23ECE184 - INTERNET OF THINGS

PROJECT REPORT
TITLE: - FIRE FIGHTING ROBOT

Group number -17

Group Members:
P Ishika (AM.EN.U4ECE23136)
S Gayathri(AM.EN.U4ECE23151)
V..Pavan Kumar (AM.EN.U4ECE23159)
Akshay Vishwanath (AM.EN.U4ECE23165)
D. Ethihaash (AM.EN.U4ECE23169)
Abstract:
this IoT based firefighting robot project has its primary objective to detect and extinguish
fires in their early stages and minimize the damage. Additionally, the robot sends an alert
message via a Bluetooth module to a connected device when a fire is detected. The project
employs sensors, microcontrollers and communication modules to monitor environmental
conditions, detect fires, and automatically activate fire suppression mechanisms. The use of
IoT allows for remote monitoring and control, giving real-time alerts and updates. The
primary goal is to create an autonomous system capable of identifying and responding to fire
hazards, providing both immediate response and remote alert capabilities.

Objective:

The main objectives of this project are:

1. To design a robotic system capable of detecting fire using infrared sensors

2. implement a water pump mechanism to extinguish detected fires.
3. To develop a Bluetooth-based alert system for remote notification.
4. To integrate all components and control them using an Arduino microcontroller.
5. To test and validate the functionality of the fire detection and suppression robot.

COMPONENTS REQUIRED:
1. Flame sensors x 3
2. Arduino UNO
3. Chassis
4. BO motors x 4 (+wheels)
5. L298 Motor driver
6. Solder-less Breadboard
7. Mini servo
8. 5-9 V Water pump + pipe
9. Water tank / bottle
10. 3.7 V batteries (18650) x 2
11. Jumper wires
12. TIP-122 Transistor + 104 uf capacitor + 1K Resister
13. HC-05/HC-06 Bluetooth Module
Block Diagram:

Circuit working:
The main part of our project is a sensor that detects fire. This sensor has an infrared (IR)
sensor which can detects the small amount of infrared light emitted by fire. The IR sensors
continuously monitor for the presence of fire .We'll place three of these sensors on our robot,
each facing a different direction, so we can tell where the fire is coming from.
When the sensor detects fire, we want our robot to move towards it. To do this, we'll use
motors controlled by a module called L298. This module helps us drive the motors in the
right direction.

Once the robot gets close to the fire, we need to put it out with water. We'll have a small
container on the robot that carries water. Inside this container, there's a pump that can spray
water. Once close to the fire, the pump is activated to spray water. We'll also attach the
container to a servo motor so we can move it around and aim the water where it's needed. The
servo motor adjusts the container's position to aim the water spray accurately at the fire. An
alert message is sent via the Bluetooth module to a connected device an alert message is sent
via the Bluetooth module to a connected device, notifying about the fire detection and
extinguishing action. Immediate notification via Bluetooth enhances safety and allows for
quick human intervention if needed. Once the fire is extinguished, the robot resumes its
monitoring and movement.

By integrating these components and following the outlined functional steps, the robot will
effectively detect, approach, and extinguish fires autonomously, while providing real-time
alerts for enhanced safety

Programming code:
#include <Servo.h>
#include <SoftwareSerial.h>
SoftwareSerial BT(0,1);
String alert_message = "Fire detected!";
#define enA 10 // Enable1 L298 Pin enA
#define in1 9 // Motor1 L298 Pin in1
#define in2 8 // Motor1 L298 Pin in2
#define in3 7 // Motor2 L298 Pin in3
#define in4 6 // Motor2 L298 Pin in4
#define enB 5 // Enable2 L298 Pin enB
#define ir_R A0 // IR sensor Right
#define ir_F A1 // IR sensor Front
#define ir_L A2 // IR sensor Left
#define pump A5 // Water pump pin
Servo servoMotor;
int Speed = 160; // Motor speed control (0 to 255)
int s1, s2, s3; // Variables to store sensor readings
void setup() {
Serial.begin(9600); // Start serial communication
BT.begin(9600); // Start Bluetooth module communication
// Set pin modes
pinMode(ir_R, INPUT);
pinMode(ir_F, INPUT);
pinMode(ir_L, INPUT);
pinMode(enA, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(pump, OUTPUT);
servoMotor.attach(A4); // Attach the servo to pin A4
 // Initial servo movement
for (int angle = 90; angle <= 140; angle += 5) {
servoMotor.write(angle);
delay(50);
}
for (int angle = 140; angle >= 40; angle -= 5) {
servoMotor.write(angle);
delay(50);
}
for (int angle = 40; angle <= 95; angle += 5) {
servoMotor.write(angle);
delay(50);
}
// Set initial motor speeds
analogWrite(enA, Speed);
analogWrite(enB, Speed);
delay(500); // Wait for 0.5 seconds
}

void loop() {
s1 = analogRead(ir_R); // Read right IR sensor
s2 = analogRead(ir_F); // Read front IR sensor
s3 = analogRead(ir_L); // Read left IR sensor
// Print sensor values to the serial monitor
Serial.print(s1);
Serial.print("\t");
Serial.print(s2);
Serial.print("\t");
Serial.println(s3);
delay(50); // Delay for stability
if (s1 < 250) {
// Fire detected by right sensor
Stop();
digitalWrite(pump, HIGH); // Turn on the pump
for (int angle = 90; angle >= 40; angle -= 3) {
servoMotor.write(angle);
delay(50);
}
for (int angle = 40; angle <= 90; angle += 3) {
servoMotor.write(angle);
delay(50);
}
sendAlert(); // Send alert message via Bluetooth
} else if (s2 < 350) {
// Fire detected by front sensor
Stop();
digitalWrite(pump, HIGH); // Turn on the pump
for (int angle = 90; angle <= 140; angle += 3) {
servoMotor.write(angle);
delay(50);
}
for (int angle = 140; angle >= 40; angle -= 3) {
servoMotor.write(angle);
delay(50);
}
for (int angle = 40; angle <= 90; angle += 3) {
servoMotor.write(angle);
delay(50);
}
sendAlert(); // Send alert message via Bluetooth
} else if (s3 < 250) {
// Fire detected by left sensor
Stop();
digitalWrite(pump, HIGH); // Turn on the pump
for (int angle = 90; angle <= 140; angle += 3) {
servoMotor.write(angle);
delay(50);
}
for (int angle = 140; angle >= 90; angle -= 3) {
servoMotor.write(angle);
delay(50);
}
sendAlert(); // Send alert message via Bluetooth
} else if (s1 >= 251 && s1 <= 700) {
// Slight signal from right sensor
digitalWrite(pump, LOW); // Turn off the pump
backword(); // Move backward
delay(100); // Short delay
turnRight(); // Turn right
delay(200); // Delay to complete turn
} else if (s2 >= 251 && s2 <= 800) {
// Slight signal from front sensor
digitalWrite(pump, LOW); // Turn off the pump
forword(); // Move forward
} else if (s3 >= 251 && s3 <= 700) {
// Slight signal from left sensor
digitalWrite(pump, LOW); // Turn off the pump
backword(); // Move backward
delay(100); // Short delay
turnLeft(); // Turn left
 delay(200); // Delay to complete turn
} else {
// No signal
digitalWrite(pump, LOW); // Turn off the pump
Stop(); // Stop all motors
}
delay(10); // Small delay for stability
}

void sendAlert() {
BT.println(alert_message); // Send alert message via Bluetooth
}

void forword() { // Forward

digitalWrite(in1, HIGH); // Right motor forward
digitalWrite(in2, LOW); // Right motor backward
digitalWrite(in3, LOW); // Left motor backward
digitalWrite(in4, HIGH); // Left motor forward
}

void backword() { // Backward

digitalWrite(in1, LOW); // Right motor forward
digitalWrite(in2, HIGH); // Right motor backward
digitalWrite(in3, HIGH); // Left motor backward
digitalWrite(in4, LOW); // Left motor forward
}

void turnRight() { // Turn Right

digitalWrite(in1, LOW); // Right motor forward
digitalWrite(in2, HIGH); // Right motor backward
 digitalWrite(in3, LOW); // Left motor backward
digitalWrite(in4, HIGH); // Left motor forward
}

void turnLeft() { // Turn Left

digitalWrite(in1, HIGH); // Right motor forward
digitalWrite(in2, LOW); // Right motor backward
digitalWrite(in3, HIGH); // Left motor backward
digitalWrite(in4, LOW); // Left motor forward
}

void Stop() { // Stop

digitalWrite(in1, LOW); // Right motor forward
digitalWrite(in2, LOW); // Right motor backward
digitalWrite(in3, LOW); // Left motor backward
digitalWrite(in4, LOW); // Left motor forward
}
Results:

Application:
This project is designed for various applications, including residential buildings, commercial
spaces, and industrial facilities. It is particularly useful in areas prone to fire hazards, such as
kitchens, electrical rooms, and warehouses. By providing real-time monitoring and automated
fire suppression, the system minimizes the risk of extensive fire damage and enhances the
safety of occupants. Additionally, the remote monitoring feature allows users to manage the
system from anywhere, ensuring timely intervention and peace of mind.
Conclusion:
This IoT-based firefighting robot project is an innovative solution aimed at enhancing fire
safety through early detection and automated response. By using sensors, microcontrollers,
and IoT technology, the system provides a comprehensive approach to fire management,
ensuring timely alerts and effective fire suppression. The integration of a Bluetooth module
allows for remote notification, enhancing the system's effectiveness. This project
demonstrates the feasibility of using autonomous robots for fire detection and suppression,
providing a foundation for further development and deployment in real-world scenarios. This
project demonstrates the potential of IoT in creating smarter, safer environments, ultimately
contributing to the protection of lives and property.