ABSTRACT

Mankind has always strived to give life like qualities to its artifacts in an attempt to
find substitutes for himself to carry out his orders and also to work in a hostile
environment. The popular concept of a Automatic Guided Vehicle (AGV) is of a
machine that looks and works like a human being.
The industry is moving from current state of automation to AGV, to increase
productivity and to deliver uniform quality. The industrial AGVs of today may not
look the least bit like a human being although all the research is directed to provide
more and more anthropomorphic and humanlike features and super-human capabilities
in these.
The objective of this project is to operate the AGV for detecting the fire. This project
is very useful in manufacturing industries and fireworks industries, textiles and
military applications for detecting the fire and controls it through water. This project
also improves the security performance. The fire sensor is used here to sense the fire.
At the same time microcontroller actives driver circuit for water pump. The keypad is
used here to control the movement like forward and reverse direction and left and right
direction using dc motor. It has three DC motors to for driving system and another
single dc motor for ball suction subsystem and fire blowing system. The pump is a
mechanical device, that is used to pick up water from low pressure to high pressure
level. The pump changes the energy flow from mechanical to the fluid. This process
observe within heavy duty equipment’s is a typical mechanical apparatus, and the
main function of the device is to force the liquid to move a head in pipeline. The pivot
of this project is the selection of the pump.
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 CHAPTER 1

INTRODUCTION
AGVics is the branch of engineering science & Technology related to AGVs, and their
design, manufacture, application, and structural disposition. AGVics is related to
electronics, mechanics, and software. AGVics research today is focused on developing
systems that exhibit modularity, flexibility, redundancy, fault-tolerance, a general and
extensible software environment and seamless connectivity to other machines, some
researchers focus on completely automating a manufacturing process or a task, by
providing sensor based intelligence to the AGV arm, while others try to solidify the
analytical foundations on which many of the basic concepts in AGVics are built.

In this highly developing society time and man power are critical constrains for
completion of task in large scales. The automation is playing important role to save
human efforts in most of the regular and frequently carried works. One of the major
and most commonly performed works is picking and placing of jobs from source to
destination.
Present day industry is increasingly turning towards computer-based automation
mainly due to the need for increased productivity and delivery of end products with
uniform quality. The inflexibility and generally high cost of hard-automation systems,
which have been used for automated manufacturing tasks in the past, have led to a
broad based interest in the use of AGVs capable of performing a variety of
manufacturing functions in a flexible environment and at lower costs. The use of
Industrial AGVs characterizes some of contemporary trends in automation of the
manufacturing process. However, present day industrial AGVs also exhibit a
monolithic mechanical structure and closed-system software architecture. They are
concentrated on simple repetitive tasks, which tend not to require high precision.

The pick and place AGV is a microcontroller based mechatronic system that detects
the object, picks that object from source location and places at desired location. For
detection of object, infrared sensors are used which detect presence of object as the
transmitter to receiver path for infrared sensor is interrupted by placed object.

Fire detection and extinguishment are the hazardous job that invariably put the life of a
fire fighter in danger. By putting a mobile agv to perform this task in a fire- prone
area, it can aid to avoid untoward incidents or the loss of lives. This project is about
the development of an Autonomous Fire Fighting Agv (AGV) that is equipped with
the basic fire-fighting equipment that can patrol through the hazardous sites via a
guiding track with the aim of early detection for fire. When the fire source is being
identified, the flame will be promptly extinguished using the fire extinguishing system
that is mounted on its platform.

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The patrolling movement is guided by a set of line with the use of a conventional line
following algorithm but with the addition of a homing algorithm. The tasks for the
AGV once it navigates out of the patrolling route include the obstacle avoidance,
locating for more precise location of fire source using front flame sensor and
extinguish the fire flame. To detect for fire source, the input from flame sensors were
finely-tuned in relation to the surrounding area, external interference and the mobility
of the AGV prior the deployment of the platform. The development work done to date
on the platform has shown its feasibility of being an autonomous unit to monitor a
prescribed area, detect for fire and extinguish the flame.

1.1 Background of Study

Fire-Fighting is an extremely dangerous task but still often being carried out by human
operators, thus putting human life, invaluable as it is, in a very precarious situation.
Therefore, it is highly desirable that the execution of routine and basic fire- fighting
tasks to be replaced or at least partially assisted by AGV. There are several ways of
implementation for AGV; however, most of them are being deployed based on the
need-to-use basis. This project is quite unique in terms of its way of implementation
wise, whereby the guiding track will be used to guide the AGV to navigate through an
area for patrolling purposes and locate for fire source with its continuous monitoring
feature for 24 hours per day, 7 days per week.

This report describes the work done to develop an AGV that monitors for occurrence
of fire in a prescribed area and safely extinguish it promptly. Monitoring is done by
patrolling within a guiding track while constantly scanning for fire via the flame
sensors. If fire is detected, AGV will then attempt to locate for more precise position
of the fire source. Once the location is determined, it will move out of its guiding
track, approach the fire source and extinguish the flame by using the built-in fire
extinguishing sub-system. When the flame is extinguished completely, it then returns
to the guiding track to continue the patrolling task. All of the processes occur
autonomously without any need of human controls since all processes are fully
automated by using a microcontroller system, executing the fire-detection algorithm,
the autonomous navigation algorithm, the line tracking algorithm and the fire
extinguishing sub-system.

It is undeniably that through the utilization of agv in assisting human beings to carry
out their daily routine and dangerous tasks can aid to minimize the level of risks. In
another word, agv can be used as the human replacement for whatever hazardous jobs
or tasks that require repetition, endurance, high efficiency and accuracy. Agv can be
used in almost all fields or areas, ranging from manufacturing industry, assembly line
for components and parts, agriculture, healthcare, doing house-chores to ease human
lives or even entertainment as well. Time has proven the capabilities, performance,
contributions and the role of agvs to the people in the society.

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1.2 Problem Statement

Fire-fighting task is one of the extreme and dangerous tasks to be carried out by
human beings generally or specifically the firefighters. Theoretically, the execution of
the routine and basic fire-fighting tasks can be assisted or partially replaced by agvs.
Hence, this embedded project owns the practicality of implementation in the real
industry based. This project requires me to design and implement an Autonomous
Fire-Fighting Agv that has the practicality of implementation in the real hazardous
sites, attract my field of interests and attentions. Upon the completion of this project,
the AGV, which is equipped with the basic fire-fighting knowledge is hoped to share
out the burden of fire-fighters and reduce the risks associated with the fire-fighting
tasks encountered by the fire-fighters tremendously.

1.3 Objectives and Scope of Study

The main objective of this project is to design and implement an Autonomous Fire
Fighting Agv that is able to patrol and monitor a prescribed area, detect for the
occurrence of fire, locate for exact location of fire source, extinguish the flame and
safely return to continue with the patrolling of the area once the extinguishing task is
completed. By employing the patrolling feature, flame detection feature and self fire
extinguishing feature in the AGV, the burden of fire-fighters on fire-fighting tasks can
be at least shared and assisted by AGV. The priority of this project is the fire detection
capabilities and its accuracy. Overall, at the end of this project, it is aimed that the
prototype is able to function accordingly to its initial design with minimum level of
error.

1.4 Fire Safety Research

The challenges faced by firefighters vary based on the environment and circumstances
of the fireground. These are directly related to the fire department’s location and
available resources. This section explores some of the issues that are faced in modern
structural fire environments.

Structure Characteristics
Structural fires have become more dangerous even though fire prevention technology
has advanced. As shown in Figure 3, the number of home structure fires reported over
the last 40 years has decreased by more than 50%, which indicates that fires are
becoming more preventable.

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 Figure 3. NFPA, Reported Home Structure Fires by Year [6]

This decrease is the result of cities enforcing stricter fire safety codes and other
building regulations to minimize risks and prevent fires. Additionally, modern homes
and businesses are equipped with advanced fire and smoke detectors. Despite the
reduced occurrence of fire, Figure 4 shows that the number of deaths per thousand
fires has stayed roughly the same since 1980.

Figure 4. NFPA, Deaths per Thousand Reported Home Fires by Year [6]
Due to the use of new materials for construction and furniture, modern residential fires
are more difficult to escape and more likely to result in flashovers (see Section 2.1.1).
Unlike properties in the 20th century, modern buildings have replaced natural materials
(e.g. cotton and wood) with lightweight synthetic materials (e.g. polyester and plastic),
which burn more quickly and emit gases that are more hazardous [7]. Although
synthetic materials pose greater risks when burned, they are still commonly used

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because they are less expensive and more durable than natural materials. The same
applies to wall linings (e.g. drywall), which are thinner today and, therefore, easier for
fires to penetrate [8].

NIST collaborated with Underwriters Laboratories (UL) to create a video [9] that
compares the flashover rates (see Section 2.1.1 for more details about flashover)
between a modern room furnished with synthetic materials and a “legacy” room
furnished with natural materials. In less than ten minutes, a small fire in the modern
room became a flashover whereas the legacy room completely ignited in triple that
time. The additional danger caused by synthetic materials cannot be prevented by
firefighters, so efforts must be made to improve firefighting to match the growing
danger.

Enclosed Structures
An enclosed structure is an environment with very few windows or doors that cannot
provide for immediate ventilation and emergency evacuation. In 2005, William R.
Mora’s Firefighter Disorientation Study found enclosed structures to be one of the
most common sources of firefighter disorientation, and subsequently firefighter
fatalities [10]. Basements and high-rise buildings are both enclosed-structure
environments that often present challenges for firefighters when extinguishing a fire.

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Basement Fires

Basement fires are not only considered to be one of the most challenging operations to
encounter, but they are also known to result in property loss and fatalities. Firstly, they
are difficult to identify because the fire may appear to be coming from the ground floor 4.
Secondly, basements are difficult to access as smoke and heat builds up immense
pressure that forces firefighters away. Because many basements have no walls or doors
and the contents of a basement are often highly flammable, fires can develop rapidly and
egress routes are limited. Lastly, basement fires can be very dangerous as basement
ceilings are susceptible to collapse during a fire bringing risks to both firefighters on the
ground floor as well as the basement [11].

High-rise Building (HRB) Fires

High-rise building (HRB) fires pose two types of challenges for firefighters both in and
outside the building. The main challenge presented to firefighters is the height of the
building. For active firefighting outside the building, equipment does not always reach
the top floors. There is an upper limit on the amount of water pressure that can be
applied by fire engine hoses which means water cannot reach the upper floors of HRBs.
Additionally, firefighters inside HRBs have to carry heavy equipment up many flights of
stairs while simultaneously evacuating any remaining occupants [12]. Once a
firefighting unit is at the source of the fire, the second challenge is to fight it. Fires in
high-rise hallways are problematic because they are defined as enclosed spaces (i.e.,
they are long and narrow, and they lack windows and open doors). According to Mora’s
2005 study, survivors of high-rise fires have described flashovers as “blowtorch-like”
due to the winds blowing into the fire from an open hallway door [10].

Warehouses and Large Compartmentalized Buildings

Another type of environment that is difficult for firefighters is warehouses and large
compartmentalized buildings. Deputy Chief Martin Dyer of the Worcester, MA Fire
Department (WFD) identified that the WFD struggles with large compartmentalized
buildings because of their unpredictable layout. Although compartmentalization hinders
a firefighter’s ability to combat a fire, the design is adopted in modern buildings as a
passive firefighting technique [13]. Subdividing buildings into a number of
compartments prevents the rapid spread of fire, reduces the chances of fires growing,
and limits the damage done to a building .

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The current layout of the building. Deputy Chief Dyer described the building layout as a
maze where some firefighters can become so lost and disoriented that they cannot find
their way out. This description is consistent with the Worcester Cold Storage and Co.
fire on December 3, 1999. This fire resulted in the deaths of six firefighters. These
firefighters got disoriented and lost on the upper floors of the building. According to the
NFPA records, this structural fire was the first to claim six firefighters where neither
building collapse nor explosion were the main cause of the fatalities [15]. Although
there has not been a warehouse fire as fatal as this one, the WFD continues to struggle
with fires in large compartmentalized buildings.

Temperature and Location

In a fireground, fire and smoke can have a direct impact depending on where a person is
located. When a room catches fire, the flame will burn upwards towards the ceiling
which, in turn, creates a very unevenly distributed heat flux in the room. Below, Figure
5 shows a typical example of a residential fire inside a living room just a moment before
the occurrence of a flashover. As shown in the bottom left corner of the heat map, the
source of fire located in a corner of the room creates a flame that burns upwards causing
the ceiling to accumulate heat. Generally, before a flashover occurs, the floor has a
temperature below 140ºC, while the ceiling has a much higher temperature which can
go up to 500ºC [19].

Figure 5. Heat Flux Distribution in Degrees Fahrenheit of a Burning Room [20]

Disaster AGVics

Currently, many AGVic solutions exist that can aid workers in public safety jobs. AGVs
are machines that are commonly used to replace humans in labor-intensive, repetitive,
or dangerous tasks [21].

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 CHAPTER 2

LITERATURE REVIEW

"A fire extinguisher death: the Macklin effect at 2020 “

presents the case of an adult white man found dead in a psychiatric institution with
fine white powder (monoammonium phosphate) deposited over the entire face after
he in-sufflated the contents of a dry chemical fire extinguisher. The fine white
powder was present within the mouth and sinuses and lined the upper airways. On
opening the thoracic cavity, approximately 500 g of fine white powder was present
within the right thoracic cavity. The esophagus was ruptured. Traumatic
emphysema of the posterior sternum wall was present (pneumomediastinum). The
ethmoid bones were fractured by the barotrauma. On the polarization of the lung
tissue, birefringent material was noted deposited along the bronchovascular sheaths
and in a subpleural distribution. Death was probably due to a combination of
barotrauma and asphyxia. The case study provides strong evidence in support of the
etiology and pathophysiology of the Macklin effect. It also provides for the first
visual evidence of the phenomenon.

Sprinkler housing for a sprinkler, sprinkler for fire extinguisher systems

comprising said sprinkler, and use thereof at 2019
According to the invention [2], The upcoming techniques related to sprinklers
design was briefly discussed. The design of sprinkler is highly essential for proper
fire extinguishing. Accurate positioning techniques are important parameters and
design challenge.

Automatic fire extinguisher providing user convenience at 2019

The paper [3] discuss about automatic fire extinguisher providing a simplified
operation method for easily pulling out a safety pin while a handle is strongly
grasped and allowing a spray hose to automatically aim a flame, and, furthermore,
which is easily recognizable even from a distance when the safety pin is separated
at normal times. The automatic fire extinguisher includes a main body vessel in
which a fire extinguishing agent is filled, a lower handle coupled to a plug disposed
on an upper portion of the main body vessel, and an upper handle coupled to the

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lower handle through a first hinge shaft. Also, lots of research contributions are
available in the fire extinguishing techniques. The theoretical and methodological
contribution were analysed and smart sensor based fire extinguisher methodology is
proposed.

Development of Fire Fighting Agv (QRob) at 2018

Fire incident is a disaster that can potentially cause the loss of life, property damage
and permanent disability to the affected victim. Fire fighters are primarily tasked to
handle fire incidents, but they are often exposed to higher risks when extinguishing
fire, especially in hazardous environments such as in nuclear power plant,
petroleum refineries and gas tanks. They are also faced with other difficulties,
particularly if fire occurs in narrow and restricted places, as it is necessary to
explore the ruins of buildings and obstacles to extinguish the fire and save the
victim. Therefore, this paper presents the development of a firefighting agv dubbed
QRob that can extinguish fire without the need for fire fighters to be exposed to
unnecessary danger. QRob is designed to be compact in size than other
conventional fire-fighting agv in order to ease small location entry for deeper reach
of extinguishing fire in narrow space. QRob is also equipped with an ultrasonic
sensor to avoid it from hitting any obstacle and surrounding objects, while a flame
sensor is attached for fire detection. This resulted in QRob demonstrating
capabilities of identifying fire locations automatically and ability to extinguish fire
remotely at particular distance. QRob is programmed to find the fire location and
stop at maximum distance of 40 cm from the fire. A human operator can monitor
the agv by using camera which connects to a smartphone or remote devices.

A Survey on Fire Fighting Agv Controlled Using Android Application at 2018

Detecting fire and extinguishing it is a dangerous job that puts life of a fire fighter
at risk. There are many fire accidents which fire fighter had to lose their lives in the
line of duty each year throughout the world. The research and development in the
field of Artificial Intelligence has given rise to Agvics. Agvs are implemented in
various areas like Industries, Manufacturing and Medicines etc. Hence, Agvics can
be used to assist fire fighters to perform this task of firefighting and thus reduce the
risk of their lives. Fire Fighter is a agv designed to use in such extreme conditions.
It can be operated and controlled by remote user and has the ability to extinguish
fire after locating the source of fire. It is equipped with a monitoring system and

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operates through a wireless communication system. The fire detection system is
designed using the sensors mounted on the fire fighter agv. The agv is controlled
autonomously using Android application. Android mobile phone platform
developed by Google has gained popularity among software developers due to its
powerful capabilities and open platform. Therefore, Android is a great platform to
control a Agvic system. Android provides many resources and already integrates lot
of sensors. This concept helps to generate interest as well as innovation in field of
agvics while working towards a practical and obtainable solution to save lives and
mitigate the risk of property damage.

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 CHAPTER 3
SYSTEM METHODOLOGY

EXISTING SYSTEM

The common conventional firefighting methods involve fire brigades, portable fire
extinguisher (hand held) and sprinklers. These conventional methods consume lot
of time to reach the place of the mishap like the fire brigade must be deployed from
the fire station and should get through the traffic and reach the fire struck area, the
portable extinguisher is also no gift because it is generally place at one off the
corners of the building which may be difficult to reach and it needs constant
maintenance. On the other hand the sprinkler and smoke detector set up is very non
reliable method because the sprinkler pipes has any defect may not provide enough
pressure and it is suited to cover large areas.

PROBLEMS IDENTIFICATION:
The problem with existing system is that exposure to the hazardous and chaotic fire
environment, rather than to the fire itself, is the most significant cause of injury and
death in fires. The reachability of precise information in real-time on. the conditions
directly at the center of the fire ground is a crucial factor in the guidance of rescue
actions together with feasible counter-plans. Unfortunately the firefighting
environments are normally hard to reach and restricted in accessibility by obstacles,
tumbledown architectures and visibility by smoke, dangerous gases or dust.
Therefore, the fire scene is an information-poor environment due to lack of
information on location of fire, firefighters and victims, and the search and rescue
opportunities are previously unimaginable due to lack of situational conditions and
real-time information for targeted decision making.to this the accidents occurs.
Additionally, the current methods applied in firefighting are inadequate and
inefficient relying heavily on humans who are prone to error, no matter how
extensively they have been trained.

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 PROPOSED SYSTEM

The proposed model is able to detect presence of fire using flame sensor and
calculates object distance using ultrasonic sensor and moves the agv to fire accident
location. It contains gear motors and motor driver to control the movement of agv.
When it detects fire it communicates with microcontroller (Arduino MEGA) and
the agv will move towards the fire affected area. The fire extinguisher is mounted
on the agvic vehicle which is then controlled over the wireless communication so
that it extinguishes the fire automatically.

ADVANTAGES OF PROPOSED SYSTEM

➢ The agv will be used at places where it is dangerous for humans to enter.
➢ Capability of sensing accurately with increased flexibility.
➢ Reduce human effort.
➢ Reliable and economical.
➢ It reduces the time delay in reaching fire affected area.
➢ It reduce the errors and the limitations that are faced by human fire fighters.
➢ Sensors have long life time and less cost.

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 CHAPTER 4

DESIGN PROCEDURE

4.1.1 CONTROLS

Initially we need to make sure all the components are connected and give power
supply through an external device. The agv remains idle initially, later it starts
rotating in 360 degrees to detect the presence of object with the help of flame
sensor. If the object is not within the range it moves ahead and then again checks
the presence of object within the range. The signal is sensed to the one of the 3
channel flame sensor and then agv moves if it signals to centre sensor so that we
can move to the object accurately. After detecting the flame it moves to certain
distance and again checks the range of distance until it moves near the flame object.
After it reaches it then in turn activates fire extinguisher or water pump to sprinkle
the water on fire object.
This agv consists of several types of sensor and the vital part of this agv is arduino
ESP 8266 which controls all other components. Fig1 shows that arduino is used as a
microcontroller connected with other components. Motor Driver is used to activate
the moving of the DC motor. It also consists of flame sensor as input of the system.
Fire extinguisher is mounted on agv to reduce fire using pumping water

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4.1.2 IMPLEMENTATION

WORKING
Our project that is being presented is focused on firefighting agvic using 3 fire
sensors. Firefighting agvs are doing their tasks in more accurate and more efficient
manner. This agv's main purpose is to serve as an unmanned support vehicle that
can hunt for and extinguish fires. There are several existing types of vehicles for
firefighting at home and extinguishing forest fires. Because the number of incidents
that occur during the fire extinguishing process is uncountable, firefighter agv was
created by humans to protect human lives. This agv’s main function is to detect fire
and move towards the fire automatically to extinguish it from a safe distance using
a water sprinkler. This agv’s movement and behavior will be fully controlled by the
Arduino microcontroller. This vehicle-shaped agv will detect and extinguish fires
by moving right, left, front, and rear. The project discusses a prototype of a agv that
can move and put out fires with water. Implementation of this agv is with high fire
sensor to assess the affectability of distinguishing, after that cancels the fire by
utilizing water instrument, Agv will screen the work done by performing arbitrary
developments; it as an elective medium utilized by people, particularly the fire
fighter to battle fire. The vehicle comprises of a water tank alongside a siphon
which and can toss water when required. A fire sensor is used to detect the presence
of a fire in the immediate vicinity. Actually, when a fire is detected, a fire sensor is
attached to a circuit that produces an analogue output. As an interrupt signal, this
analogue output is connected to the Arduino pin. When the sensor output is high,
the interrupt service function executes a motor driven programme or a portion of
one (interrupt signal to Arduino). When a fire is detected by the sensor, a water
sprinkler mechanism is attached to the shaft of the dc motor, which will sprinkle the
water and extinguish the fire.

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 HARDWARE DESCRIPTION

4.1.1 ESP8266 MICROCONTROLLER

MICROCONTROLLER – ESP8266
Features
• High-performance, Low-power AVR®
- 8-bit Microcontroller
• Advanced RISC Architecture
– 130 Powerful Instructions – Most Single-clock Cycle Execution
– 32 x 8 General Purpose Working Registers
– Fully Static Operation
– Up to 16 MIPS Throughput at 16 MHz
– On-chip 2-cycle Multiplier
• High Endurance Non-volatile Memory segments
– 8K Bytes of In-System Self-programmable Flash program memory
– 512 Bytes EEPROM
– 1K Byte Internal SRAM
– Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
– Data retention: 20 years at 85°C/100 years at 25°C (1)
– Optional Boot Code Section with Independent Lock Bits
• In-System Programming by On-chip Boot Program
– True Read-While-Write Operation
– Programming Lock for Software Security
• Peripheral Features
– Two 8-bit Timer/Counters with Separate Prescaler, one compare
•Six Channels 10-bit Accuracy
– Byte-oriented Two-wire Serial Interface
– Programmable Serial USART
– Master/Slave SPI Serial Interface
– Programmable Watchdog Timer with Separate On-chip
•Oscillator
– On-chip Analog Comparator

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•Special Microcontroller Features
– Power-on Reset and Programmable Brown-out Detection
– Internal Calibrated RC Oscillator
– External and Internal Interrupt Sources
– Five Sleep Modes: Idle, ADC Noise Reduction, Power-save
•I/O and Packages
– 23 Programmable I/O Lines
– 28-lead PDIP, 32-lead TQFP, and 32-pad QFN/MLF
•Operating Voltages
– 2.7 - 5.5V (Esp8266L)
– 4.5 - 5.5V (Esp8266)
•Power Consumption at 4 Mhz, 3V, 25°C
– Active: 3.6 mA
– Idle Mode: 1.0 mA
– Power-down Mode: 0.5 µA

Pin Configurations

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The Esp8266 is a low-power CMOS 8-bit microcontroller based on the AVR RISC
architecture.
By executing powerful instructions in a single clock cycle, the Esp8266 achieves
throughputs approaching 1 MIPS per MHz, allowing the system designer to optimize
power consumption versus processing speed.

BLOCK DIAGRAM

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Pin Descriptions
VCC :-Digital supply voltage.

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GND:- Ground.
Port B(PC7..PB0) :- is an 8-bit bi-directional I/O port with internal pull-up resistors
(selected for each bit). The Port B output buffers have symmetrical drive characteristics
with both high sink and source capability. As inputs, Port B pins that are externally
pulled low will source current if the pull-up resistors are activated. The Port B pins are
tri-stated when a reset condition becomes active,even if the clock is not running.
Port C (PC5..PC0) :- Port C is an 7-bit bi-directional I/O port with internal pull-up
resistors (selected for each bit). The Port C output buffers have symmetrical drive
characteristics with both high sink and source capability. As inputs, Port C pins that are
externally pulled low will source current if the pull-up resistors are activated. The Port
C pins are tri-stated when a reset condition becomes active, even if the clock is not
running.
Port D (PD7..PD0) :- Port D is an 8-bit bi-directional I/O port with internal pull-up
resistors (selected for each bit). The Port D output buffers have symmetrical drive
characteristics with both high sink and source capability. As inputs, Port D pins that are
externally pulled low will source current if the pull-up resistors are activated. The Port
D pins are tri-stated when a reset condition becomes active,even if the clock is not
running.
RESET (Reset input):- A low level on this pin for longer than the minimum pulse
length will generate a reset, even if the clock is not running. The Shorter pulses are not
guaranteed to generate a reset.
AVCC:- AVCC is the supply voltage pin for the A/D Converter, Port C (3..0), and
ADC (7..6). It should be externally connected to VCC, even if the ADC is not used. If
the ADC is used, it should be connected to VCC through a low-pass filter.
AREF:- AREF is the analog reference pin for the A/D Converter.These pins are
powered from the analog supply and serve as 10-bit ADC channels.
Basic Function:- The main function of the CPU core is to ensure correct program
execution. The CPU must therefore be able to access memories,
perform calculations, control peripherals, and handle interrupts.

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 Interfacing Of Data Bus With Different Units

In order to maximize performance and parallelism, the AVR uses a Harvard

architecture with separate memories and buses for program and data.

Instructions in the Program memory are executed with a single level pipelining. While
one instruction is being executed, the next instruction is pre-fetched from the Program
memory. This concept enables instructions to be executed in every clock cycle.

The Program memory is In-System Reprogrammable Flash memory.The fast-access

Register File contains 32 x 8-bit general purpose working registers with a single clock
cycle access time. This allows single-cycle Arithmetic Logic Unit (ALU) operation. In
a typical ALU operation, two operands are output from the Register File, the operation
is executed, and the result is stored back in the Register File in one clock cycle.

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Six of the 32 registers can be used as three 16-bit indirect address register pointers for
Data Space addressing enabling efficient address calculations. One of the these
address pointers can also be used as an address pointer for look up tables in Flash
Program memory. These added function registers are the 16-bit X, Y and Z-
register.The ALU supports arithmetic and logic operations between registers or
between a constant and a register. Single register operations can also be executed in
the ALU.After an arithmetic operation, the Status Register is updated to reflect
information about the result of the operation.The Program flow is provided by
conditional and unconditional jump and call instructions, able to directly address the
whole address space. Most AVR instructions have a single 16-bit word format. Every
Program memory address contains a 16- or 32-bit instruction.

Program Flash memory space is divided in two sections, the Boot program section and
the Application program section. Both sections have dedicated Lock Bits for write and
read/write protection. The SPM instruction that writes into the Application Flash
memory section must reside in the Boot program section.During interrupts and
subroutine calls, the return address Program Counter (PC) is stored on the Stack. The
Stack is effectively allocated in the general data SRAM, and consequently the Stack
size is only limited by the total SRAM size and the usage of the SRAM. All user
programs must initialize the SP in the reset routine (before subroutines or interrupts
are executed). The Stack Pointer SP is read/write accessible in the I/O space.The data
SRAM can easily be accessed through the five different addressing modes supported
in the AVR architecture.The memory spaces in the AVR architecture are all linear and
regular memory maps.
A flexible interrupt module has its control registers in the I/O space with an additional
global interrupt enable bit in the Status Register. All interrupts have a separate
Interrupt Vector in the Interrupt Vector table. The interrupts have priority in
accordance with their Interrupt Vector position. The lower the Interrupt Vector
address, the higher the priority. The I/O memory space contains 64 addresses for CPU
peripheral functions as Control Registers, SPI, and other I/O functions. The I/O
Memory can be accessed directly, or as the Data Space locations following those of
the Register File, 0x20 - 0x5F.

22
4.1.4 Rectifier
A rectifier is an electrical device that converts alternating current (AC), which
periodically reverses direction, to direct current (DC), which flows in only one
direction. The process is known as rectification.
Bridge rectifier
Bridge rectifier is used to maintain the proper DC polarity at the input to the
circuit, irrespective of telephone line polarity. It comprises of four diodes connected to
form a bridge. It uses the entire AC wave (both positive and negative sections). 1.4V is
used up in the bridge rectifier because each diode uses 0.7V when conducting and
there are always two diodes conducting.
4.1.5 Filter
The output after being processed by full wave rectifier is not a pure DC. The output is
a pulsating DC. The output contains large fluctuations in voltages. This is quite
apparent from the block of full wave rectifier shown above. The power supply that we
intend to design must not have any variation in output voltage. The voltage that we get
from full wave rectifier fluctuates between 0 V and V peak, and hence it contains AC
components. These AC components needs to be filtered out so as to obtain DC
voltage. This is where filters come into picture. Filters, as the name suggests, filters
out any AC component present and provides DC as the output. However, the output
from the filter is still not a pure DC but filter removes the AC component in the
voltage to a considerable extent. This increases the average DC value of the output
voltage. Now a question must arise as to how we can make a filter and which
components are required to make a filter. Although it not the goal of this section to
study filters in detail, it must suffice to know that filters used in power supplies can be
made simply by using capacitors.
4.1.6 IC Voltage Regulators
Voltage regulators comprise a class of widely used ICs shown in Figure 4.5. Regulator
IC units contain the circuitry for reference source, comparator amplifier, control
device, and overload protection all in a single IC. Although the internal construction of
the IC is somewhat different from that described for discrete voltage regulator circuits,
the external operation is much the same. IC units provide regulation of either a fixed
positive voltage, a fixed negative voltage, or an adjustably set voltage.

23
 Figure 4.5 Voltage Regulator IC
Features of Voltage Regulator IC
 Output Current up to 1A
 Output Voltages of 5, 6, 8, 9, 10, 12, 15, 18, 24V
 Thermal Overload Protection
 Short Circuit Protection
 Output Transistor Safe Operating Area Protection
4.1.7 Liquid-crystal display

Fig 4.5 Pin Diagram of LCD

A liquid-crystal display (LCD) is a flat-panel display or other electronically
modulated optical device that uses the light-modulating properties of liquid crystals.
Liquid crystals do not emit light directly, instead using a backlight or reflector to
produce images in color or monochrome.. LCDs are available to display arbitrary
images (as in a general-purpose computer display) or fixed images with low
information content, which can be displayed or hidden, such as preset words, digits,
and 7-segment displays, as in a digital clock. They use the same basic technology,
except that arbitrary images are made up of a large number of small pixels, while other
displays have larger elements.
LCDs are used in a wide range of applications including computer monitors,
televisions, instrument panels, aircraft cockpit displays, and indoor and outdoor
signage. Small LCD screens are common in portable consumer devices such as digital
cameras, watches, calculators, and mobile telephones, including smartphones. LCD
screens are also used on consumer electronics products such as DVD players, video

24
game devices and clocks. LCD screens have replaced heavy, bulky cathode ray tube
(CRT) displays in nearly all applications. LCD screens are available in a wider range
of screen sizes than CRT and plasma displays, with LCD screens available in sizes
ranging from tiny digital watches to huge, big-screen television set.
Since LCD screens do not use phosphors, they do not suffer image burn-in when a
static image is displayed on a screen for a long time (e.g., the table frame for an
aircraft schedule on an indoor sign). LCDs are, however, susceptible to image
persistence.. The LCD screen is more energy-efficient and can be disposed of more
safely than a CRT can. Its low electrical power consumption enables it to be used in
battery-powered electronic equipment more efficiently than CRTs can be. By 2008,
annual sales of televisions with LCD screens exceeded sales of CRT units worldwide,
and the CRT became obsolete for most purposes.
Each pixel of an LCD typically consists of a layer of molecules aligned between two
transparentelectrodes, and two polarizingfilters (parallel and perpendicular), the axes
of transmission of which are (in most of the cases) perpendicular to each other.
Without the liquid crystal between the polarizing filters, light passing through the first
filter would be blocked by the second (crossed) polarizer. Before an electric field is
applied, the orientation of the liquid-crystal molecules is determined by the alignment
at the surfaces of electrodes. In a twisted nematic (TN) device, the surface alignment
directions at the two electrodes are perpendicular to each other, and so the molecules
arrange themselves in a helical structure, or twist. This induces the rotation of the
polarization of the incident light, and the device appears gray. If the applied voltage is
large enough, the liquid crystal molecules in the center of the layer are almost
completely untwisted and the polarization of the incident light is not rotated as it
passes through the liquid crystal layer. This light will then be mainly polarized
perpendicular to the second filter, and thus be blocked and the pixel will appear black.
By controlling the voltage applied across the liquid crystal layer in each pixel, light
can be allowed to pass through in varying amounts thus constituting different levels of
gray. Color LCD systems use the same technique, with color filters used to generate
red, green, and blue pixelsThe optical effect of a TN device in the voltage-on state is
far less dependent on variations in the device thickness than that in the voltage-off
state. Because of this, TN displays with low information content and no backlighting
are usually operated between crossed polarizers such that they appear bright with no
voltage (the eye is much more sensitive to variations in the dark state than the bright
state). As most of 2010-era LCDs are used in television sets, monitors and

25
smartphones, they have high-resolution matrix arrays of pixels to display arbitrary
images using backlighting with a dark background. When no image is displayed,
different arrangements are used. For this purpose, TN LCDs are operated between
parallel polarizers, whereas IPS LCDs feature crossed polarizers. In many applications
IPS LCDs have replaced TN LCDs, in particular in smartphones such as iPhones. Both
the liquid crystal material and the alignment layer material contain ionic compounds.
If an electric field of one particular polarity is applied for a long period of time, this
ionic material is attracted to the surfaces and degrades the device performance. This is
avoided either by applying an alternating current or by reversing the polarity of the
electric field as the device is addressed (the response of the liquid crystal layer is
identical, regardless of the polarity of the applied field).
Displays for a small number of individual digits or fixed symbols (as in digital
watches and pocket calculators) can be implemented with independent electrodes for
each segment. In contrast, full alphanumeric or variable graphics displays are usually
implemented with pixels arranged as a matrix consisting of electrically connected rows
on one side of the LC layer and columns on the other side, which makes it possible to
address each pixel at the intersections. The general method of matrix addressing
consists of sequentially addressing one side of the matrix, for example by selecting the
rows one-by-one and applying the picture information on the other side at the columns
row-by-row. For details on the various matrix addressing schemes seePassive-matrix
and active-matrix addressed LCDs

Reflective twisted nematic liquid crystal display.

1. Polarizing filter film with a vertical axis to polarize light as it enters.
2. Glass substrate with ITOelectrodes. The shapes of these electrodes will
determine the shapes that will appear when the LCD is switched ON. Vertical ridges
etched on the surface are smooth.
3. Twisted nematic liquid crystal.
4. Glass substrate with common electrode film (ITO) with horizontal ridges to
line up with the horizontal filter.

26
5. Polarizing filter film with a horizontal axis to block/pass light.
6. Reflective surface to send light back to viewer. (In a backlit LCD, this layer is
replaced with a light source.)

Illumination
Since LCD panels produce no light of their own, they require external light to produce
a visible image. In a "transmissive" type of LCD, this light is provided at the back of
the glass "stack" and is called the backlight. While passive-matrix displays are usually
not backlit (e.g. calculators, wristwatches), active-matrix displays almost always are.
[30][31]

The common implementations of LCD backlight technology are:

CCFL: The LCD panel is lit either by two cold cathodefluorescent lamps placed at
opposite edges of the display or an array of parallel CCFLs behind larger displays. A
diffuser then spreads the light out evenly across the whole display. For many years,
this technology had been used almost exclusively. Unlike white LEDs, most CCFLs
have an even-white spectral output resulting in better color gamut for the display.
However, CCFLs are less energy efficient than LEDs and require a somewhat costly
inverter to convert whatever DC voltage the device uses (usually 5 or 12 V) to ~1000
V needed to light a CCFL.[32] The thickness of the inverter transformers also limit how
thin the display can be made.
 EL-WLED: The LCD panel is lit by a row of white LEDs placed at one or more
edges of the screen. A light diffuser is then used to spread the light evenly across the
whole display. As of 2012, this design is the most popular one in desktop computer
monitors. It allows for the thinnest displays. Some LCD monitors using this
technology have a feature called "Dynamic Contrast" where the backlight is dimmed
to the brightest color that appears on the screen, allowing the 1000:1 contrast ratio of
the LCD panel to be scaled to different light intensities, resulting in the "30000:1"
contrast ratios seen in the advertising on some of these monitors. Since computer
screen images usually have full white somewhere in the image, the backlight will
usually be at full intensity, making this "feature" mostly a marketing gimmick.
 WLED array: The LCD panel is lit by a full array of white LEDs placed behind a
diffuser behind the panel. LCDs that use this implementation will usually have the
ability to dim the LEDs in the dark areas of the image being displayed, effectively
increasing the contrast ratio of the display. As of 2012, this design gets most of its use
from upscale, larger-screen LCD televisions.

27
 RGB-LED: Similar to the WLED array, except the panel is lit by a full array of
RGB LEDs. While displays lit with white LEDs usually have a poorer color gamut
than CCFL lit displays, panels lit with RGB LEDs have very wide color gamuts. This
implementation is most popular on professional graphics editing LCDs. As of 2012,
LCDs in this category usually cost more than $1000.

4.1.8 RELAY

A relay is an electrically operated switch. Many relays use an electromagnet to operate

a switching mechanism mechanically, but other operating principles are also used.
Relays are used where it is necessary to control a circuit by a low-power signal (with
complete electrical isolation between control and controlled circuits), or where several
circuits must be controlled by one signal. The first relays were used in long distance
telegraph circuits, repeating the signal coming in from one circuit and re-transmitting
it to another.

A relay will switch one or more poles, each of whose contacts can be thrown by
energizing the coil in one of three ways:
 Normally-open (NO) contacts connect the circuit when the relay is activated;
the circuit is disconnected when the relay is inactive. It is also called a Form A contact
or "make" contact. NO contacts can also be distinguished as "early-make" or NOEM,
which means that the contacts will close before the button or switch is fully engaged.
 Normally-closed (NC) contacts disconnect the circuit when the relay is
activated; the circuit is connected when the relay is inactive. It is also called a Form B

28
contact or "break" contact. NC contacts can also be distinguished as "late-break" or
NCLB, which means that the contacts will stay closed until the button or switch is
fully disengaged.
 Change-over (CO), or double-throw (DT), contacts control two circuits: one
normally-open contact and one normally-closed contact with a common terminal. It is
also called a Form C contact or "transfer" contact ("break before make"). If this type
of contact utilizes”make before break" functionality, then it is called a Form D
contact.

SPDT – Single Pole Double Throw. A common terminal connects to either of two
others. Including two for the coil, such a relay has five terminals in total.

4.1.9 This is WiFi serial transceiver module, based on ESP8266 SoC., The SOC has
Integrated TCP/IP protocol stack. ESP8266 is a highly integrated chip designed for the
needs of a new connected world. It offers a complete and self-contained Wi-Fi
networking solution, allowing it to either host the application or to offload all Wi-Fi
networking functions from another application processor.
ESP8266 has powerful on-board processing and storage capabilities that allow it to be
integrated with the sensors and other application specific devices through its GPIOs
with minimal development up-front and minimal loading during runtime. Its high
degree of on-chip integration allows for minimal external circuitry, and the entire
solution, including front-end module, is designed to occupy minimal PCB area.
Corresponding Interface:

• SDIO 2.0, SPI, UART

• 32-pin QFN package
• Integrated RF switch, balun, 24dBm PA, DCXO, and PMU
• Integrated RISC processor, on-chip memory and external memory interfaces
• Integrated MAC/baseband processors
• Quality of Service management
• I2S interface for high fidelity audio applications
• On-chip low-dropout linear regulators for all internal supplies
• Proprietary spurious-free clock generation architecture
• Integrated WEP, TKIP, AES, and WAPI engines

29
Specification:

• 802.11 b/g/n
• Wi-Fi Direct (P2P), soft-AP
• Integrated TCP/IP protocol stack
• Integrated TR switch, balun, LNA, power amplifier and matching network
• Integrated PLLs, regulators, DCXO and power management units
• +19.5dBm output power in 802.11b mode
• Power down leakage current of <10uA
• Integrated low power 32-bit CPU could be used as application processor
• SDIO 1.1/2.0, SPI, UART
• STBC, 1×1 MIMO, 2×1 MIMO
• A-MPDU & A-MSDU aggregation & 0.4ms guard interval
• Wake up and transmit packets in < 2ms
• Standby power consumption of < 1.0mW (DTIM3)

4.1.10 Internet of Things (IoT)

The internet of things (IoT) is the network of physical devices, vehicles, buildings and
other items—embedded with electronics, software, sensors, actuators, and network
connectivity that enable these objects to collect and exchange data as shown in the
Figure 4.24. In 2013 the Global Standards Initiative on Internet of Things (IoT-GSI)
defined the IoT as "the infrastructure of the information society."
The IoT allows objects to be sensed and controlled remotely across existing network
infrastructure, creating opportunities for more direct integration of the physical world
into computer-based systems, and resulting in improved efficiency, accuracy and
economic benefit. When IoT is augmented with sensors and actuators, the technology
becomes an instance of the more general class of cyber-physical systems, which also
encompasses technologies such as smart grids, smart homes, intelligent
transportation and smart cities.
Each thing is uniquely identifiable through its embedded computing system but is able
to interoperate within the existing Internet infrastructure. As well as the expansion of
Internet-connected automation into a plethora of new application areas, IoT is also
expected to generate large amounts of data from diverse locations, with the consequent
necessity for quick aggregation of the data, and an increase in the need to index, store,
and process such data more effectively. IoT is one of the platforms of today's Smart

30
City, and Smart Energy Management Systems. IoT module is shown in the Figure
4.25.

Figure 4.24 Block Diagram of IoT

Applications
 Environmental monitoring

 Infrastructure management

 Manufacturing

 Energy management

 Medical and healthcare systems

 Building and home automation

 Transportation

 Large scale deployments

Figure 4.25 IoT Module

Hardware Features
 Based on ESP-12F ESP8266 Wi-Fi Board
 This relay board use one AC input, and supports two relay AC output. Please
note the output AC power comes/connected from/with input AC power. Relay only
play as on/off switch for AC power. Will be dangerous to use in any other cases.
 Use mature AC-DC power module, input voltage 85 – 265VAC

31
 Relay Specification: Single Relay, 125VAC 10A, 250VAC 10A, 10A 30VDC,
10A 28VDC
 Two Lead out buttons BTN1 and BTN2
 Two relay indication LEDs
 One status LED, indicating connecting status in demo code
 A few lead out pins, from top (left) to bottom (right)

4.3.4 FIRE SENSOR

A flame Sensor is a sensor designed to detect and respond to the presence
of a flame or fire, allowing flame detection. Responses to a detected flame depend
on the installation, but can include sounding an alarm, deactivating a fuel line (such
as a propane or a natural gas line), and activating a fire suppression system. When
used in applications such as industrial furnaces, their role is to provide confirmation
that the furnace is working properly; it can be used to turn off the ignition system
though in many cases they take no direct action beyond notifying the operator or
control system. A flame Sensor can often respond faster and more accurately than
a smoke or heat Sensor due to the mechanisms it uses to detect the flame.[1][2]
Optical flame Sensors

32
Near IR array
Near infrared (IR) array flame Sensors (0.7 to 1.1 μm), also known as visual flame
Sensors, employ flame recognition technology to confirm fire by analyzing near IR
radiation using a charge-coupled device (CCD). A near infrared (IR) sensor is
especially able to monitor flame phenomena, without too much hindrance from
water and water vapour. Pyroelectric sensors operating at this wavelength can be
relatively cheap. Multiple channel or pixel array sensors monitoring flames in the
near IR band are arguably the most reliable technologies available for detection of
fires. Light emission from a fire forms an image of the flame at a particular
instant. Digital image processing can be utilized to recognize flames through
analysis of the video created from the near IR images.

Infrared
Infrared (IR) or wideband infrared (1.1 μm and higher) flame Sensors monitor the
infrared spectral band for specific patterns given off by hot gases. These are sensed
using a specialized fire-fighting thermal imaging camera (TIC), a type
of thermographic camera. False alarms can be caused by other hot surfaces and
background thermal radiation in the area. Water on the Sensor's lens will greatly
reduce the accuracy of the Sensor, as will exposure to direct sunlight. A special
frequency range is 4.3 to 4.4 μm. This is a resonance frequency of CO2. During
burning of a hydrocarbon (for example, wood or fossil fuels such as oil and natural
gas) much heat and CO2 is released. The hot CO2 emits much energy at its
resonance frequency of 4.3 μm. This causes a peak in the total radiation emission
and can be well detected. Moreover, the "cold" CO2 in the air is taking care that the
sunlight and other IR radiation is filtered. This makes the sensor in this frequency
"solar blind"; however, sensitivity is reduced by sunlight. By observing the flicker

33
frequency of a fire (1 to 20 Hz) the Sensor is made less sensitive to false alarms
caused by heat radiation, for example caused by hot machinery.
A severe disadvantage is that almost all radiation can be absorbed by water or water
vapour; this is particularly valid for infrared flame detection in the 4.3 to 4.4 μm
region. From approx. 3.5 μm and higher the absorption by water or ice is practically
100%. This makes infrared sensors for use in outdoor applications very
unresponsive to fires. The biggest problem is our ignorance; some infrared Sensors
have an (automatic) Sensor window self test, but this self test only monitors the
occurrence of water or ice on the Sensor window.
A salt film is also harmful, because salt absorbs water. However, water vapour, fog
or light rain also makes the sensor almost blind, without the user knowing. The
cause is similar to what a fire fighter does if he approaches a hot fire: he protects
himself by means of a water vapour screen against the enormous infrared heat
radiation. The presence of water vapor, fog, or light rain will then also "protect" the
monitor causing it to not see the fire. Visible light will, however be transmitted
through the water vapour screen, as can easily been seen by the fact that a human
can still see the flames through the water vapour screen.The usual response time of
an IR Sensor is 3–5 seconds.

IR3 flame detection

Multi-infrared Sensors make use of algorithms to suppress the effects of
background radiation (blackbody radiation), again sensitivity is reduced by this
radiation.
Triple-IR flame Sensors compare three specific wavelength bands within the IR
spectral region and their ratio to each other. In this case one sensor looks at the 4.4
micrometer range while the other sensors look at reference wavelengths both above
and below 4.4. This allows the Sensor to distinguish between non-flame IR sources
and actual flames which emit hot CO 2 in the combustion process. As a result, both
detection range and immunity to false alarms can be significantly increased. IR3
Sensors can detect a 0.1m2 (1 ft2) gasoline pan fire at up to 65 m (215 ft) in less than
5 seconds. Triple IRs, like other IR Sensor types, are susceptible to blinding by a
layer of water on the Sensor's window.
Most IR Sensors are designed to ignore constant background IR radiation, which is
present in all environments. Instead they are designed to detect suddenly changing
or increasing sources of the radiation. When exposed to changing patterns of non-

34
flame IR radiation, IR and UV/IR Sensors become more prone to false alarms,
while IR3 Sensors become somewhat less sensitive but are more immune to false
alarms.

Visible sensors
A visible light sensor (for example a camera: 0.4 to 0.7 μm) is able to present an
image, which can be understood by a human being. Furthermore, complex image
processing analysis can be executed by computers, which can recognize a flame or
even smoke. Unfortunately, a camera can be blinded, like a human, by heavy smoke
and by fog. It is also possible to mix visible light information (monitor) with UV or
infrared information, in order to better discriminate against false alarms or to
improve the detection range.[3] The corona camera is an example of this equipment.
In this equipment the information of a UV camera mixed with visible image
information. It is used for tracing defects in high voltage equipment and fire
detection over high distances.

WATER PUMP
DC water Pump refers to a machine that uses DC 4.5V ~ 24V to drive a
brushless motor to run, and the brushless motor rotation drives the impeller
to rotate, thereby increasing the pressure of the liquid to achieve the effect
of transferring liquid.
The water pump is generally composed of pump body, motor stator, shaft,
bearing, rotor (magnets and impellers) and so on. There are one inlet and
one outlet on the pump body, water enters from the water inlet, and exits
through the outlet. Any water pump that adopts this form and in small size
is called brushless DC mini water pump.
With the development of all walks of life and the progress of science and
technology, some customers want to make the pump smaller and lower
power consumption, even portable and can be powered by DC. Therefore,
miniaturization of water pumps has become an inevitable trend.

35
DC Mini Water Pump Manufacturer
Micro brushless DC water pump adopts advanced magnetic drive
technology, liquid through the permanent magnet rotor high-speed rotation,
static seal design instead of traditional mechanical shaft seal. The liquid is
completely isolated from the motor to avoid liquid leakage and improve
product life and performance.
The water pump has a built-in frequency conversion brushless DC motor,
no need for carbon brush commutation, no mechanical friction and heat
generation, low power, and small temperature rise.
The brushless magnetic drive overcomes the inherent defects of the brushed
motor and replaces the mechanical commutator with an electronic
commutator. Therefore, the BLDC motor not only has the characteristics of
good speed regulation performance of the DC motor, but also has the
advantages of a simple structure of the AC motor. Reversing sparks,
reliable operation and easy maintenance.There is no commutator and
carbon brush wear, which reduces mechanical noise and prolongs the
service life of the water pump. It is not only related to performance
indicators, noise, vibration, reliability and service life, etc., but also
involves the manufacturing cost of the product.
At the same time, the brushless DC motor can also accurately feed back the
target number of revolutions, torque, etc. Heat generation and power
consumption of the motor can be suppressed by precise control.

36
III. Characteristics of Brushless DC Mini Water Pump
1. No leakage. Using advanced magnetic drive technology, the stator part
and rotor part of the water pump are completely isolated, statically sealed,
and leak-free.
2. Long life. It can work continuously for 24 hours for a long time; the
service life can reach more than 20,000 hours.
3. Low noise. One-piece injection molded silent rotor is adopted, with low
rotor unbalance; imported high-precision ceramic shaft, imported materials
and high-precision molds, high-precision control of component size and
perfect fit, the noise is 5-10dBA lower than that of water pumps with the
same parameters in the market.
4. High temperature resistance. Imported high-temperature food-grade
plastic parts are used, which can withstand high temperatures of 100°C for
a long time without cracking or deformation.
5. Complete certification. Topsflo pumps have passed multiple
authoritative certifications such as NSF, FDA, WRAS, and meet food-
grade safety requirements.
6. Customization. With strong research and development strength, water
pump products can be customized according to the special needs of
customers.

IV. Application range of Brushless DC Mini Water Pump

Micro brushless DC water pumps are widely used in many industries
including cooling circulation system, 3D laser printer cooling, battery
cooling system, hot water circulation, radiator, heater, water purifier, water
dispenser, coffee machine, vending machines, water heaters, water
purification humidifier, sweepers, automotive air-conditioning systems, air-
conditioning drainage, automotive cooling circulation systems, cleaning
equipment, computer CPU cooling circulation, bathroom equipment and
many other fields.

37
DC MOTOR

A DC series motor converts electrical energy to mechanical energy. Its principle of

operation is based on a simple electromagnetic law that states that when a magnetic
field is created around current carrying conductor and interacts with an external field,
rotational motion is generated.

The key components of a DC series motor are the armature (rotor), stator, commutator,
field windings, axle, and brushes. The stationary part of the motor, the stator is made up
of two or more electromagnet pole pieces, and the rotor is comprised of the armature,
with windings on the core connected to the commutator. The output power source is
connected to the armature windings through a brush arrangement connected to the
commutator. The rotor has a central axle about which the rotor rotates.

The field winding should be able to support high current because the greater the amount
of current through the winding, the greater will be the torque generated by the motor. So
the winding of the motor is made up of thick heavy gauge wire. Heavy gauge wire does
not allow a large number of turns. The winding is made up of thick copper bars as it
helps in easy and efficient dissipation of heat generated as a result of flow of large
amount of current through winding.

Principle of Operation

38
An external voltage source is applied across the series configuration of field winding
and armature. So one end of the voltage source is connected to the winding and the
other end is connected to the armature through the brushes.

Initially at the motor start up, with the voltage source connected to the motor, it draws a
huge amount of current because both the winding and the armature of the motor, both
made up of large conductors, offer minimum resistance to the current path. The large
current through the winding yields a strong magnetic field.

This strong magnetic field provides high torque to the armature shaft, thus invoking the
spinning action of the armature. Thus the motor starts rotating at its maximum speed in
the beginning. The rotating armature in the presence of the magnetic field results in
counter EMF, which limits the current build up in the series combination of armature
and winding.

Thus series motors once started will offer maximum speed and torque but gradually,
with an increase in speed, its torque will come down because of its reduced current.
Practically this is what required from the motors. Due to the high torque provided by the
armature, the load on the shaft is set to rotate initially. Subsequently lesser torque will
keep the load on the move. This further helps in increasing the heat dissipation of the
motor. However, the amount of torque generated by motor is directly proportional to the
winding current. The higher current demands a higher power supply, too.

Motor Speed

In DC series motors, a linear relationship exists between the amount of torque produced
and the current flowing through the field windings. The speed of the motor can be
controlled by varying the voltage across the motor, which further controls the torque of
motor.

To increase the speed of the motor, decrease the field current by placing a small
resistance in parallel to the winding and armature. The decrease in current will result in
lowering of magnetic flux and counter EMF, which further hastens the motor’s speed.

To decrease the speed, use an external series resistance along with the field winding and
armature. This will reduce the voltage across the armature with the same counter EMF,
thus resulting in a lower speed of motor.

39
Unlike DC shunt motors, series motor does not operate at the constant speed. The speed
of the motor varies with change in the shaft load, so speed control of the motor is not
easy to put into practice.

CHAPTER 5

STEPS OF DESIGN

5.1 SELECTION OF PRODUCT

From the number of products available we selected the Battery of automobiles for
been used in our project. We had number of options for the selection of product, as
per our requirement the Battery was matching the conditions. The other products
which we considered were as follows:-

 WHEEL:- Due to radial cross section of the bearing, it would be little bit
difficult for the AGV Gripper to hold the bearing in it and transport from one place
to another holding it. So we rejected this product.

40
 BAGS OF IRON ORE: - The fines bagging system was pre-decided but
due to the weight limit we switched over the other products.
 CELL PHONE PACKING: - As due to the light and sensitive parts of the
Cell phones we also skipped it as there are chances of causing damage to the Cell
phones while holding in the grippers of the AGVs.

5.2 DC WATER PUMP

DC water pump refers to a small water pump built by a 12v, 24v, 5v, 6v, 9v, 3V or
48v mini electric brushed DC motor or brushless DC motor. It powered by a dc
power supply, solar dc power supply, or battery operated. Usually used as a dc
booster pump, dc submersible pump, dc solar pump, dc circulation pump to
pressurize, transport and circulate liquids. Such as water, oil, acid and alkali liquids,
food grade liquids, emulsions, etc. Compares with AC water pumps driven by 120v,
220v, 240v, 380v AC motors, DC pump has characteristics of small size, safety,
high efficiency, low noise, portable, etc.
As a low voltage electric water pump, DC water pumps are widely used for
applications that requires low price, safety, quiet, low power consumption. Such as
applications for: home appliance, vehicle, pool, well, pet water fountain, Aquarium,
fish tank, dc fountain, water heater, water circulation system, automotive heat
management system, etc.

41
4.3.1 Power supply

Fig 3.2: Block diagram of power supply

The given block diagram includes following:

• Power supply: a group of circuits that convert the standard ac voltage (120
V, 60 Hz) provided by the wall outlet to constant dc voltage

• Transformer : a device that step up or step down the ac voltage provided by

the wall outlet to a desired amplitude through the action of a magnetic field

• Rectifier: a diode circuits that converts the ac input voltage to a pulsating dc

voltage

• The pulsating dc voltage is only suitable to be used as a battery charger, but

not good enough to be used as a dc power supply in a radio, stereo system,
computer and so on.

• Filter: a circuit used to reduce the fluctuation in the rectified output voltage
or ripple. This provides a steadier dc voltage.

• Regulator: a circuit used to produces a constant dc output voltage by

reducing the ripple to negligible amount. One part of power supply.

Voltage Regulation
• Two basic categories of voltage regulation are:

 line regulation
 load regulation

• The purpose of line regulation is to maintain a nearly constant output

voltage when the input voltage varies.
• The purpose of load regulation is to maintain a nearly constant output
voltage when the load varies

Line Regulation

Load regulation: A change in load current (due to a varying RL) has practically no
effect on the output voltage of a regulator (within certain limits)
• Load regulation can be defined as the percentage change in the output
voltage from no-load (NL) to full-load (FL).

• Where:

VNL = the no-load output voltage

VFL = the full-load output voltage
Types of Regulator
• Fundamental classes of voltage regulators are linear regulators and
switching regulators.

• Two basic types of linear regulator are the series regulator and the shunt
regulator .

• The series regulator is connected in series with the load and the shunt
regulator is connected in parallel with the load.

IC Voltage Regulators
• Regulation circuits in integrated circuit form are widely used.
• Their operation is no different but they are treated as a single device with
associated components.

• These are generally three terminal devices that provide a positive or

negative output.

• Some types have variable voltage outputs.

• A typical 7800 series voltage regulator is used for positive voltages.

• The 7900 series are negative voltage regulators.

• These voltage regulators when used with heatsinks can safely produce
current values of 1A and greater.

• The capacitors act as line filtration.

• Several types of both linear (series and shunt) and switching regulators are
available in integrated circuit (IC) form.

• Single IC regulators contain the circuitry for:

• reference source

• comparator amplifier

• control device

• overload protection

• Generally, the linear regulators are three-terminal devices that provides

either positive or negative output voltages that can be either fixed or adjustable

Fixed Voltage Regulator

• The fixed voltage regulator has an unregulated dc input voltage Vi applied
to one input terminal, a regulated output dc voltage Vo from a second terminal, and
the third terminal connected to ground.

• The series 78XX regulators are the three-terminal devices that provide a
fixed positive

• output voltage.

• An unregulated input voltage Vi is filtered by a capacitor C1 and connected

to the IC’s IN terminal.
• The IC’s OUT terminal provides a regulated +12 V, which is filtered by
capacitor C2.

The third IC terminal is connected to ground (GND

• Voltage regulators keep a constant dc output despite input voltage or load

changes.

• The two basic categories of voltage regulators are linear and switching.

• The two types of linear voltage regulators are series and shunt.

• The three types of switching are step-up, step-down, and inverting.

• Switching regulators are more efficient than linear making them ideal for
low voltage high current applications.

• IC regulators are available with fixed positive or negative output voltages or

variable negative or positive output voltages.

• Both linear and switching type regulators are available in IC form.

• Current capacity of a voltage regulator can be increased with an external

pass transistor.

4.3.2 MICROCONTROLLER – ARM STM 32

STM32 is a family of 32-bit microcontroller integrated

circuits by STMicroelectronics. The STM32 chips are grouped into related series
that are based around the same 32-bit ARM processor core, such as the Cortex-
M7F, Cortex-M4F, Cortex-M3, Cortex-M0+, or Cortex-M0. Internally, each
microcontroller consists of the processor core, static RAM, flash memory,
debugging interface, and various peripherals.
The STM32 is a family of microcontroller ICs based on the 32-
bit RISC ARM Cortex-M7F, Cortex-M4F, Cortex-M3, Cortex-M0+, and Cortex-
M0 cores.[1] STMicroelectronics licenses the ARM Processor IP from ARM
Holdings. The ARM core designs have numerous configurable options, and ST
chooses the individual configuration to use for each design. ST attaches their own
peripherals to the core before converting the design into a silicon die. The following
tables summarize the STM32 microcontroller families.

series

The STM32 family consists of ten series of microcontrollers: H7, F7, F4, F3, F2,
F1, F0, L4, L1, L0,.[1] Each STM32 microcontroller series is based upon either
a Cortex-M7F, Cortex-M4F, Cortex-M3, Cortex-M0+, or Cortex-M0 ARM
processor core. The Cortex-M4F is conceptually a Cortex-M3 [4] plus DSP and
single-precision floating point instructions.[3]

The following Discovery evaluation boards are sold by STMicroelectronics to

provide a quick and easy way for engineers to evaluate their microcontroller chips.
These kits are available from various distributors for less than US$20.
The STMicroelectronics evaluation product licence agreement forbids their use in
any production system or any product that is offered for sale.[61]

Each board includes an on-board ST-LINK for programming and debugging via
a Mini-B USB connector. The power for each board is provided by a choice of the
5 V via the USB cable, or an external 5 V power supply. They can be used as
output power supplies of 3 Vor 5 V (current must be less than 100 mA). All
Discovery boards also include a voltage regulator, reset button, user button,
multiple LEDs, SWD header on top of each board, and rows of header pins on the
bottom.[62]

An open-source project was created to allow Linux to communicate with the ST-
LINK debugger.[63]

ChibiOS/RT, a free RTOS, has been ported to run on some of the Discovery boards

Design utilities

 STM32CubeMX, by STMicroelectronics, a freeware package for Windows,

Mac OS X and Linux that is a graphical software configuration tool that allows
generating C initialization code using graphical wizards. The package was first
release in February 2014 with graphical peripheral allocation support for every
STM32 chip. As of January 2015, the tool supports all STM32 series. It can
generate source code usable directly on the most current ARM Cortex-M IDEs,
including the free System Workbench for STM32 IDE. The source code generated
by STM32CubeMX is licensed under the 3-clause BSD License,[70] making it
suitable for commercial as well as open-source applications. STM32CubeMX is
likely an evolution of the former MicroXplorer tool, because the saved "IOC"
configuration file from STM32CubeMX shows the word "MicroXplorer" in it. A
32-bit Java Runtime Environment (JRE) must be installed prior to running
STM32CubeMX.[71]
 Simulink, by MathWorks provides model-based design solutions to design
embedded systems. The Embedded Coder Support Package for STMicroelectronics
Discovery Boards and the Simulink Coder Support Package for STMicroelectronics
Nucleo Boards provide parameter tuning, signal monitoring and one-click
deployment of Simulink algorithms to STM32 boards with access to peripherals
like ADC, PWM, GPIOs, I²C, SPI, SCI, TCP/IP, UDP, etc.

Debug utilities

 STM-STUDIO, by STMicroelectronics, a freeware package for Windows to

help debug and diagnose STM32 applications while they are running by reading
and displaying their variables in real-time. STM-STUDIO connects to any STM32
using any ST-LINK type of device via JTAG or SWD debug bus protocols. It can
log captured data to a file and replay later. It parses debugging information from the
ELF application executable file. A 32-bit Java Runtime Environment (JRE) must be
installed prior to running STM-STUDIO. The STM32 ST-LINK Utility must be
installed prior to running STM-STUDIO.[71]
 System Workbench for STM32, by Ac6, a freeware IDE running on
Windows, Linux and Mac OS X to develop, debug and diagnose STM32
applications. System Workbench for STM32 can be used to develop on any STM32
using any ST-LINK/V2 type of device via JTAG or SWD debug bus protocols. It is
based on Eclipse and the GNU GCC toolchain and supports out-of-the-box all ST-
provided evaluation boards (Eval, Discovery or Nucleo). A 32-bit Java Runtime
Environment(JRE[71]) will automatically be installed if needed as well as the STM32
ST-LINK driver.
 VisualGDB, by Sysprogs, a debug plugin for Microsoft Visual Studio that
allows developing and debugging STM32 applications.
 EPS Debugger, by Comsytec, a debug plugin for Code::Blocks that includes
compiler, debugger, project wizard for STM32.

Flash programming via USB

 STM32 ST-LINK Utility, by STMicroelectronics, a freeware package for

Windows to perform in-system programming of STM32 microcontrollers using the
USB-based ST-LINK/V2 interface device via JTAG or SWD debug bus protocols.
This software can upgrade the firmware in the ST-LINK device, which includes the
embedded ST-LINK on all of the STM32 DISCOVERY boards. [72] During
installation of this utility, a USB driver is installed to provide a communication
interface with the ST-LINK device, which in turn also allows various IDEs to use
the ST-LINK for debugging.
 ST Visual Programmer (STVP), by STMicroelectronics, a freeware package
for Windows to perform in-system programming of the flash in STM32
microcontrollers using a USB-based ST-LINK device.
 DfuSe, by STMicroelectronics, a freeware package for Windows to load
DFU programs into the flash of USB-based STM32 microcontrollers.
 qstlink2, an open source multi-platform ST-LINK/V2 client, based on QT.
 texane stlink, an opensource ST-LINK/V2 client for linux
 pystlink, an opensource ST-LINK/V2 programmer and debug tool with
simple command-line interface for Linux, Mac OS X and Windows written in
Python 3.

Flash programming via USART

All STM32 microcontrollers have a ROM'ed bootloader that supports loading a

binary image into its flash memory using one or more peripherals (varies by
STM32 family). Since all STM32 bootloaders support loading from the USART
peripheral and most boards connect the USART to RS-232 or a USB-to-
UART adapter IC, thus it's a universal method to program the STM32
microcontroller. This method requires the target to have a way to enable/disable
booting from the ROM'ed bootloader (i.e. jumper / switch / button).
 stm32flash, an open source program for Windows and Linux to perform in-
system programming of the STM32 flash via its USART.
 stm32loader, an open source multi-platform Python script to perform in-
system programming of the STM32 flash via its USART. Python and Python Serial
Port Extension must be installed prior to running stm32loader.

 The amount of documentation for all ARM chips is daunting, especially for
newcomers. The documentation for microcontrollers from past decades would
easily be inclusive in a single document, but as chips have evolved so has the
documentation grown. The total documentation is especially hard to grasp for all
ARM chips since it consists of documents from the IC manufacturer
(STMicroelectronics) and documents from CPU core vendor (ARM Holdings).

 A typical top-down documentation tree is: manufacturer website,

manufacturer marketing slides, manufacturer datasheet for the exact physical chip,
manufacturer detailed reference manual that describes common peripherals and
aspects of a physical chip family, ARM core generic user guide, ARM core
technical reference manual, ARM architecture reference manual that describes the
instruction set(s).

6.4 INTERFACING WITH THE COMPUTER

In the industrial design field of human-machine interaction, the user interface is

where interaction between humans and machines occurs. The goal of interaction
between a human and a machine at the user interface is effective operation and
control of the machine, and feedback from the machine which aids the operator in
making operational decisions.

A user interface is the system by which people (users) interact with a machine. The
user interface includes hardware (physical) and software (logical) components.
User interfaces exist for various systems, and provide a means of:

• Input, allowing the users to manipulate a system,

• Output, allowing the system to indicate the effects of the users' manipulation

After completion of the model of the pick and place AGV and selection of
programming language both should be interfaced. The interfacing of AGV and
computer using the software is the most important thing in the project. It should be
interfaced using trial and error method, and then final movement should be set
using the software’s. The movement of AGV should be precisely managed causing
no harm to the operator, and also the batteries which are to be moved from one
station to another.
Advantages

This advanced project allows a user to control a fire fighter AGV equipped with
water tank and gun remotely wirelessly for extinguishing fires. For this purposes
the system uses an Rf remote for remote operation along with rf receive based
microcontroller circuit for operating the AGVic vehicle and water pump. The rf
based remote transfers users commands through rf signals which are received by
the receiver circuit. The receiver circuit now decodes the data commands sent. It
then forwards it to the microcontroller. Now the microcontroller processes these
instructions and then instructions the vehicle motors to run the vehicle in desired
directions. It also operates the water pump motor and pump direction motor to
spray water based on users commands. This allows the user to operate the AGV and
put off the fire by standing at a safe distance. The AGV operates within a 8 meter
range of the remote.

CONCLUSION

Overall, a fire-fighting AGV that can be controlled from some distance

has been successfully developed. It has advantageous features such as
ability to detect location of fire automatically besides having a compact
body and lightweight structure. QRob also has the ability to avoid
hitting any obstacle or surrounding objects due to its provision of an
ultrasonic sensor. The QRob AGV can be used at a place that has a
small entrance or in small spaces because it has a compact structure.
The operator is able to extinguish fire using remote control from longer
distance. Operators can also monitor the environmental conditions
during the process of firefighting by using the camera that is connected
to the smartphone. From the experimental results, the AGV can sense
smokes and fire accurately in a short time. As a conclusion, the project
entitled “Development of Fire Fighting AGV (QRob)” has achieved its
aim and objective successfully

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