through its unique properties. This sensor plays a pivotal
role in identifying fire hazards, allowing the robot to trigger alarms and activate
firefighting mechanisms. In this section, we'll explore the working principles of the
flame sensor, its key components, and how it is integrated into the fire detection system.

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 3.2.1 Overview of Flame Sensors
Flame sensors are designed to detect flames or high-intensity light sources, typically in
the ultraviolet (UV) or infrared (IR) spectrum. These sensors are commonly used in
fire detection systems because they can identify flames based on their unique light
signatures, providing a more direct indication of fire than traditional smoke or heat
sensors. Flame sensors are valued for their fast response times and high sensitivity,
allowing for early detection of fire hazards.

3.2.2 Types of Flame Sensors

There are various types of flame sensors, with the most common being UV sensors, IR
sensors, and combinations of the two. UV sensors detect ultraviolet light, typically in
the range of 180 to 280 nanometers, emitted by flames during combustion. IR sensors,
on the other hand, detect infrared radiation, usually in the range of 4.3 to 4.7
micrometers, which is also emitted by flames. Some flame sensors combine UV and
IR detection to increase accuracy and reduce false positives.

In the fire detection robot, an IR-based flame sensor is used. This type of sensor is
chosen for its reliability and resistance to environmental interference, such as smoke
and dust, which might affect other types of sensors. IR flame sensors are also effective
at detecting flames from various fuels, making them suitable for diverse applications.

3.2.3 Working Principle of IR Flame Sensors

The IR flame sensor operates by detecting infrared radiation emitted by flames. Flames
produce a characteristic IR radiation pattern due to the high-temperature combustion
process. When a fire occurs, the intensity of IR radiation increases, indicating the
presence of a flame.

The IR flame sensor consists of a photodiode or phototransistor sensitive to infrared

light. When IR radiation reaches the sensor, it generates a small electrical current
proportional to the intensity of the radiation. This current is then amplified and
converted into a digital signal, which can be read by a microcontroller, such as the
Arduino Nano.

3.2.4 Integration with the Fire Detection Robot

In the fire detection robot, the IR flame sensor is connected to one of the analog input
pins on the Arduino Nano. The sensor continuously monitors its surroundings for IR
radiation, providing real-time data to the microcontroller. The Arduino Nano is

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programmed to read this data at regular intervals, typically measured in milliseconds,
ensuring that the system can quickly detect the presence of fire.

When the sensor detects a significant increase in IR radiation, indicating the presence
of a flame, it sends a signal to the Arduino Nano. The microcontroller interprets this
signal and triggers the appropriate responses, such as activating alarms and controlling
the firefighting mechanisms. The quick response time of the IR flame sensor allows the
fire detection robot to detect fires rapidly, enabling a swift and effective response.

3.2.5 Calibration and Sensitivity Adjustment

To ensure accurate fire detection, the IR flame sensor must be calibrated and adjusted
for sensitivity. Calibration involves setting a threshold level for the sensor's output,
which determines the point at which the Arduino Nano interprets the signal as
indicating a fire. This threshold must be carefully set to balance sensitivity and false
positives.

If the threshold is too low, the sensor may generate false alarms due to environmental
factors like sunlight or other heat sources. If it's too high, the sensor may not detect
smaller fires, potentially delaying the response. During the calibration process, the
sensor's output is tested under various conditions to determine the optimal threshold
level.
3.2.6 Advantages and Limitations
IR flame sensors offer several advantages, including fast response times, high
sensitivity, and resistance to environmental interference. These characteristics make
them ideal for fire detection robots, where quick and reliable fire detection is critical.
Additionally, IR flame sensors are generally robust and durable, allowing them to
operate in challenging environments.

However, IR flame sensors also have limitations. They can be affected by bright light
sources or reflections, which can lead to false positives. To mitigate this risk, the fire
detection robot is designed to reduce interference from other light sources, and the
sensor is positioned to minimize the impact of reflections.

The IR flame sensor is a critical component in the fire detection robot, providing the
capability to detect fire through its unique IR radiation pattern. Its integration with the
Arduino Nano and the broader fire detection system allows the robot to respond quickly
and effectively to fire hazards. Proper calibration and sensitivity adjustment ensure that
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the sensor operates reliably, providing accurate fire detection while minimizing false
alarms. Overall, the IR flame sensor plays a key role in enabling the autonomous and
efficient fire-fighting capabilities of the fire detection robot.

3.3 WORKING OF RF MODULE

The RF (Radio Frequency) module is an integral part of the fire detection robot,
enabling wireless communication and remote control. This component plays a
significant role in expanding the robot's capabilities, allowing it to send and receive
signals over a distance. In the context of fire detection, the RF module provides a means
for remote monitoring, control, and integration with other safety systems. This section
delves into the working principles of RF modules, the specific type used in the fire
detection robot, and the overall communication process.

3.3.1 Overview of RF Modules

RF modules are electronic devices that transmit and receive data using radio waves.
They are commonly used in wireless communication applications, providing a simple
and reliable way to exchange information without the need for physical connections.
RF modules operate at various frequencies, typically in the range of hundreds of
megahertz (MHz) to several gigahertz (GHz), depending on the application and
regulatory requirements.

The primary function of an RF module is to send data wirelessly from one device to
another. This is achieved by converting digital signals into radio waves for transmission
and then converting received radio waves back into digital signals for processing. RF
modules are used in a wide range of applications, from remote controls to wireless
networking, and are valued for their versatility and range.

3.3.2 Types of RF Modules

RF modules come in various types, each with its own characteristics and applications.
The most common types include:

- Transmitter-Receiver Modules: These consist of separate transmitter and receiver

units, with the transmitter sending data and the receiver receiving it. This type is used
for unidirectional communication.
- Transceiver Modules: These modules combine both transmission and reception
capabilities, allowing for bidirectional communication. They are commonly used in

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wireless networking and remote control applications.

For the fire detection robot, a transceiver module is used, allowing the robot to both
send and receive data. This bidirectional communication capability is essential for
remote monitoring and control, as it enables the robot to transmit status updates while
also receiving commands from a remote source.

3.3.3 Working Principle of RF Modules

The RF module in the fire detection robot operates by transmitting and receiving data
using radio waves. The module is connected to the Arduino Nano, which controls the
data transmission and processes the received data. The Arduino Nano converts digital
signals into a format suitable for radio transmission, which the RF module then
transmits over the airwaves.

When transmitting data, the RF module uses a specific frequency and modulation
technique to encode the digital signals into radio waves. Common modulation
techniques include Amplitude Modulation (AM), Frequency Modulation (FM), and
Phase Modulation (PM), among others. The choice of modulation technique depends
on factors like signal range, bandwidth, and data integrity.

On the receiving end, the RF module listens for incoming signals at the designated
frequency. When it receives a signal, it demodulates the radio waves to extract the
digital data, which is then passed to the Arduino Nano for processing. This process
allows the fire detection robot to communicate wirelessly, providing flexibility and
range that would not be possible with wired connections.

3.3.4 Integration with the Fire Detection Robot

In the fire detection robot, the RF module is connected to the Arduino Nano's serial
communication pins, allowing for seamless data exchange between the microcontroller
and the RF module. The Arduino Nano is programmed to handle the communication
protocols, ensuring that data is transmitted and received correctly. The RF module's
range and frequency depend on its design and the specific application requirements.

The integration of the RF module with the fire detection robot enables several key
features. First, it allows the robot to send status updates wirelessly, providing real-time
information about fire detection events and the robot's current state. This capability is
crucial for remote monitoring, as it allows operators to track the robot's activity without

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needing to be physically present.

Second, the RF module allows for remote control of the fire detection robot. By sending
commands wirelessly, operators can control the robot's actions, such as initiating fire-
fighting mechanisms or navigating to specific locations. This feature adds a layer of
flexibility, allowing the robot to be integrated into broader safety systems or controlled
from a remote location.

3.3.5 Applications and Benefits

The use of an RF module in the fire detection robot provides several benefits. The
ability to communicate wirelessly extends the robot's range and flexibility, allowing it
to operate in diverse environments without being constrained by physical connections.
Remote monitoring and control enhance safety by enabling operators to oversee the
robot's actions and respond to fire detection events without being in harm's way.

RF modules also offer a high degree of scalability, allowing the fire detection robot to
be part of a larger network of safety devices. This networked approach can improve
coordination and response times, particularly in large or complex environments where
communication is essential.

3.3.6 Limitations and Challenges

Despite its advantages, the use of RF modules in fire detection robots can present
challenges. Radio frequency communication is subject to interference from other
electronic devices, physical obstacles, and environmental conditions. This interference
can lead to signal degradation or loss, affecting the reliability of wireless
communication.

To mitigate these risks, the fire detection robot is designed with proper shielding and
uses frequencies that minimize interference. Additionally, error-checking protocols and
redundant communication mechanisms are implemented to ensure data integrity and
reliable operation.

The RF module is a crucial component in the fire detection robot, providing wireless
communication and remote control capabilities. Its integration with the Arduino Nano
enables the robot to send and receive data, allowing for remote monitoring, control,
and integration with other safety systems. The flexibility and scalability of RF
communication enhance the robot's functionality, while proper design and error-

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checking mechanisms ensure reliable operation despite potential interference
challenges. Overall, the RF module significantly contributes to the fire detection robot's
ability to operate autonomously and efficiently in various fire safety applications.

3.4 WORKING OF THE SYSTEM

The fire detection robot is a complex system that integrates various components to
detect fire, alert users, and respond to fire hazards autonomously. The working of the
system involves multiple processes, from fire detection to activation of fire-fighting
mechanisms, as well as remote communication and control. This section explores the
step-by-step operation of the fire detection robot, detailing how each component
contributes to the overall functionality of the system.

3.4.1 Initial Setup and Power Supply

The system begins with an initialization phase, during which the Arduino Nano, the
central microcontroller, powers up and initializes all connected components. This phase
includes establishing connections with the LCD display, flame sensor, buzzer, RF
module, motor, motor driver, relay, and pump. The power supply, along with the
voltage regulator, ensures a stable and consistent power source for the system,
preventing voltage fluctuations that could damage the components.

3.4.2 Continuous Monitoring with the Flame Sensor

Once initialized, the fire detection robot enters its primary operational mode, which
involves continuous monitoring for fire hazards. The flame sensor, which is typically
an infrared (IR) sensor, plays a central role in this phase. The flame sensor is positioned
to detect infrared radiation emitted by flames, providing a direct indication of fire. The
sensor is connected to one of the Arduino Nano's analog input pins, allowing the
microcontroller to read the sensor's output at regular intervals.

The Arduino Nano is programmed to monitor the flame sensor's output continuously,
checking for significant increases in IR radiation that would indicate the presence of
fire. This process occurs rapidly, often within milliseconds, ensuring that the system
can detect fire hazards promptly. The continuous monitoring allows the robot to operate
autonomously, providing a reliable safety mechanism without human intervention.

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 3.4.3 Fire Detection and Alert Mechanisms
When the flame sensor detects a fire, the Arduino Nano triggers the system's alert
mechanisms to warn nearby users and initiate the fire-fighting process. The first step is
to activate the buzzer, which emits a loud sound to alert people in the vicinity of the
fire hazard. This audible alert is crucial for ensuring that individuals are aware of the
fire and can take appropriate action, such as evacuating the area or contacting
emergency services.

Simultaneously, the LCD display provides a visual indication of the fire detection
event. The display shows relevant information, such as a fire alert message, allowing
users to visually confirm the presence of a fire. The red LED is also illuminated during
this phase, providing an additional visual cue to indicate that the robot is actively
responding to a fire hazard.

3.4.4 Fire-Fighting Response with the Motor and Pump

In addition to the alert mechanisms, the fire detection robot is equipped with a motor-
driven pump that can actively respond to fire hazards. When a fire is detected, the
Arduino Nano triggers the relay, which activates the motor and, consequently, the
pump. The pump is connected to a reservoir of fire-extinguishing material, allowing
the robot to spray the material onto the fire to extinguish it.

The activation of the motor and pump provides an active fire-fighting response,
allowing the robot to combat the fire without human intervention. This feature sets the
fire detection robot apart from traditional fire detection systems, which typically rely
solely on alarms and require manual response from emergency personnel. The pump's
output can be calibrated to ensure effective fire suppression, with adjustments made
based on the size and intensity of the fire.

3.4.5 Remote Communication and Control

Another critical aspect of the fire detection robot is its remote communication and
control capability, enabled by the RF module. The RF module is connected to the
Arduino Nano's serial communication pins, allowing for wireless data transmission and
reception. This feature provides flexibility and scalability, allowing the robot to
communicate with remote devices and be integrated into broader safety networks.

The RF module allows the fire detection robot to send status updates to a remote control

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unit, providing real-time information about fire detection events and the robot's current
state. This capability is essential for remote monitoring, as it enables users to track the
robot's activity and receive alerts without being physically present. Additionally, the
RF module allows for remote control of the robot, enabling users to send commands
wirelessly to initiate specific actions or control the robot's movement.

3.4.6 Error Handling and Safety Mechanisms

To ensure reliable operation, the fire detection robot includes error handling and safety
mechanisms. The Arduino Nano is programmed with error-checking protocols to detect
anomalies in the system's operation, such as sensor malfunctions or communication
failures. If an error is detected, the system takes appropriate actions, such as resetting
components or triggering safety alerts.

The power supply and voltage regulator also play a role in ensuring system stability.
The voltage regulator maintains a consistent voltage level, preventing damage to
sensitive components due to voltage fluctuations. The power supply is designed to
provide sufficient energy to drive all components, ensuring that the system remains
operational even during high-demand periods.
The fire detection robot is a comprehensive system designed to detect and respond to
fire hazards autonomously. Its working involves continuous monitoring with the flame
sensor, rapid alert mechanisms, active fire-fighting responses, and remote
communication capabilities. The integration of these components allows the robot to
operate independently, providing a reliable and efficient solution for fire safety. The
system's error handling and safety mechanisms further ensure its robustness and
reliability, making it suitable for various environments where fire detection and
response are critical.

3.5 ADVANTAGES OF THE SYSTEM

Advantages of the Fire Detection Robot:

 Rapid Fire Detection

The fire detection robot uses advanced flame sensors to detect fire hazards quickly,
enabling a swift response that can minimize damage and prevent injuries.
 2. Autonomous Operation
The system operates autonomously, continuously monitoring for fire without the
need for human intervention, allowing for 24/7 fire safety.

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  3. Active Fire Response
With an integrated motor-driven pump and relay, the robot can actively combat
fires by spraying fire-extinguishing material, providing an immediate firefighting
capability.
 Comprehensive Alert Mechanisms
The system includes both audible (buzzer) and visual (LCD display and red LED)
alerts, ensuring effective communication of fire hazards to nearby occupants.
 Remote Communication and Control
The RF module enables wireless communication, allowing the robot to send
status updates to remote devices and receive commands for remote control,
enhancing flexibility and integration with broader safety networks.
 Reliability and Robustness
The use of a stable power supply, voltage regulator, and error-checking protocols
ensures consistent and reliable operation, reducing the risk of system failure
during critical moments.
 Scalability and Integration
The system's modular design and remote communication capabilities allow it to
be integrated into larger safety networks, providing scalability for use in diverse
environments, from residential to industrial settings.

3.6 COMPONENTS USED

3.6.1 ARDUINO NANO

The Arduino Nano is a compact, versatile microcontroller board designed for
embedded electronics projects. It's widely used in robotics, automation, and
prototyping due to its small form factor, low power consumption, and extensive
compatibility with various sensors and components. In the fire detection robot, the
Arduino Nano serves as the central control unit, orchestrating the robot's operations,
processing sensor data, and managing output signals. Its small size makes it ideal for
space-constrained projects, while its flexibility allows for customization and
integration with a broad range of devices.

 Role in the Fire Detection Robot

In the fire detection robot, the Arduino Nano is responsible for coordinating the

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system's functions. It reads data from the flame sensor to detect fire, processes that
information, and triggers the appropriate responses, such as activating the buzzer, LCD
display, and motor-driven pump. The Arduino Nano also manages communication with
the RF module, enabling remote monitoring and control. Its ability to handle multiple
tasks simultaneously makes it an excellent choice for the complex requirements of the
fire detection robot.

 Programming and Customization

The Arduino Nano is programmable using the Arduino Integrated Development
Environment (IDE), a user-friendly platform that supports C and C++ languages. This
flexibility allows developers to write custom code for the fire detection robot, defining
how it should respond to different fire detection scenarios. The Arduino Nano's
extensive library support means that developers can easily integrate additional features,
such as error handling, remote communication protocols, and calibration routines for
sensors. This level of customization is crucial for fine-tuning the robot's behavior and
ensuring reliable operation.

 Connectivity and Expandability

The Arduino Nano features a range of input and output (I/O) pins, including digital and
analog pins, allowing it to connect with various sensors, actuators, and communication
modules. In the fire detection robot, the analog input pins are used to read data from
the flame sensor, while the digital output pins control devices like the buzzer, LCD
display, motor, and relay. The Arduino Nano also has serial communication
capabilities, enabling it to interface with the RF module for wireless communication.
This expandability makes it possible to add new features and integrate the robot with
other systems, enhancing its scalability and adaptability.

 Specifications of Arduino Nano

1. Microcontroller: ATmega328P
2. Operating Voltage: 5V
3. Digital I/O Pins: 14 (including 6 PWM outputs)
4. Analog Input Pins: 8
5. Communication Interfaces: UART, SPI, I2C
6. Dimensions: 18 x 45 mm (approximately)

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 Figure 3.6.1: Arduino Nano

3.6.2 LCD DISPLAY

The LCD (Liquid Crystal Display) used in the fire detection robot is a critical
component that provides a visual interface for the system. This display plays a key role
in communicating information to users, offering a clear and easily readable format to
convey important messages. The LCD display allows the fire detection robot to show
real-time status updates, fire alerts, and system diagnostics, helping users quickly
understand the robot's operation and take appropriate action in response to fire-related
events.

 Role in the Fire Detection Robot

In the fire detection robot, the LCD display is used to display various types of
information. When the flame sensor detects fire, the Arduino Nano activates the LCD
to display a fire alert message, notifying anyone in the vicinity of the potential danger.
This visual alert is crucial for environments where an audible buzzer might not be heard
due to noise or other distractions. Additionally, the LCD can display system status,
diagnostic information, and other relevant data, aiding in troubleshooting and
monitoring.

 Integration and Wiring

The LCD display in the fire detection robot is typically a 16x2 or 20x4 character
display, which provides enough space to display multiple lines of text. It is connected
to the Arduino Nano through digital pins, using a parallel communication interface.
Commonly, displays with a Hitachi HD44780-compatible controller are used, as they
are widely supported and easy to interface with Arduino boards. The wiring involves

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connecting the data pins, register select, enable, and read/write control lines, along with
a potentiometer to adjust display contrast.

 Programming and Customization

The Arduino Nano is programmed to send data to the LCD display, controlling what
appears on the screen. The Arduino IDE offers libraries like "LiquidCrystal" to simplify
communication with LCD displays, allowing developers to easily manage text output
and formatting. This programming flexibility enables the fire detection robot to display
custom messages, alerts, and other important information. By customizing the LCD
output, developers can enhance the robot's user interface, making it more informative
and user-friendly.

 Specifications of LCD Display

1. Type: Character-based LCD (16x2 or 20x4)
2. Controller: Hitachi HD44780-compatible
3. Communication Interface: Parallel
4. Operating Voltage: 5V
5. Backlight: LED (commonly white or blue)
6. Contrast Control: Adjustable with potentiometer

These specifications ensure that the LCD display is suitable for integration with the
Arduino Nano, providing clear and reliable visual feedback in the fire detection robot.

Figure 3.6.2: LCD Display

3.6.3 FLAME SENSOR

The flame sensor used in the fire detection robot is designed to detect the presence of
fire by sensing specific types of light emitted by flames. This sensor is a critical
component in fire detection systems, providing a rapid response to potential fire
hazards. Flame sensors can detect ultraviolet (UV) or infrared (IR) light, with the IR
type being the more common choice due to its reliability and resistance to

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environmental interference. The flame sensor in the fire detection robot allows for early
detection of fire, triggering alerts and firefighting mechanisms as needed.

 Working Principle
Flame sensors operate by detecting the unique light patterns associated with flames. In
the case of the IR flame sensor, the sensor is sensitive to infrared radiation, which is a
characteristic byproduct of combustion. When a fire burns, it emits a specific
wavelength of IR light. The flame sensor captures this radiation and converts it into an
electrical signal, which is then processed to determine if a fire is present. This process
allows for quick and accurate detection, enabling the fire detection robot to respond
swiftly to fire hazards.

 Integration with the Fire Detection Robot

The flame sensor is connected to the Arduino Nano, typically via one of its analog input
pins. The sensor continuously monitors its surroundings for IR radiation, sending a
signal to the Arduino Nano when it detects a significant increase in intensity, indicative
of a flame. The Arduino Nano is programmed to respond to this signal by activating
various components of the fire detection robot, such as the buzzer, LCD display, and
motor-driven pump for fire-fighting. The integration of the flame sensor with the
microcontroller allows for a seamless and autonomous fire detection process.

 Calibration and Sensitivity Adjustment

To ensure accurate fire detection, the flame sensor must be calibrated for sensitivity.
Calibration involves setting a threshold level for the sensor's output, which determines
when the Arduino Nano interprets the signal as indicating a fire. Proper calibration is
crucial to avoid false positives from other light sources or environmental conditions.
Adjusting the sensor's sensitivity ensures it detects real fire hazards without triggering
unnecessary alarms. In the fire detection robot, calibration is done during the setup
phase to optimize the sensor's performance for the specific environment in which the
robot operates.

 Specifications of Flame Sensor

1. Type: Infrared (IR) flame sensor
2. Detection Range: Typically 30 degrees to 60 degrees (field of view)
3. Wavelength Sensitivity: Commonly in the 760nm to 1100nm range
4. Operating Voltage: Generally 3.3V to 5V

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5. Output: Analog signal (with varying intensity based on IR radiation)
6. Mounting: Can be mounted on a PCB or standalone with a flexible position
These specifications describe the typical characteristics of the flame sensor used in fire
detection robots, illustrating its role in detecting fire and integrating with
microcontrollers like the Arduino Nano.

Figure 3.6.3: Flame Sensor

3.6.4 BUZZER
The buzzer used in the fire detection robot is an essential component for providing
audible alerts. It plays a crucial role in signaling the presence of fire or other significant
events within the system. Buzzers are commonly used in electronic devices for sound-
based notifications, and they come in various types, including piezoelectric and
magnetic. The buzzer in the fire detection robot is responsible for alerting users when
the flame sensor detects a fire, ensuring that people in the vicinity are quickly informed
of the potential danger.

 Working Principle
Buzzers operate by converting electrical energy into sound waves, creating audible
tones or beeps. The most common type of buzzer used in electronic systems like the
fire detection robot is the piezoelectric buzzer. It consists of a piezoelectric element,
usually a ceramic disc, that vibrates when an electric current is applied. This vibration
creates sound waves, producing the characteristic beep or tone. Buzzers can be
controlled by varying the frequency and duration of the electric current, allowing for
different sound patterns.

 Integration with the Fire Detection Robot

In the fire detection robot, the buzzer is connected to one of the Arduino Nano's digital
output pins. The Arduino Nano controls the buzzer by sending electrical signals to
create the desired sound. The buzzer is activated when the flame sensor detects fire,

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providing an audible alert to warn people nearby. The Arduino Nano can be
programmed to generate specific sound patterns or frequencies, allowing for
customization of the alert signal. This flexibility in sound design can help distinguish
between different types of alerts or convey additional information through sound
patterns.

 Importance in Fire Detection Systems

The buzzer's role in the fire detection robot is to provide a clear and immediate alert
when a fire is detected. This audible warning is crucial for ensuring that people are
aware of the fire hazard and can take appropriate action, such as evacuating the area or
contacting emergency services. The buzzer's ability to produce loud and distinct sounds
makes it effective in various environments, including noisy industrial settings or large
buildings. Its integration with the Arduino Nano allows for precise control over when
and how the buzzer is activated, ensuring a reliable and responsive alert system.

 Specifications of the Buzzer

1. Type: Piezoelectric
2. Operating Voltage: Typically 3V to 12V
3. Sound Output: Commonly 85 to 100 decibels (dB)
4. Frequency Range: Usually 1kHz to 4kHz
5. Control Method: Digital signal from microcontroller (e.g., Arduino Nano)
6. Mounting: PCB-mounted or standalone with leads

These specifications outline the common characteristics of buzzers used in fire

detection robots, highlighting their capacity for providing loud and clear audible alerts.
The buzzer's simple yet effective design, combined with its integration with the
Arduino Nano, makes it a critical component for alerting users to fire hazards.

Figure 3.6.4: Buzzer

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 3.6.5 RED LED
The Red LED (Light-Emitting Diode) in the fire detection robot is an important
component used for visual signaling. LEDs are widely used in electronic systems due
to their efficiency, long lifespan, and versatility in indicating various statuses and alerts.
In the context of the fire detection robot, the Red LED serves as a visual alert,
illuminating when a fire is detected. This visual cue complements the audible alert from
the buzzer, providing an additional layer of communication to signal the presence of a
fire hazard.

 Working Principle
LEDs are semiconductor devices that emit light when an electric current passes through
them. The Red LED, specifically, uses a semiconductor material that emits red light at
a specific wavelength, typically around 620 to 750 nanometers. When the electric
current flows through the LED, electrons recombine with holes in the semiconductor,
releasing energy in the form of photons (light). This process, known as
electroluminescence, allows LEDs to be highly efficient, consuming relatively low
power while producing bright light.

 Integration with the Fire Detection Robot

In the fire detection robot, the Red LED is connected to one of the Arduino Nano's
digital output pins. The Arduino Nano controls the LED, turning it on or off based on
the system's logic. When the flame sensor detects a fire, the Arduino Nano activates
the Red LED, signaling that the robot is in fire-fighting mode. This visual indication is
helpful in environments where audible signals might not be as effective, or as an
additional alert to ensure the fire hazard is clearly communicated.

 Applications and Benefits

The Red LED provides a clear visual indication of a fire detection event, adding an
extra layer of safety to the fire detection robot. It is particularly useful in situations
where the buzzer might not be heard due to ambient noise or where a visual signal is
needed for quick identification. The LED's bright red color is universally recognized
as an alert signal, making it an effective way to draw attention to the fire detection
robot's status. Additionally, the low power consumption and long lifespan of LEDs
make them an ideal choice for continuous monitoring systems like this robot.

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  Specifications of the Red LED
1. Color: Red
2. Wavelength: Approximately 620 to 750 nanometers
3. Operating Voltage: Typically 1.8V to 2.2V
4. Current Consumption: Commonly 20 mA
5. Brightness: Varies, but generally around 500 to 1000 millicandela (mcd)
6. Mounting: PCB-mounted or through-hole with leads

These specifications highlight the typical characteristics of Red LEDs used in fire
detection robots, indicating their role in providing a clear and energy-efficient visual
alert. The Red LED's integration with the Arduino Nano allows for flexible control,
ensuring that the visual alert is activated when needed to signal fire detection events.

Figure 5: Red LED

3.6.6 MOTOR
The motor used in the fire detection robot is a key component that provides mechanical
movement or force. In this system, the motor's primary function is to drive the pump,
which delivers the fire-extinguishing material to combat fires. Motors are fundamental
in robotics and automation, offering a means to convert electrical energy into
mechanical energy. The motor in the fire detection robot is crucial for enabling active
fire-fighting responses, allowing the robot to not only detect fire but also take action to
extinguish it.

 Working Principle
Motors work by converting electrical energy into mechanical motion through the
interaction of magnetic fields and electric currents. The most common types of motors
used in robotics are DC (Direct Current) motors, stepper motors, and servo motors. In
the fire detection robot, a DC motor is typically used due to its simplicity, ease of
control, and ability to provide continuous rotation. The motor is driven by electric

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current supplied by the power source, and its speed and direction can be controlled by
varying the current or using additional components like motor drivers and relays.

 Integration with the Fire Detection Robot

The motor in the fire detection robot is connected to a pump, enabling the robot to spray
fire-extinguishing material when a fire is detected. The Arduino Nano controls the
motor through a motor driver, which manages the current and voltage to the motor.
When the flame sensor detects a fire, the Arduino Nano activates the motor by sending
a signal to the motor driver or relay, allowing current to flow to the motor. This action
causes the motor to turn, driving the pump and dispensing the fire-extinguishing
material.

 Applications and Control

The motor's role in the fire detection robot is critical for active fire-fighting. Its ability
to drive the pump provides the robot with the capacity to respond to fire autonomously.
The motor's operation is controlled by the Arduino Nano, allowing for precise control
over when and how long the motor runs. This control is important for managing the
fire-extinguishing process, ensuring the correct amount of material is dispensed
without wasting resources. The motor's integration with the rest of the system allows
for coordinated responses, as it works in tandem with other components like the flame
sensor, relay, and pump.

 Specifications of the Motor

1. Type: DC (Direct Current) motor
2. Operating Voltage: Typically 6V to 12V
3. Current Consumption: Varies depending on load, commonly between 100 mA and
500 mA
4. Speed: Measured in revolutions per minute (RPM), varying with voltage and load
5. Torque: Varies depending on the motor size and design
6. Control Interface: Managed through a motor driver or relay, controlled by the
Arduino Nano

These specifications reflect the typical characteristics of motors used in fire detection
robots, emphasizing their role in providing mechanical motion to drive the pump for
fire-fighting. The motor's ability to operate under different voltage and current
conditions, along with its flexibility in control, makes it an ideal choice for this type of

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application.

Figure 6: Motor

3.6.7 RELAY
 Relay Overview
The relay in the fire detection robot is an electrical switch that allows for the control of
high-power devices using a low-power signal. It serves as a critical component for
isolating and controlling the motor and pump within the system. Relays are widely used
in automation and robotics because they provide a safe and efficient way to manage
power without directly exposing the controlling circuit to high voltages or currents. In
the fire detection robot, the relay's role is to control the activation of the motor-driven
pump based on signals from the Arduino Nano.

 Working Principle
A relay operates using an electromagnetic coil and a set of contacts. When a low-
voltage signal is applied to the coil, it creates a magnetic field that moves the contacts,
thereby opening or closing the electrical circuit. This switching mechanism allows a
small control signal to manage a much larger current or voltage. The key advantage of
a relay is that it electrically isolates the control circuit from the high-power circuit,
providing safety and protection to the sensitive components like the Arduino Nano.

 Integration with the Fire Detection Robot

In the fire detection robot, the relay is used to control the motor that drives the fire-
fighting pump. The Arduino Nano sends a low-power signal to the relay's coil, causing
the relay to activate and close its contacts. This action completes the circuit, allowing
current to flow to the motor, which in turn drives the pump to dispense the fire-
extinguishing material. The relay is crucial in this context because it allows the Arduino
Nano to control the motor without directly handling high currents, ensuring safety and

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reducing the risk of damage to the microcontroller.

 Safety and Control

The relay's safety benefits make it an essential component in the fire detection robot.
By isolating the control circuit from the high-power circuit, it reduces the risk of
electrical faults or damage to the Arduino Nano. The relay also provides flexibility in
controlling the motor-driven pump, allowing the Arduino Nano to activate the motor
only when needed, thus conserving energy and ensuring efficient operation. The relay's
design allows it to handle high currents and voltages, making it suitable for driving the
motor and pump in a fire-fighting context.

 Specifications of the Relay

1. Type: Electromagnetic relay
2. Coil Voltage: Typically 5V (suitable for Arduino control)
3. Contact Rating: Commonly 10A at 250V AC or 10A at 30V DC
4. Contact Configuration: SPDT (Single Pole Double Throw) or SPST (Single Pole
Single Throw)
5. Control Interface: Activated by a low-power signal from the Arduino Nano
6. Isolation: Provides electrical isolation between control and high-power circuits

These specifications highlight the typical characteristics of relays used in fire detection
robots, emphasizing their role in controlling high-power devices with a low-power
signal. The relay's ability to isolate circuits and manage high currents makes it a crucial
component for safely controlling the motor and pump in the fire detection robot.

Figure 7: Relay

Page | 35
 3.6.8 POWER SUPPLY
The power supply in the fire detection robot is a fundamental component that provides
the electrical energy required to operate the system's various components. It ensures a
stable and reliable source of power, enabling the Arduino Nano, motor, relay, flame
sensor, LCD display, buzzer, RF module, and other parts to function correctly. A robust
power supply is crucial for maintaining consistent operation, especially during critical
moments when the robot needs to respond to fire hazards.

 Role in the Fire Detection Robot

The power supply's role in the fire detection robot is to convert electrical energy from
a primary source, such as a wall outlet or a battery, into a form suitable for the robot's
components. This conversion involves adjusting the voltage and current to levels that
are safe and appropriate for each device. In the fire detection robot, the power supply
must be capable of providing sufficient energy to drive the motor-driven pump and
support the other components without fluctuation or interruption.

 Voltage Regulation and Stability

A key aspect of the power supply is its ability to maintain stable voltage and current
levels. This stability is crucial for the Arduino Nano and other sensitive components,
which can be damaged by voltage spikes or fluctuations. The power supply often
includes a voltage regulator to ensure a consistent output, even if the input voltage
varies. This regulation helps protect the system from damage and ensures reliable
operation, particularly when the robot is actively responding to fire by driving the
motor and pump.

 Safety and Protection

Safety is a critical consideration for the power supply in the fire detection robot. The
power supply should include protective features such as overcurrent protection, short-
circuit protection, and thermal protection. These features help prevent damage to the
system and reduce the risk of fire hazards caused by electrical faults. Additionally, the
power supply must be designed to handle the specific power requirements of the fire
detection robot, ensuring it can operate continuously without overheating or failing
during critical moments.

Page | 36
  Specifications of the Power Supply
1. Input Voltage: Typically 110V to 240V AC (for wall outlet) or battery-powered
2. Output Voltage: Commonly 5V DC for Arduino Nano and other components
3. Current Capacity: Varies depending on system requirements, typically 1A to 5A
4. Voltage Regulation: Ensures stable output despite fluctuations in input voltage
5. Protection Features: Overcurrent, short-circuit, and thermal protection
6. Form Factor: Compact and suitable for integration into the robot's structure

These specifications describe the typical characteristics of power supplies used in fire
detection robots, highlighting their role in providing stable and reliable power. The
power supply's ability to maintain consistent voltage and current levels, along with its
protective features, ensures that the fire detection robot can operate safely and
effectively.

3.6.9 VOLTAGE REGULATOR

The voltage regulator in the fire detection robot is a crucial component that ensures a
stable and consistent voltage output, regardless of variations in the input voltage.
Voltage regulators are used to protect sensitive electronic components from
fluctuations that could cause malfunctions or damage. In the fire detection robot, the
voltage regulator plays a key role in maintaining a reliable power supply for the
Arduino Nano, flame sensor, LCD display, buzzer, RF module, motor, and other parts
of the system.

 Working Principle of Voltage Regulators

Voltage regulators work by controlling the output voltage to a specific, predetermined
level, even when the input voltage varies. They use feedback mechanisms to monitor
the output voltage and make adjustments as needed to maintain stability. There are two
main types of voltage regulators: linear regulators and switching regulators. Linear
regulators operate by dissipating excess voltage as heat, while switching regulators use
a more complex method involving high-frequency switching and inductive components
to maintain efficiency.

 Integration with the Fire Detection Robot

In the fire detection robot, the voltage regulator is integrated with the power supply to
ensure a steady voltage output to the various components. It is particularly important

Page | 37
for protecting sensitive electronics like the Arduino Nano, which requires a stable 5V
supply. Fluctuations in voltage could cause erratic behavior or permanent damage to
these components. The voltage regulator helps to prevent such issues by keeping the
output voltage within a safe range.

 Importance in Maintaining System Stability

The voltage regulator is critical for maintaining the stability and reliability of the fire
detection robot. By providing a consistent voltage, it helps ensure that the system
operates smoothly, even when there are fluctuations in the power supply or variations
in load. This stability is crucial when the robot is actively responding to fire, as the
demand for power can increase significantly with the activation of the motor and pump.
The voltage regulator's ability to maintain a constant voltage helps prevent disruptions
and ensures the system's safety and longevity.

 Specifications of the Voltage Regulator

1. Type: Linear regulator or switching regulator
2. Output Voltage: Commonly 5V DC
3. Input Voltage Range: Typically 7V to 35V (for linear regulators)
4. Current Capacity: Varies based on the regulator, often 500 mA to 2 A
5. Protection Features: Overcurrent, overvoltage, and thermal protection
6. Thermal Dissipation: Heat sinks or similar mechanisms to manage excess heat

These specifications represent the typical characteristics of voltage regulators used in

fire detection robots, illustrating their role in ensuring stable and consistent voltage
output. The voltage regulator's protective features and thermal dissipation capabilities
contribute to the reliability and safety of the overall system.

Page | 38
 3.7 BLOCK DIAGRAM

The block diagram of the fire detection robot outlines the system's architecture and the
interaction between its components. At the core is the Arduino Nano, which acts as the
central microcontroller. It receives input from the flame sensor, continuously
monitoring for signs of fire. Upon detection, the Arduino Nano sends signals to activate
the alert system, comprising the buzzer and LCD display, providing audible and visual
warnings. It also triggers the motor-driven pump via a relay to spray fire-extinguishing
material. The RF module, connected to the Arduino Nano, enables remote
communication and control, allowing for wireless monitoring and operation. The
power supply, regulated by a voltage regulator, provides the necessary energy for all
components, ensuring stable and consistent power throughout the system. This block
diagram represents a cohesive structure that combines detection, alerting, fire-fighting,
and communication, illustrating the comprehensive functionality of the fire detection
robot.

Figure 3.7.1: Block Diagram of Fire Station

Page | 39
Figure 3.7.2: Block Diagram of Robot

Page | 40
 CHAPTER 4

SUMMARY, CONCLUSION AND FUTURE SCOPE

Page | 41
4.1 SUMMARY
The fire detection robot represents an innovative and comprehensive solution for
enhancing fire safety in various environments. At its core, the system revolves
around the Arduino Nano, a versatile microcontroller that orchestrates the
operations of the entire robot. The key component for fire detection is the flame
sensor, which continuously monitors its surroundings for signs of fire. Upon
detecting a fire hazard, the flame sensor sends signals to the Arduino Nano,
triggering a series of responses to mitigate the threat.

The system's alert mechanism comprises a buzzer and an LCD display, providing
audible and visual warnings to alert nearby individuals of the fire hazard. This dual-
alert system ensures that the presence of fire is communicated effectively, even in
noisy or crowded environments. Additionally, the integration of a red LED further
enhances the visual alert, making the fire detection robot highly noticeable and
recognizable in emergency situations.

In addition to alerting, the fire detection robot is equipped with a motor-driven

pump for active fire-fighting. When a fire is detected, the Arduino Nano activates
the pump via a relay, allowing the robot to spray fire-extinguishing material and
suppress the flames. This proactive approach to fire response sets the system apart,
enabling it to take immediate action to contain and extinguish fires, thereby
minimizing damage and protecting lives.

Furthermore, the fire detection robot features a built-in RF module, enabling

wireless communication and remote control capabilities. This functionality allows
users to monitor the robot's status and control its operations from a distance,
enhancing flexibility and situational awareness. Additionally, the system's power
supply, regulated by a voltage regulator, ensures stable and consistent power
delivery to all components, guaranteeing reliable operation even in challenging
conditions.

In summary, the fire detection robot combines advanced fire detection capabilities,
alert mechanisms, active fire-fighting capabilities, wireless communication, and
reliable power management to create a comprehensive fire safety solution. Its
integration of multiple components and functionalities makes it a versatile and
effective tool for enhancing fire safety in diverse environments, from residential

Page | 42
buildings to industrial facilities. With its proactive approach to fire detection and
response, the fire detection robot stands as a promising innovation in the field of
fire safety technology.

Figure 4.1.1: Hardware Model of Fire Station

Page | 43
 Figure 4.1.2: Hardware Model of Robot

4.2 CONCLUSION
The fire detection robot represents a significant advancement in fire safety
technology, combining multiple elements into a cohesive and efficient system
designed to detect, alert, and respond to fire hazards. Its design integrates a variety
of components, including the Arduino Nano, flame sensor, buzzer, LCD display,
motor-driven pump, relay, RF module, and power supply with a voltage regulator,
to create a robust and effective fire-fighting solution.

The core functionality of the system is driven by the Arduino Nano, a powerful yet
compact microcontroller capable of managing the various operations of the robot.
By continuously monitoring the flame sensor, the system can detect fire quickly,
allowing for a rapid response. The dual-alert mechanism, featuring both a buzzer
and an LCD display, ensures that fire detection is communicated effectively,
providing audible and visual warnings to people in the vicinity.

One of the most significant features of the fire detection robot is its ability to
actively respond to fires. The inclusion of a motor-driven pump, controlled by a

Page | 44
relay, enables the robot to spray fire-extinguishing material to combat flames. This
proactive approach to fire-fighting distinguishes the system from traditional fire
detection devices, which typically only sound alarms without offering direct fire-
fighting capabilities.

The RF module provides an additional layer of functionality, allowing for remote

communication and control. This feature enhances the system's flexibility and
scalability, enabling remote monitoring and integration with other safety systems.
It also provides users with the ability to control the robot from a distance, which is
particularly useful in large or complex environments.

Furthermore, the system's power management, featuring a power supply and

voltage regulator, ensures stable and consistent power to all components. This
stability is crucial for maintaining reliable operation, especially during critical
moments when the robot needs to activate the motor and pump. The voltage
regulator helps protect sensitive components from voltage fluctuations,
contributing to the system's overall robustness.

In conclusion, the fire detection robot offers a comprehensive solution for fire
safety, providing rapid fire detection, effective alert mechanisms, active fire-
fighting capabilities, remote communication, and reliable power management. Its
design is versatile enough to be used in a variety of settings, from residential to
industrial, and it offers a proactive approach to fire safety that can help reduce
damage and save lives. As fire safety technology continues to evolve, systems like
the fire detection robot are likely to play an increasingly important role in enhancing
safety and providing effective responses to fire hazards.

4.3 FUTURE SCOPE

1.3.3 Enhanced Sensing Technology
Future iterations of the fire detection robot could incorporate advanced sensing
technologies, such as machine learning algorithms or multispectral imaging, to
improve fire detection accuracy and reduce false alarms.

1.3.4 Autonomous Navigation

Implementing autonomous navigation capabilities would enable the fire detection
robot to navigate complex environments independently, allowing it to reach fire

Page | 45
hotspots more efficiently and effectively.

1.3.5 Integration with Smart Building Systems

Integrating the fire detection robot with smart building systems would enable
seamless communication and coordination with other safety and security systems,
enhancing overall emergency response capabilities.

1.3.6 Multi-Robot Collaboration

Exploring the potential for multiple fire detection robots to collaborate and
coordinate their efforts could improve coverage and response times in larger or
more complex environments.

1.3.7 Environmental Adaptation

Developing the fire detection robot's ability to adapt to different environmental
conditions, such as extreme temperatures or low visibility, would increase its
effectiveness and reliability in diverse settings.

1.3.8 Real-Time Data Analytics

Implementing real-time data analytics capabilities would allow the fire detection
robot to analyze and process sensor data on the fly, enabling faster decision-making
and more efficient fire-fighting strategies.

1.3.9 Integration with Emergency Services

Establishing protocols for integrating the fire detection robot with emergency
services, such as fire departments or disaster response teams, would facilitate
coordinated response efforts and improve overall emergency management.

Page | 46
CHAPTER 5

CODE

Page | 47
CODE

#include <Servo.h>
Servo myservo;
int pos = 0;

#include <LiquidCrystal.h>
const int rs = 7, en = 6, d4 = 5, d5 = 4, d6 = 3, d7 = 2;
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);

#define MOTOR_L_1 8
#define MOTOR_L_2 12
#define MOTOR_R_1 10
#define MOTOR_R_2 11

#define IR_C A0
#define IR_L A1
#define IR_R A2
#define IR_B A3

#define Relay A4
#define Buzzer 13
//======================================================
void setup() {
Serial.begin(9600);
myservo.attach(9);
myservo.write(90);
pinMode(IR_L, INPUT);
pinMode(IR_R, INPUT);
pinMode(IR_C, INPUT);
pinMode(IR_B, INPUT);

pinMode(MOTOR_L_1, OUTPUT);

Page | 48
 pinMode(MOTOR_L_2, OUTPUT);
pinMode(MOTOR_R_1, OUTPUT);
pinMode(MOTOR_R_2, OUTPUT);
pinMode(Relay, OUTPUT);
pinMode(Buzzer, OUTPUT);

digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, LOW);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, LOW);
digitalWrite(Relay, LOW);
digitalWrite(Buzzer, LOW);

lcd.begin(16, 2);
lcd.clear();
lcd.setCursor(0, 0);
lcd.print("ROBOT ");
lcd.setCursor(0, 1);
lcd.print(" ");
delay(1000);
lcd.clear();
}
//====================================================
void loop() {
lcd.setCursor(0, 0);
lcd.print("SCANNING.... ");
lcd.setCursor(0, 1);
lcd.print(" ");

//xxxxxxxxxxxxxxxxxxxxxxxxxx FRONT xxxxxxxxxxxxxxxxxxxxxxxxx

if (digitalRead(IR_C) == LOW) {
Serial.print("F");
Run_Forward();
Servo_Run();
Page | 49
 Stop();
}
// //xxxxxxxxxxxxxxxxxxxxxxxxxx LEFT xxxxxxxxxxxxxxxxxxxxxxxxx
if (digitalRead(IR_L) == LOW) {
Serial.print("L");
Run_Left();
Servo_Run();
Stop();
}
// //xxxxxxxxxxxxxxxxxxxxxxxxxx RIGHT xxxxxxxxxxxxxxxxxxxxxxxxx
if (digitalRead(IR_R) == LOW) {
Serial.print("R");
Run_Right();
Servo_Run();
Stop();
}
// //xxxxxxxxxxxxxxxxxxxxxxxxxx BACK xxxxxxxxxxxxxxxxxxxxxxxxx
if (digitalRead(IR_B) == LOW) {
Serial.print("F");
Run_Back();
Servo_Run();
Stop();
}
}
//======================================================
==
void Run_Forward() {
digitalWrite(Buzzer, HIGH);
lcd.setCursor(0, 0);
lcd.print("FIRE DETECT ");
lcd.setCursor(0, 1);
lcd.print("ROBOT ACTIVATE ");
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, HIGH);
Page | 50
 digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, HIGH);
delay(2000);
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, LOW);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, LOW);
}
//======================================================
==
void Run_Left() {
digitalWrite(Buzzer, HIGH);
lcd.setCursor(0, 0);
lcd.print("FIRE DETECT ");
lcd.setCursor(0, 1);
lcd.print("ROBOT ACTIVATE ");
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, LOW);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, HIGH);
delay(1000);
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, HIGH);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, HIGH);
delay(1000);
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, LOW);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, LOW);
}
//======================================================
==
void Run_Right() {
Page | 51
 digitalWrite(Buzzer, HIGH);
lcd.setCursor(0, 0);
lcd.print("FIRE DETECT ");
lcd.setCursor(0, 1);
lcd.print("ROBOT ACTIVATE ");
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, HIGH);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, LOW);
delay(1000);
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, HIGH);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, HIGH);
delay(1000);
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, LOW);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, LOW);
}
//======================================================
===
void Run_Back() {
digitalWrite(Buzzer, HIGH);
lcd.setCursor(0, 0);
lcd.print("FIRE DETECT ");
lcd.setCursor(0, 1);
lcd.print("ROBOT ACTIVATE ");
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, HIGH);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, LOW);
delay(2000);
digitalWrite(MOTOR_L_1, LOW);
Page | 52
 digitalWrite(MOTOR_L_2, HIGH);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, HIGH);
delay(1000);
digitalWrite(MOTOR_L_1, LOW);
digitalWrite(MOTOR_L_2, LOW);
digitalWrite(MOTOR_R_1, LOW);
digitalWrite(MOTOR_R_2, LOW);
}
//======================================================
==
void Servo_Run() {
for (int i = 0; i <= 1; i += 1) {
digitalWrite(Relay, HIGH);
for (pos = 0; pos <= 180; pos += 1) {
myservo.write(pos);
delay(10);
}
for (pos = 180; pos >= 0; pos -= 1) {
myservo.write(pos);
delay(10);
}
}
}
//======================================================
==
void Stop() {
myservo.write(90);
digitalWrite(Relay, LOW);
digitalWrite(Buzzer, LOW);
}

Page | 53
CHAPTER 6
REFERENCES

Page | 54
1. Zaman H. U., Khan T. A., Falgunee S. R., Rashid G. S., Talukder and H F. 2018
4th International Conference on Computing Communication and Automation
(ICCCA) (IEEE) Autonomous Firefighting Robot With Optional Bluetooth
Control.
2. Deepak N., Rajendra Prasad C. and Sanjay Kumar S. 2018 Patient health
monitoring using IOT International Journal of Innovative Technology and
Exploring Engineering 8 454-457.
3. Pravalika V. and Rajendra Prasad C. 2019 Internet of things based home
monitoring and device control using Esp32 International Journal of Recent
Technology and Engineering 8 58-62.
4. Sanjay Kumar S., Ramchandar Rao P. and Rajendra Prasad C. 2019 Internet of
things based pollution tracking and alerting system International Journal of
Innovative Technology and Exploring Engineering 8 2242-2245
5. Jian Li;Baoqiang Yan;Mingjiang Zhang,Long-Range Raman Distributed
Fiber Temperature Sensor With Early Warning Model for Fire Detection
and Prevention[J],IEEE Sensors Journal,16-25(2019)
6. Prasad C. R. and Bojja P. 2020 The energy-aware hybrid routing protocol in
WBBSNs for IoT framework International Journal of Advanced Science and
Technology 29 1020-1028.
7. Smoke Vehicle Detection Based on Spatiotemporal Bag-Of-Features and
Professional Convolutional Neural Network,IEEE Transactions on Circuits
and Systems for Video Technology[J], 102-108(2020)
8. B.C. Arrue;A. Ollero;J.R. Matinez de Dios,An intelligent system for false
alarm reduction in infrared forest-fire detection[J],IEEE Intelligent Systems
and their Applications,55-63(2020)
9. C. Wu, F. Ge, G. Shang, M. Zhao, G. Wang, H. Guo, et al., "Design and
Development of Intelligent Fire-fighting Robot Based on STM32", Journal of
Physics: Conference Series, vol. 1748, no. 6, pp. 062019, 2021.
10. A. Guo, T. Jiang, J. Li, Y. Cui, J. Li and Z. Chen, "Design of a small wheel-
foot hybrid firefighting robot for infrared visual fire recognition", Mechanics
Based Design of Structures and Machines, pp. 1-20, 2021.
11. N. Fernandez-Anez et al., “Current wildland fire patterns and challenges in
Europe: A synthesis of national perspectives,” Air,Soil Water Res., vol. 14, p.
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 11786221211028184, 2021.
12. S. Zhang, J. Yao, R. Wang, Z. Liu, C. Ma, Y. Wang, et al., "Design of intelligent
fire-fighting robot based on multi-sensor fusion and experimental study on fire
scene patrol", Robotics and Autonomous Systems, pp. 104122, 2022.
13. A. Dhiman, N. Shah, P. Adhikari, S. Kumbhar, I. S. Dhanjal, and N. Mehendale,
“Firefighting robot with deep learning and machine vision,” Neural Comput.
Appl., pp. 1–9, 2022.
14. F. Shakeriaski, M. Ghodrat, and D. J. Nelson, “Experimental and numerical
studies on efficiency characterization of firefighters’ protective clothing: a
review,” J. Text. Inst., vol. 113, no. 11, pp. 2549–2568, 2022.
15. A. Ghobadpour, G. Monsalve, A. Cardenas, and H. Mousazadeh, “Off-road
electric vehicles and autonomous robots in the agricultural sector: trends,
challenges, and opportunities,” Vehicles, vol. 4, no. 3, pp. 843–864, 2022.

Page | 56
APPENDICES :
List of Figures

Fig. Name of Figures Page

No. no.
3.6.1 Arduino Nano 26

3.6.2 LCD Display 27

3.6.3 Flame Sensor 29

3.6.4 Buzzer 30

3.6.5 Red LED 32

3.6.6 Motor 34

3.6.7 Relay 35

3.7.1 Block Diagram of Fire Station 39

3.7.2 Block Diagram of Robot 40

4.1.1 Hardware Model of Fire Station 43

4.1.2 Hardware Model of Robot 44

Page | 57