VISVESVARAYA TECHNOLOGICAL UNIVERSITY

Jnana Sangama, Belagavi,Karnataka - 590 018

A Mini Project Report on

"ARDUINO BASED FIRE FIGHTING ROBOT"

Submitted in partial fulfillment of the requirements for the award of the degree of
Bachelor of Engineering
in
Electronics and Communication Engineering
Submitted by

LEKHANRAJ Y N USN:1KI20EC022
NAMITH PRASAD R G USN:1KI20EC025
TEJAS M S USN:1KI20EC041
YADUNANDAN K N USN:1KI20EC043

Under the Guidance of

Prof. RUDRESH M D M.Tech.,(Ph.D.)

Associate Professor,
Dept. of ECE,
K.I.T,Tiptur-572 201.

Department of Electronics and Communication Engineering

Kalpataru Institute of Technology
Tiptur - 572 201.
June 2023
 VISVESVARAYA TECHNOLOGICAL UNIVERSITY
Jnana Sangama, Belagavi-590 018.
KALPATARU INSTITUTE OF TECHNOLOGY
Department of Electronics and Communication Engineering
Tiptur-572 201.

CERTIFICATE
This is to certify that the Mini project work entitled "ARDUINO BASED FIRE
FIGHTING ROBOT" is carried out by LEKHANRAJ Y N (1KI20EC022), NA-
MITH PRASD R G (1KI20EC025), TEJAS M S (1KI20EC041), YADUNAN-
DAN K N(1KI20EC43) , the bonafide students of Kalpataru Institute of Technol-
ogy, Tiptur in partial fulfillment for the award of "Bachelor of Engineering" in depart-
ment of "Electronics and Communication Engineering" of the Visvesvaraya Technolog-
ical University, Belagavi, during the year 2020-2024. It is certified that all the correc-
tions/suggestions indicated for internal assessment have been incorporated in the report
deposited in the department of Electronics and Communication. The Mini project report
has been approved as it satisfies the academic requirements in respect of project work
prescribed for the said degree.

Signature of the Guide Signature of the HOD

Prof. RUDRESH M D M.Tech.,(Ph.D.) Prof. YOGANANDA G S M.Tech.,(Ph.D.)
Associate Professor, Associate Professor and HOD
Dept. of ECE, K.I.T., Tiptur. Dept. of ECE, K.I.T., Tiptur.

Signature of the Principal

Dr. G D GURUMURTHYM.Tech.,Ph.D.
Principal
K.I.T., Tiptur.
External Viva
Name of the examiner Signature with date
1.
2.
 ABSTRACT

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

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

Keywords: Arduino Uno, Flame Sensor, L293 Motor driver, Battery, Wires, B0 mo-
tor and wheels, Water pump, Servo, Mini bread board,MQ2 Gas sensor,SIM800L GSM
Module and Buzzer.

i
 ACKNOWLEDGEMENTS

We wish to express our sincere gratitude to everyone who helped and guided us in com-
pleting the Mini Project work.
We are grateful to Prof. YOGANANDA G S, Associate Professor and Head of the
Department of Electronics and Communication Engineeringfor encouraging us to aim
higher.
We would like to express our gratitude to our Mini Project guide Prof. RUDRESH M D,
Associate Professor in Department of Electronics and Communication Engineering for
constant support and guidance.
We are grateful to our Principal Dr. G D Gurumurthy , at KIT Tiptur and encouraging
us to aim higher.
We are also thankful to all faculty members of the Department of Electronics and Com-
munication Engineering for their assistance and encourage.

LEKHANRAJ Y N(1KI20EC022)
NAMITH PRASAD R G(1KI20EC025)
TEJAS M S (1KI20EC041)
YADUNANDAN K N(1KI20EC043)
 Contents

Abstract i

Acknowledgements

List of Figures

1 INTRODUCTION 1
1.1 OBJECTIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 PROPOSED SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 ORGANIZATION OF THE PROJECT REPORT . . . . . . . . . . . . . 2

2 LITERATURE SURVEY 4

3 SYSTEM DESIGN 8
3.1 METHODOLOGY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2 HARDWARE REQUIREMENTS . . . . . . . . . . . . . . . . . . . . . . 10
3.2.1 Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.2 Arduino UNO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.3 IR Flame Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.4 L293D Motor Driver . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.5 Servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.6 Submersible Water Pump . . . . . . . . . . . . . . . . . . . . . . 12
3.2.7 BO Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2.8 Sim800L GSM Module . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2.9 MQ2 Gas sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2.10 Buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3 SOFTWARE REQUIREMENTS . . . . . . . . . . . . . . . . . . . . . . 13
3.3.1 Arduino IDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4 HARDWARE DESCRIPTION 14
4.0.1 Arduino UNO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.0.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.0.3 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.0.4 Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.0.5 IR Flame Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
 4.0.6 IR Flame sensor Function . . . . . . . . . . . . . . . . . . . . . . 18
4.0.7 IR Flame Sensor Working . . . . . . . . . . . . . . . . . . . . . . 19
4.0.8 Working Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.0.9 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.0.10 Pin configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.1 MQ2 Gas Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.1.1 Pin Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.1.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2 L293D Motor Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.1 L293D Motor Driver Function . . . . . . . . . . . . . . . . . . . . 22
4.2.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.3 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.2.4 L293D Motor Driver working . . . . . . . . . . . . . . . . . . . . 23
4.2.5 Pin Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3 SIM800L GSM Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.3.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.3.2 Pin Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.3.3 Working . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.3.4 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.3.5 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.4 Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.4.1 Servo Motor Specifications . . . . . . . . . . . . . . . . . . . . . . 29
4.4.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.5 Submersible water Pump . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.5.1 Submersible Water Pump Function . . . . . . . . . . . . . . . . . 32
4.5.2 Submersible Water Pump Working . . . . . . . . . . . . . . . . . 32
4.6 BO Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.6.1 BO Motors Features . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.6.2 BO Motor Working . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.6.3 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.7 Buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.7.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.7.2 Working Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.7.3 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

5 SOFTWARE DESIGN 36
5.1 ARDUINO IDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

6 RESULT AND DISSCUTIONS 41

7 ADVANTAGES 43
7.1 DISADVANTAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.2 APPLICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
8 CONCLUSION 45
8.1 FUTURE SCOPE OF THE MINI PROJECT . . . . . . . . . . . . . . . 45

REFERENCES 47
 List of Figures

1.1 Causes of Fire accidents . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

3.1 Flow chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.2 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.1 Arduino UNO board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.2 PIN DIAGRAM OF ATMEGA328 . . . . . . . . . . . . . . . . . . . . . 16
4.3 Architecture of AVR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.4 IR Flame sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.5 MQ2 Gas Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.6 L293D Motor driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.7 SIM800L GSM Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.8 Servo Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.9 Submersible Water Pump . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.10 5v Buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

5.1 Program Compiling using Arduino . . . . . . . . . . . . . . . . . . . . . 37

5.2 Selecting the board from Tools Menu . . . . . . . . . . . . . . . . . . . . 38
5.3 Program for getting SMS and Call from SIM800L GSM module . . . . . 39
5.4 Program for fire Alarm system . . . . . . . . . . . . . . . . . . . . . . . . 40

6.1 Snapshot of Fire Alarm System . . . . . . . . . . . . . . . . . . . . . . . 41

6.2 Snapshot of Fire Detecting System . . . . . . . . . . . . . . . . . . . . . 42
6.3 Working Snapshot of Fire Detecting System . . . . . . . . . . . . . . . . 42
Chapter 1
INTRODUCTION

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

1.1 OBJECTIVE
This section shows the use of a construct called objectives:

• To study a robot which can search, detect and extinguish burnt area immediately
and develop a program using PIC18F4550 to control the movement of the robot.
Besides, lean how to connect microcontroller and GSM modem.

• To design the robot that includes the flame sensor to detect the fire and than send
notification by Short Message Service (SMS).

• To analyze how the robot performance to detect the angle of burnt area in front of
the robot and detecting burnt area in 0m 2m in radius.

1
1.2 PROPOSED SYSTEM
1. The robot detecting burnt area in 0m 2m in radius.

2. Robot detect fire event, and use extinguish to fight the fire source and the modem
connected to the programmable device.

3. The robot can turn 360° and than robot can extinguish fire at angle 30° from the
fire extinguisher nozzle.

4. The robot can extinguish fire from petrol, gasses and electrical appliance.

Figure 1.1: Causes of Fire accidents

1.3 ORGANIZATION OF THE PROJECT REPORT

In this section, a brief preview of the organization of this project report is given. This
project has been divided into 8 chapters as mentioned below:
In chapter 1: Introduction, Objective of the Project have been discussed.

2
In chapter 2: Gives the Literature Survey.
In chapter 3: Provide the System Design for the Air Pollution Monitoring System, Work-
ing of the System and the required Software and Hardware components.
In chapter4: Provides the detailed description of the Hardware Components and Appli-
cations and their characteristics.
In chapter 5: The Software, are discussed.
In chapter 6: Gives the Expected Result of the Project and detailed discussions are done.
In chapter 7: Describe the Advantages, Disadvantages, Applications of the project are
summarized in this chapter.
In chapter 8: The conclusion, Future Scope of the project and the Reference papers that
have been used are mentioned.

3
Chapter 2
LITERATURE SURVEY

Many systems today use the C programming language as it is available for most com-
puters This book looks at how to produce C programs to execute on a PC or a MAC
computer. It also looks at the Arduino UNO micro controller and describes how to write
C programs usng the Arduino ’wired’ C functions as well as using standard ANSI C
with direct access to the micro controller registers of the Ardunio UNO. This can lead
to improved efficiency of the programs. Most of the Hardware available in the Arduino
micro controller is described, and programs provided showing how to control and use
them. There is a chapter on how to create your own programs and also how to change
a program created to execute on the Arduino so that it can run on a different micro
controller, such as the Microchip PIC. This allows the Arduino to be used as a rapid pro-
totype system. The book also contains many working program examples with additional
workshop exercises for the reader to study [1].

The Arduino microcontroller is used in art and design as an open source programmable
tool to create interactive works. It can drive motors, LEDs, sensors and other compo-
nents. Microcontrollers are small computing systems used for low power and low memory
purposes. A microcontroller consists of a microchip on a circuit board with read-write
capabilities, memory, inputs and outputs. While microcontrollers have had a presence
in the arts for decades, the Arduino microcontroller is among the first microcontrollers
specifically designed for artists and designers [2].

In this paper, we analyze the working principle of an arduino. These days many
people try to use the arduino because it makes things easier due to the simplified version
of C++ and the already made Arduino microcontroller(atmega328 microcontroller [1])
that you can programme, erase and reprogramme at any given time. In this paper we

4
will discuss the hardware components used in the arduino board, the software used to
programme it (Arduino board) with the guide on how to write and construct your own
projects, and a couple of examples of an arduino project, This will give you the overall
view of an arduino uno, that after reading this paper you will get the basic concept and
use of an arduino uno [3].

Intermolecular interactions have a critical role in determining the molecular pack-

ing and orientation of conjugated polymers and organic molecules, leading to significant
changes in their electrical and optical properties. Herein, we investigated the effects
of intermolecular interactions of electron-donating small molecules on their structural,
optical, and electrical properties, as well as on their performance in organic field-effect
transistors (OFETs) and organic photovoltaics (OPVs). A series of dithienosilole-based
small molecule donors were synthesized by introducing different terminal groups of ester
and amide groups combined with three different versions of alkyl side chains. In compar-
ison to dithienosilole-based small molecules with ester terminal groups, those with amide
terminal groups exhibit strong intermolecular interaction by hydrogen bonding in a non-
destructive manner. In addition, in order to control the intermolecular distance during
assembly and thus fine-tune the interaction between the small molecule donors, three dif-
ferent alkyl side chains (i.e., n-octyl, n-decyl, and 2-ethylhexyl chains) were introduced
into both small molecules with amide and ester terminal groups. The molecular packing
and orientation of the small molecule donors were dramatically changed upon modifying
the terminal groups and the alkyl side chains, as evidenced by grazing incidence X-ray
scattering (GIXS) measurements. This feature significantly affected the electrical prop-
erties of the small molecules in OFETs. The trends in the activation energies for charge
transport and the hole mobilities in OFETs were consistent with the molecular ordering
and orientation propensity. In addition, the nano-scale morphology of small molecules
blended with [6,6]-phenyl-C61-butyric acid methyl ester (PCBM) was also influenced by
the intermolecular interaction of small molecule donors [4].

Organizations and individuals are increasingly accepting and using the smart home
or smart building applications features. Real-time tracking, remote control, intruder
protection, gas/fire alarm, and as well as other features are common in smart houses
and buildings. In our proposed research work, the major concern is Safety and Security.
Firefighting has always been a risky profession, and there have been numerous tragic

5
casualties due to a lack of technological innovation. Furthermore, firefighting methods
used today are inadequate and inefficient, as they heavily depend on humans who are
susceptible to errors despite their extensive training. A fire extinguishing robot is a tech-
nology that may be used for firefighting [5].

In real life, fire accidents can happen anytime and anywhere that usually hardly
controllable. Fire accidents can damage the buildings, kill human and may cause unpre-
dictable losses. In addition, death not only due to the fire but also from smoke inhalation
and toxic gases. Therefore the fire security is important to human life. Note that the
human is difficult to detect the fire in the location that is hard to reach or see by a
human. Moreover, the human also may take a lot of time to extinguish fire due to the
fact that finding a water source can be troublesome. Therefore, an automatic firefighting
robot has been designed and proposed in this study. This robot used 3 flame sensors to
detect the fire. It also equipped with 3 ultrasonic sensors for obstacle avoiding which
protecting the robot and the internal components from any obstacles. Each sensor on the
robot is controlled by the Arduino. Apart from the sensors, the robot is also equipped
with the water tank that provides water once the fire is detected. The robot will move
randomly in the room when the power is on. When the flame sensors detected the fire,
the robot will move to the fire source and send a warning message to the user. Once the
robot reached the burning area, it will stop at a certain distance and extinguish the fire
by using water [6].

Fire incident is a disaster that can potentially cause the loss of life, property damage
and permanent disability to the affected victim. They can also suffer from prolonged
psychological and trauma. 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. With high barriers and risks in fire extinguishment op-
erations, technological innovations can be utilized to assist firefighting. Therefore, this
paper presents the development of a firefighting robot 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 robot in order to

6
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 sur-
rounding 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 robot by using camera which connects to a smartphone or remote devices [7].

This article proposes an Energy Management System (EMS) for distribution system
with Internet of Things (IoT) framework through hybrid technique. The proposed hy-
brid system is the joint implementation of Deer Hunting Optimization (DHO) and Crow
Search algorithm (CSA) and thus it is known as DHOCSA method. The major purpose
of the proposed work is optimally control that power and distribution system resources
through continuous data monitoring as communication framework depends on IoT. In
the proposed system, the distribution system interconnected with the data acquisition
module, which is IoT object through single IP address that results at mesh wireless
network of devices. The IoT-based communication structure utilized for facilitating the
development of demand response (DR) for the EMS distribution system. This framework
collects the DR from load and broadcast the data to a centralized server. The transmit-
ted data is processed using the DHOCSA technique. In this manner, the IoT distribution
system maximizes that flexibility of network provides optimal utilize of the available re-
sources. Also the proposed system is dependable to satisfy that global supply and energy
demand. Finally, the proposed system performance actualized on MATLAB/Simulink
platform with three test cases and compared with various approaches [8].

terahertz frequency (THz), we have proposed a hollow core photonic crystal fiber
(HC-PCF) to sense chemical. The proposed sensor consists of square shaped air holes in
the cladding region with a dumbbell shaped core which has been used to fill with sample
liquid. A wide range of frequency has been considered to analysis the performance of
the sensor in term of relative sensitivity, effective material loss, confinement loss and
effective mode area. Finite element method (FEM) has used to design and analysis
numerically the optical parameters of our proposed HC-PCF sensor. To optimize the
fabrication tolerance and sensing performance of the proposed sensor, square shaped air
holes length, strut and core size has been also studied. Maximum relative sensitivity of
96.25[9].

7
Chapter 3
SYSTEM DESIGN

A fire fighter’s work entails detecting and extinguishing fires. In this rapidly evolving
technological age, the world is gradually moving toward automated systems. Firefighters,
on the other hand, are often in danger of losing their lives. The majority of the deaths
were caused by toxic gases found in the firefighting environment. As a result, in order to
resolve these issues, our system was developed.

3.1 METHODOLOGY
There are many sections in the development of designing autonomous robot. These
sections can be simplified using methodic approach. Figure show the block diagram for
this robot. This block diagram shows how Autonomous fire fighter robot implements.
Sensors use as input and this input control by programming in PIC helped by SK40C
board and additional circuit. With this input, main board set the references and uses
this data to applying it at output where the output is brushless motor, actuator and
message notification from GSM modem.

8
Figure 3.1: Flow chart

9
 Figure 3.2: Block diagram

3.2 HARDWARE REQUIREMENTS

3.2.1 Microcontroller

Microcontroller can be described as a computer embedded on a rather small circuit board.

To describe the function of a microcontroller more precisely it is a single chip that can
perform various calculations and task and send/receive signals from other devices via the
available pins. Precisely what tasks and communication with the world it does, is what
is governed by what instructions we give to the Microcontroller. It is this job of telling
the chip what to do, is what we refer to as programming on it.
However, the microcontroller by itself, cannot accomplish much, it needs several external
inputs, power, for one, a steady clock signal, for another. Also, the job of programming
it has to be accomplished by an external circuit. So typically, a microcontroller is used
along with a circuit which provides these things to it; this combination is called a micro-
controller board. The Arduino Uno that you have received is one such microcontroller

10
board. The actual microcontroller at its heart is the chip called Atmega328. The ad-
vantages that Arduino offers over other microcontroller boards are largely in terms of
reliability of the circuit hardware as well as the ease of programming and using it

3.2.2 Arduino UNO

shows the Arduino UNO board. It is basically a micro-controller kit that is used to get
data from peripheral devices (sensors, motors, etc.). The Arduino UNO Micro-controller
board is based on the ATmega328P IC. The ATmega328P is good platform for robotics
application which makes robot to extinguish fire in real time. Arduino UNO board con-
sist the sets of digital and analog pins that may act as an interface to various expansion
boards and other circuits. It contains everything needed to support the microcontroller.

3.2.3 IR Flame Sensor

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

3.2.4 L293D Motor Driver

shows the L293D Motor Driver. L293D is a Motor Driver or Motor Driver IC which is
responsible for the movement of DC motor on either direction. L293D is a 16-pin IC
through which we are able to run two DC motors simultaneously in any direction.

3.2.5 Servo motor

It is a rotator device that allows the control of angular as wellas linear motion. A servo
motor is used for the opening and closing of the gate. Servo drive transmits electrical
signals to the servo motor for producing motion.

11
3.2.6 Submersible Water Pump

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

3.2.7 BO Motors

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

3.2.8 Sim800L GSM Module

The SIM800L is a GSM module from Simcom that gives any microcontroller GSM func-
tionality, meaning it can connect to the mobile network to receive calls and send and
receive text messages, and also connect to the internet using GPRS, TCP, or IP. Another
advantage is that the board makes use of existing mobile frequencies, which means it can
be used anywhere in the world.

3.2.9 MQ2 Gas sensor

Sensors are the electronic devices used for interaction with the outer environment. There
are various types of sensors available that can detect light, noise, smoke, proximity etc. . .
With the advent in technology, these are available as both analog and digital forms.
Besides forming a communication with the outer environment, sensors are also a crucial
part of safety systems. Fire sensors are used to detect the fire and take appropriate
precautions on time. For smooth functioning of control systems and sensitive electronics,
humidity sensors are used for maintaining humidity in the unit. One of such sensor used
in safety systems to detect harmful gases is MQ2 Gas sensor.

12
3.2.10 Buzzer

There are many ways to communicate between the user and a product. One of the best
ways is audio communication using a buzzer IC. So during the design process, under-
standing some technologies with configurations is very helpful. So, this article discusses
an overview of an audio signaling device like a beeper or a buzzer and its working with
applications.

3.3 SOFTWARE REQUIREMENTS

3.3.1 Arduino IDE

The Arduino Integrated Development Environment (IDE) is a cross-platform Application

(for Windows , MACOS, and Linux) that is written in functions from C and C++. It
is used to write and upload programs to Arduino compatible boards and it supplies
a software library from the Wiring project, Which provides many common input and
output procedures.

13
Chapter 4
HARDWARE DESCRIPTION

To be used efficiently, all computer software needs certain hardware components or other
software resources to be present on a computer. These prerequisites are known as system
requirements and are often used as a guideline as opposed to an absolute rule.

4.0.1 Arduino UNO

Figure 4.1: Arduino UNO board

The Atmel 8-bit AVR RISC-based microcontroller combines 32 KB ISP flash memory
with read-while-write capabilities, 1 KB EEPROM, 2 KB SRAM, 23 general purpose I/O
lines, 32 general purpose working registers, three flexible timer/counters with compare

14
modes, internal and external interrupts, serial programmable USART, a byte oriented 2-
wire serial interface, SPI serial port, 6-channel 10-bit A/D converter (8-channels in TQFP
and QFN/MLF packages), programmable watchdog timer with internal oscillator, and
five software selectable power saving modes. The device operates between 1.8-5.5 volts.
The device achieves throughputs approaching 1 MIPS.

4.0.2 Applications

Today the ATmega328 is commonly used in many projects and autonomous systems
where a simple, low-powered, low-cost micro-controller is needed. Perhaps the most
common implementation of this chip is on the popular Arduino development platform,
namely the Arduino Uno and Arduino Nano models.

4.0.3 Features

• 28-pin AVR Microcontroller.

• Flash Program Memory: 32 kbytes.

• EEPROM Data Memory: 1 kbytes.

• SRAM Data Memory: 2 kbytes.

• I/O Pins: 23

• Timers: Two 8-bit / One 16-bit.

• A/D Converter: 10-bit Six Channel.

• PWM: Six Channels.

• RTC: Yes with Separate Oscillator.

• SPI and I²C Master and Slave Support.

• USART: Yes.

• External Oscillator: up to 20MHz.

The Atmega328 is a very popular microcontroller chip produced by Atmel. It is an

8-bit microcontroller that has 32K of flash memory, 1K of EEPROM, and 2K of internal
SRAM.

15
The Atmega328 is one of the microcontroller chips that are used with the popular Ar-
duino Duemilanove boards. The Arduino Duemilanove board comes with either 1 of 2
microcontroller chips, the Atmega168 or the Atmega328. Of these 2, the Atmega328 is
the upgraded, more advanced chip. Unlike the Atmega168 which has 16K of flash pro-
gram memory and 512 bytes of internal SRAM, the Atmega328 has 32K of flash program
memory and 2K of Internal SRAM.

The Atmega328 has 28 pins, It has 14 digital I/O pins, of which 6 can be used as
PWM outputs and 6 analog input pins. These I/O pins account for 20 of the pins

Figure 4.2: PIN DIAGRAM OF ATMEGA328

16
4.0.4 Architecture

Figure 4.3: Architecture of AVR

The advanced version of a microprocessor is a microcontroller that includes a CPU, In-

terrupts controller, RAM, ROM, I/O unit, etc. A microcontroller is mainly used for the
operation of high-speed signal processing in an embedded system. So it performs like
a major component while designing an embedded system. There are different kinds of
microcontrollers available which are used based on requirements like 8051, PIC, AVR,
etc. So this article gives brief information on one of the types of microcontrollers namely
the AVR microcontroller.
AVR microcontroller was manufactured by Atmel Corporation in 1996 and its architec-
ture was developed by “Alf-Egil Bogen Vegard Wollan. The name of this microcontroller
was taken from its developers namely Alf-Egil Bogen Vegard Wollan RISC microcon-
troller. The first microcontroller based on AVR architecture is AT90S8515 but the first
commercial microcontroller was AT90S1200.

17
4.0.5 IR Flame Sensor

A flame sensor module that consists of a flame sensor (IR receiver), resistor, capacitor,
potentiometer, and comparator LM393 in an integrated circuit. It can detect infrared
light with a wavelength ranging from 700nm to 1000nm.The far-infrared flame probe
converts the light detected in the form of infrared light into current changes. Sensitivity
is adjusted through the onboard variable resistor with a detection angle of 60 degrees.
Working voltage is between 3.3v and 5.2v DC, with a digital output to indicate the
presence of a signal. Sensing is conditioned by an LM393 comparator.

4.0.6 IR Flame sensor Function

A flame detector 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 detector can
often respond faster and more accurately than a smoke or heat detector due to the
mechanisms it uses to detect the flame.

18
 Figure 4.4: IR Flame sensor

4.0.7 IR Flame Sensor Working

A sensor which is most sensitive to a normal light is known as a flame sensor. That’s
why this sensor module is used in flame alarms. This sensor detects flame otherwise
wavelength within the range of 760 nm – 1100 nm from the light source. This sensor
can be easily damaged to high temperature. So this sensor can be placed at a certain
distance from the flame. The flame detection can be done from a 100cm distance and
the detection angle will be 600. The output of this sensor is an analog signal or digital
signal. These sensors are used in fire fighting robots like as a flame alarm.

4.0.8 Working Range

A sensor which is most sensitive to a normal light is known as a flame sensor. That’s
why this sensor module is used in flame alarms. This sensor detects flame otherwise
wavelength within the range: of 760 nm – 1100 nm from the light source. This sensor
can be easily damaged to high temperature. So this sensor can be placed at a certain
distance from the flame. The flame detection can be done from a 100cm distance and
the detection angle will be 600. The output of this sensor is an analog signal or digital
signal. These sensors are used in fire fighting robots like as a flame alarm.

19
 • Voltage supply rages: from 3.3V to 5.3V

4.0.9 Applications

• Hydrogen stations.

• Gas-fueled cookers.

• Industrial heating and drying systems.

• Domesic heating systems.

• Industrial gas turbines.

4.0.10 Pin configuration

• VCC Power Supply +5v

• GND Power Supply Ground

• OUTPUT Active High Output

4.1 MQ2 Gas Sensor

Figure 4.5: MQ2 Gas Sensor

This sensor contains a sensing element, mainly aluminium-oxide based ceramic, coated
with Tin dioxide, enclosed in a stainless steel mesh. Sensing element has six connecting

20
legs attached to it. Two leads are responsible for heating the sensing element, the other
four are used for output signals.
Oxygen gets adsorbed on the surface of sensing material when it is heated in air at high
temperature. Then donor electrons present in tin oxide are attracted towards this oxy-
gen, thus preventing the current flow.
When reducing gases are present, these oxygen atoms react with the reducing gases
thereby decreasing the surface density of the adsorbed oxygen. Now current can flow
through the sensor, which generated analog voltage values.

4.1.1 Pin Configuration

1. Vcc: This pin powers the module, typically the operating voltage is +5V.

2. Ground: Used to connect the module to system ground.

3. Digital Out: You can also use this sensor to get digital output from this pin, by
setting a threshold value using the potentiometer.

4. Analog Out: This pin outputs 0-5V analog voltage based on the intensity of the
gas.

4.1.2 Applications

• These sensors are used to detect the presence of gases in the air such as methane,
butane, LPG and smoke but they are unable to distinguish between gases. Thus,
they cannot tell which gas it is.

• Module version of this sensor can be used without interfacing to any microcontroller
and is useful when detecting only one particular gas. This can only detect the gas.
But if ppm has to be calculated then the sensor should be used without module.

• This sensor is also used for Air quality monitoring, Gas leak alarm and for main-
taining environmental standards in hospitals. In industries, these are used to detect
the leakage of harmful gases.

21
 • Some of the alternatives of the MQ2 gas sensor are MQ-6, M-306A, AQ-3 sensors.

4.2 L293D Motor Driver

shows the L293D Motor Driver. L293D is a Motor Driver or Motor Driver IC which is
responsible for the movement of DC motor on either direction. L293D is a 16-pin IC
through which we are able to run two DC motors simultaneously in any direction.

4.2.1 L293D Motor Driver Function

L293d IC is known as a motor driver. It is a low voltage operating device like other ICs.
The other ICs could have the same functions like L293d but they cannot provide the high
voltage to the motor. L293d provides the continuous bidirectional Direct Current to the
Motor. The Polarity of current can change at any time without affecting the whole IC or
any other device in the circuit. L293d has an internal H-bridge installed for two motors.

4.2.2 Applications

• It could be used to control stepper and DC motor direction and Speed.

• Due to a separate power supply for the motor, it could be used in small children’s
cars, street racing cars, or robots.

• It could be used for latching relay drive.

4.2.3 Features

• L293d could be used to control the two motors at the same time.

• It has the ability to control the speed by using the enable pin.

• The direction is also easy to change.

• Voltage supply range is higher than other IC. Voltage range between 4.5-36 volts
can easily handle by the IC to the motor.

• The motor has a maximum continuous range of current close to 600mA but the
maximum peak current range is 1.2A.

22
 • It has an automatic shutdown system on thermal condition. Its working range is
from 0 – 70 degree which is much higher for any small-sized IC.

4.2.4 L293D Motor Driver working

A motor driver is basically a current amplifier which takes a low-current signal from the
microcontroller and gives out a proportionally higher current signal which can control
and drive a motor. In most cases, a transistor can act as a switch and perform this
task which drives the motor in a single direction Turning a motor ON and OFF requires
only one switch to control a single motor in a single direction. What if you want your
motor to reverse its direction? The simple answer is to reverse its polarity. This can be
achieved by using four switches that are arranged in an intelligent manner such that the
circuit not only drives the motor but also controls its direction. Out of many, one of the
most common and clever designs is an H-bridge circuit where transistors are arranged in
a shape that resembles the English alphabet “H”.

4.2.5 Pin Configuration

• Pin1 (Enable):Pin 1 is known as the enable pin. It has a major effect on Input and
output. If there is High logical signal on enable pin (EN) then there will be input
and output between pin 2,3,6 7 (Input 1, Output 1, Input 2 Output 2)

• Pin2 (Input 1):Mostly input means where we provide the input to give the output.
But here Input 1 means which polarity we want to give at Output 1.

• Pin3 (Output 1):Output 1 is the input of the first motor/Motor 1. It attaches to

its one end.

• Pin4 (Ground):The ground pin will attach to the ground of the circuit.

• Pin5 (Ground):The ground pin will be attached to the ground, and it will remain
common with the previous ground.

• Pin6 (Output 2):Output 2 will attach to the input of the first motor/Motor 1. It
will attach to its second end.

• Pin7 (Input 2):Input 2 will attach to the control button or device to control the
Output 2 just like Input 1.

23
• Pin8 (Vcc):Pin8 is the voltage pin for Motor. It will device how much power we
are going to attach the Motor. This Power should not be more than 36 volts and
should not be less than 4.5 volts.

• Pin9 (Enable):Pin 9 is also the same as Pin 1. It controls the input and output
signals. Pin 9 Controls the connection between Input 3, Input 4, Output 3 and
Output 4. It also enables the connection when the logic signal will be High (1).

• Pin10 (Input 3):Input 3 will control the output polarity of the Pin 11 (Output 3)
by logic signals.

• Pin11 (Output 3):Output 3 will be connected to the one end of the second motor.

• Pin 12 (Ground):Pin 12 will attach to the common ground with all other grounds.

• Pin13 (Ground):Pin 13 will also be attached to the common ground with all other
grounds.

• Pin14 (Output 4):Pin 14 will attach to the second end of the second motor.

• Pin15 (Input 4):Pin 15 will control the output polarity of the Pin 14 (Output 4)
by logic signals.

• Pin16 (Vcc):Pin 16 will the Power we will provide to the L293D to activate it or to
turn it on. The power level of Pin 16 should be 4.5 – 7Volts. Voltage more than 7
will burn the IC.

Figure 4.6: L293D Motor driver

24
4.3 SIM800L GSM Module
SIM800L GSM/GPRS module is a miniature cellular GSM modem from Simcom, which
can easily interface with any microcontroller to give the microcontroller GSM function-
ality, and allows for GPRS transmission. This module connects the microcontroller to
the mobile network to make or receive phone calls, send or receive SMS (text messages),
and connect to the internet using GPRS, TCP, or IP. Another advantage is It supports
quad-band GSM/GPRS network, which means it can work anywhere in the world. These
important functionalities as well as the low cost and small footprint make this module
more perfect for any project where long-range connectivity is required and also it can be
integrated into a great number of IoT projects.

4.3.1 Specifications

1. IC Chip: SIM800L GSM cellular chip

2. Operating Voltage range: 3.4V 4.4V.

3. Recommended supply voltage: 4V

4. Peak Current: 2 A

5. Power consumption: Sleep mode < 2.0mA Idle mode < 7.0mA GSM transmission
(avg): 350 mA GSM transmission (peek): 2000mA

6. Supported frequencies: 2G Quad Band (850 / 950 / 1800 /1900 MHz)

7. Transmit Power: Class 4 (2W) for GSM850 Class 1 (1W) for DCS1800

8. Interface: UART (max. 2.8V) and AT commands

9. SIM card socket: Micro SIM card socket

10. Network Status Indicator: LED

11. Antenna connector:U.FL connector and Header Pin

12. Working temperature range: -40 to + 85 ° C

13. Module size:25 x 23 mm

25
4.3.2 Pin Configuration

Figure 4.7: SIM800L GSM Module

• NET: The NET pin is used to attach an external antenna. Where we can solder
Helical Antenna which comes along with the module.

• VCC: The VCC pin is used to supply the positive (+) voltage to the module.
Power supply 3.4V to 4.4V with min 2 Amp required to work the module finely.
Remember, never connect it to a 5V power supply, which can destroy your module.
Also, It doesn’t work on a 3.3 V power supply.

• RST: This pin is a hard reset pin. Pulling this pin low for 100 ms to perform hard
reset of the module.

• RXD(Receiver): RX pin is used for Serial communication.

• TXD(Transmitter): TX pin is used for Serial communication.

• GND: This is the Ground Pin of the module that needs to be connected to the
GND pin on the microcontroller.

• SPK±: SPK + and SPK – is a differential speaker interface. The two pins of a
speaker can be connected to these two pins. The positive pin of the speaker is
connected to the SPK+ pin and the negative Pin to the SPK-.

26
 • MIC±: MIC+ and MIC- pins are differential microphone inputs. The two pins of
the microphone can be connected to these pins. The positive pin of the microphone
is connected to the MIC+ pin and the negative Pin to the MIC-.

• DTR: Pulling this pin HIGH to activate sleep mode. In sleep mode, the module
disables serial communication. Pulling it LOW to deactivate sleep mode, means
the module wakes up.

• RING: The RING pin acts as a Ring Indicator, which is used in detecting calls and
SMS. Basically, this is the ‘interrupt’ out pin from the module. It is by-default
high, but when a call is received it gives a LOW pulse for 120ms. Also, it can be
configured to pulse when an SMS is received.

4.3.3 Working

• LED Status Indicators On the topmost right corner side of the SIM800L Module,
we can see an LED that indicates the status of your cellular network. After applying
the power supply to the module the LED will blink at three different ratios, which
shows three different statuses of your cellular network.

• Blink every 1s: When the LED Blinking with a delay of 1s, then it indicates that the
GSM module is running but it hasn’t made the connection to the cellular network
yet.

• Blink every 2s: When the LED Blinking with a delay of 2s, then it indicates that
The GPRS data connection you requested is active.

• Blink every 3s: When the LED Blinking with a delay of 2s, then it indicates
that the module has made contact with the cellular network and it is ready to
transmit/receive voice and SMS.

• Antennas An antenna is a vital part of the module, it is used for voice or data
communications as well as some SIM commands. SIM800l GSM/GPRS module
provides two ways to connect Antennas. There are two types of antennas that
can connect to the module one is a Helical GSM antenna and another one is PCB
Antenna.

27
 • Helical GSM Antenna The Helical GSM antenna is made of wire, which usually
comes with the module. It can be soldered directly to the NET pin on PCB. This
type of antenna is very useful in narrow space projects.

• PCB Antenna We can see a U.FL male connector present at the top-left corner of
the module, which is used to connect the PCB antenna. This antenna has better
performance and allows you to put your module inside a metal case – as long the
antenna is outside.

• Micro-SIM socket On the backside of the module, a SIM socket is available, where
we can insert an activated 2G micro-SIM card that would work perfectly. When we
insert a SIM card into the socket we must ensure that the notch point will upwards.
Normally the symbol of the SIM card is engraved on the surface of the SIM socket
that helps us to identify the correct direction of SIM inserting.

4.3.4 Features

• Receive and make calls using the external speaker and electret microphone.

• Receive and send SMS/ Text messages.

• Send and receive GPRS data (TCP/IP, HTTP, etc.).

• Scan and receive FM radio broadcasts.

• GPRS multi-slot class12 connectivity: max. 85.6kbps(download/upload).

• GPRS mobile station class B.

• Controlled by AT Command (3GPP TS 27.007, 27.005 and SIMCOM enhanced AT

Commands).

• Supports Real-Time Clock.

• Supports A-GPS.

• Low power consumption, 1mA in sleep mode.

28
4.3.5 Applications

• Home automation.

• Emergency systems.

• Remote sensing.

• Communication.

4.4 Servo Motors

A servo motor is an electrical device which can push or rotate an object with great
precision. If you want to rotate and object at some specific angles or distance, then you
use servo motor. If motor is used is DC powered then it is called DC servo motor, and if
it is AC powered motor then it is called AC servo motor. We can get a very high torque
servo motor in a small and light weight packages. Due to these features they are being
used in many applications like toy car, RC helicopters and planes, Robotics, Machine
etc. Servo motor is controlled by PWM (Pulse with Modulation) which is provided by
the control wires. There is a minimum pulse, a maximum pulse and a repetition rate.
Servo motor can turn 90 degree from either direction form its neutral position. The servo
motor expects to see a pulse every 20 milliseconds (ms) and the length of the pulse will
determine how far the motor turns. For example, a 1.5ms pulse will make the motor turn
to the 90° position, such as if pulse is shorter than 1.5ms shaft moves to 0° and if it is
longer than 1.5ms than it will turn the servo to 180°.

4.4.1 Servo Motor Specifications

• Weight: 55g.

• Dimension: 39.5mm x 20.5mm x 40.7mm.

• Stall Torque: 9.4kg/cm (4.8v); 11kg/cm (6v).

• Op. speed: 0.20sec/60degree (4.8v); 0.16sec/60degree (6.0v).

• Operating voltage: 4.8 6.6v.

• Gear Type: Metal gear.

29
 • Temperature range: 0- 55deg.

• Servo wire length: 30cm.

Introduction of the Pins

• Brown: Ground wire connected to the ground of system.

• Red: Powers the motor typically +5V is used.

• Orange: PWM signal is given in through this wire to drive the motor.

Working Principle of Servo Motor

A servo motor is an electromechanical device that produces torque and velocity based
on the supplied current and voltage. A servo motor works as part of a closed loop
system providing torque and velocity as commanded from a servo controller utilizing
a feedback device to close the loop. The feedback device supplies information such as
current, velocity, or position to the servo controller, which adjusts the motor action
depending on the commanded parameters.Servo motors are available in an extensive
variety of types, shapes and sizes. The term servo was first used in 1859 by Joseph
Facort, who implemented a feedback mechanism to assist in steering a ship with steam
to control the rudders. A servo motor is part of a servo mechanism consisting of three key
elements – a motor, a feedback device, and control electronics. The motor can be AC or
DC, brushed or brushless, rotary or linear, and of any size. The feedback device can be
a potentiometer, Hall-effect device, tachometer, resolver, encoder, linear transducer, or
any other sensor as appropriate. Completing the servo system is the control electronics
that powers the motor and compares the feedback data and command reference to verify
that the servo motor is operating as commanded. There are many types of servo motor
applications, from simple DC motors used in hobby applications (such as model airplanes)
to sophisticated brushless motors driven by complex motion controllers used for multi
axis machining centers. One example of a common servo mechanism is a vehicle cruise
control that consists of an engine (the motor), a speed sensor (feedback), and electronics
to compare the vehicle speed with the set speed. If the vehicle slows down, the sensor
feeds this data to the electronics which, in turn, increases the gas to the engine to step
up the speed to the desired set point – a simple closed loop system.

30
4.4.2 Applications

• The servo motor is used in robotics to activate movements, giving the arm its
precise angle.

• These are used to start, move, and stop-conveyor belts carrying the product along
with many stages. For instance, product labeling, bottling, and packaging.

• The servo motor is built into the camera to correct the lens of the camera to improve
out-of-focus images.

• This motor is used in a robotic vehicle to control the robot wheels, Producing plenty
of torque to move, start and stop the vehicle and control its speed.

• These are also used in the solar tracking system to correct the angle of the panel
so that each solar panel stays to face the sun. In addition, These are also used in
metal forming and cutting machines to deliver specific motion control for milling
machines.

• Servo motor is used in Textiles to control spinning and weaving machines, knitting
machines, and looms.

• The servo motor is used in automatic door openers to control the door in public
places like supermarkets, hospitals, and theatres.

• In Automobiles, servomechanism is used in power steering, braking system, and

cruise (speed) control.

Figure 4.8: Servo Motor

31
4.5 Submersible water Pump
A submersible pump (or electric submersible pump (ESP)) is a device which has a hermet-
ically sealed motor close-coupled to the pump body. The whole assembly is submerged
in the fluid to be pumped. The main advantage of this type of pump is that it pre-
vents pump cavitation, a problem associated with a high elevation difference between the
pump and the fluid surface. Submersible pumps push fluid to the surface, rather than jet
pumps, which create a vacuum and rely upon atmospheric pressure. Submersibles use
pressurized fluid from the surface to drive a hydraulic motor downhole, rather than an
electric motor, and are used in heavy oil applications with heated water as the motive
fluid.

4.5.1 Submersible Water Pump Function

A pump is a mechanical device used to move fluids from one location to another. At
DTR Services, we provide new pumps in Lethbridge, as well as pump service and repair.
We know that, in certain situations, our clients may need a type of pump known as a
submersible pump. Here’s a closer look at what exactly a submersible pump is, how it
functions, and what its uses are

4.5.2 Submersible Water Pump Working

In submersible pumps, the sealed motor turns an impeller, which is enclosed in the pump
housing. The pump may include an intake screen, which filters out anything that is too
large to pump. As the impeller rotates, pressure pushes the media into the pump inlet
and the impeller accelerates the fluid and forces it into the discharge line.

Applications

• Pumping water from flooded basements.

• Pumping sewage out of septic tanks.

• Powering industrial and agricultural irrigation systems.

• Pumping water from flooded areas at construction sites.

• Pumping oil out of the ground into above-ground treatment and holding facilities.

32
 • Pumping water from wells deep underground into above-ground holding tanks

Figure 4.9: Submersible Water Pump

4.6 BO Motors
BO Motor is a dual shaft motor having 300rpm.It converts electrical energy into mechan-
ical energy. It is the replacement to our metal gear DC motors. Our robot uses four dual
shaft motors.

4.6.1 BO Motors Features

• Working voltage : 3V to 9V

• Compatible wheel available as optional item

• 40gm weight

• same size motor available in various rpm

• 4.2 Kgf.cm torque

• No-load current = 60 mA, Stall current = 700 mA

4.6.2 BO Motor Working

DC motor (BO) Battery Operation. Dc motor converts electrical energy into mechanical
energy. Why DC gear motor used in robot Motor control circuit. DC MOTOR concept
is where gears reduce the speed of the vehicle but increase its torque is known as gear
reduction. In DC motor is assembled with multiple gear setup. Speed of motor is counted
in terms of rotations of the soft per minute is called RPM. RPM means Revolution Per

33
Minute. The setup assemble helps to increasing the torque and reduce the motor speed.
All micro-controller based Robots this type of DC motor can be used.00 RPM low cost
single shaft straight DC gear motor. Most suitable for light weight robot. Motor runs
smoothly for 2V to 12 VDC and gives wide range of RPM and Torque.

4.6.3 Applications

• The BO Motor by Ansoz is used in Science Projects, Robotics, Arduino program-

ming, Project Design, IOT, Science Exhibition, Do it yourself (DIY), Embedded
Systems, Training, Experiments, Robot Making, Atal Tinkering Lab (ATL Lab),
Engineering Projects, Diploma Projects, Science Models, RaspberyPi, AR-VR ap-
plications, Artificial Intelligence (AI) and other working models.

4.7 Buzzer
An audio signaling device like a beeper or buzzer may be electromechanical or piezoelec-
tric or mechanical type. The main function of this is to convert the signal from audio to
sound. Generally, it is powered through DC voltage and used in timers, alarm devices,
printers, alarms, computers, etc. Based on the various designs, it can generate different
sounds like alarm, music, bell siren.

Figure 4.10: 5v Buzzer

4.7.1 Specifications

• The frequency range is 3,300Hz.

• Operating Temperature ranges from – 20° C to +60°C.

• Operating voltage ranges from 3V to 24V DC.

34
 • The sound pressure level is 85dBA or 10cm.

• The supply current is below 15mA.

4.7.2 Working Principle

The working principle of a buzzer depends on the theory that, once the voltage is given
across a piezoelectric material, then a pressure difference is produced. A piezo type in-
cludes piezo crystals among two conductors.
Once a potential disparity is given across these crystals, then they thrust one conductor
drag the additional conductor through their internal property. So this continuous action
will produce a sharp sound signal.

4.7.3 Applications

• Communication Devices.

• Electronics used in Automobiles.

• Alarm Circuits.

• Portable Devices.

• Security Systems.

• Timers.

• Household Appliances.

• Electronic Metronomes.

• Sporting Events.

35
Chapter 5
SOFTWARE DESIGN

Arduino is an open-source electronics platform based on easy-to- use hardware and soft-
ware. Arduino boards are able to read inputs-light on a sensor, a finger on a button,
or a Twitter message- and turn it into an output-activating a motor, turning on an
LED, publishing something online. You can tell your board what to do by sending a
set of instructions to the microcontroller on the board. To do so you use the Arduino
programming language (based on Wiring), and the Arduino software (IDE), based on
Processing.

5.1 ARDUINO IDE

The Arduino software is easy-to-use for beginners, yet flexible enough for adavanced us-
esr. It runs on Mac, Windows, and Linux. Teachers and students use it to build low cist
scientific instruments, to prove chemistry and physics principles, or to get started with
programming and robotics. Designers and architects build interactive prototypes, musi-
cians and artists use it for installations and to experiment with new musical instruments.
Makers, of course, use it to build many of the projects exhibited at the Maker Faire,
for example Arduino is a key tool to learn new things .Anyone – children, hobbyists,
artists, programmers- can start tinkering just following the step by step instructions of
akit, or sharing ideas online with others members of the Arduino community.There are
many other microcontrollers and microcontroller platforms available for physical com-
puting parallax Basic Stamp, Net media’s BX-24, Phidgets , MIT’s Handy board, and
many others offer similar functionality.[5] All of these tools take the messy details of mi-
crocontroller programming wrap it up in an easy- to –use package. Arduino alsosimplifies
the process of working with microcontrollers, but it offers some advantage for teachers,
students, and interested armatures over other systems: Inexpensive – Arduino boards are

36
relatively inexpensive compared to other microcontroller platforms.[6] The least expen-
sive version of the Arduino module can be assembled by hand, and even the preassembled
Arduino modules cost less.

Figure 5.1: Program Compiling using Arduino

37
Figure 5.2: Selecting the board from Tools Menu

38
Figure 5.3: Program for getting SMS and Call from SIM800L GSM module

39
Figure 5.4: Program for fire Alarm system

40
Chapter 6
RESULT AND DISSCUTIONS

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

Figure 6.1: Snapshot of Fire Alarm System

41
 Figure 6.2: Snapshot of Fire Detecting System

Figure 6.3: Working Snapshot of Fire Detecting System

42
Chapter 7

ADVANTAGES

We all know that as a fully Autonomous Fire Fighting Robot among special robots,
it has the functions of explosion-proof, waterproof, anti-overturning, obstacle-crossing,
and wading, etc., which can replace firefighters to enter the most dangerous flammable,
explosive, toxic, dense smoke, etc. Perform tasks such as detection, search and rescue, and
fire extinguishing, collect images, and transmit data at the scene of dangerous disaster
accidents. Whether it is a high-rise building or a mountain fire, it can play an important
role.
In recent years, the continuous breakthrough of various intelligent technologies has
made the development of robots very rapid. From the industrial field to the service field
to the special field, the application of robots is becoming more and more extensive, the
market scale is growing, and the types are becoming more and more abundant. Among
them, it as a kind of special robots, are widely used in oil and gas, poisonous gas leaks
and explosions, tunnels, subway collapses and other disasters.

• Keep Life Safe:

As a lifeless robot, fire fighting robots can fully play their role in various dangerous
and complex environments such as high temperature, toxic, hypoxia, and dense
smoke, and greatly reduce the casualties of firefighters.

• Reusability:

As a special equipment, fire-fighting robots can be used repeatedly to exert their

effectiveness while being carefully maintained.

• Artificial Intelligence:

43
 Fire fighting robots are a combination of high-end disciplines such as artificial
intelligence, neural networks, computer technology, automatic control, power elec-
tronics, fuzzy control and machinery industry. As a special type of robot, the
fire-fighting robot is a combination of various high-tech achievements.

7.1 DISADVANTAGES
• High initial costs and investment for buying, installing, and configuring robots.

• Increased need for skilled labor to maintain and operate robots.

• Reassignment of workers who may lose their jobs or need to learn new skills.

• Lack of safety and human oversight in some cases. Process limitations and difficul-
ties in modifying robots for different tasks.

7.2 APPLICATIONS
• Providing safe interior fire operations on large commercial fires.

• Tackling blazes on wood-framed structures under construction.

• Establishing a structural defense against wildfires.

• Completing the rescue of large animals Helping to extinguish fuel tanker fires.

44
Chapter 8

CONCLUSION

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

8.1 FUTURE SCOPE OF THE MINI PROJECT

The project has been motivated by the desire to design a system that can detect fires
and take appropriate action, without any human intervention. The development of sen-
sor networks and the maturity of robotics suggests that we can use mobile agents for
tasks that involve perception of an external stimulus and reacting to the stimulus, even
when the reaction involves a significant amount of mechanical actions. This provides us
the opportunity to pass on to robots tasks that traditionally humans had to do but were
inherently life- threatening. Fire-fighting is an obvious candidate for such automation.
Given the number of lives lost regularly in fire- fighting, the system we envision is crying
for adoption. Our experience suggests that designing a fire-fighting system with sensors
and robots is within the reach of the current sensor network and mobile agent technolo-
gies. Furthermore, we believe that the techniques developed in this work will carry over

45
to other areas involving sensing and reacting to stimulus, where we desire to replace the
human with an automated mobile agent. However, there has been research on many of
these pieces in different contexts, e.g. coordination among mobile agents, techniques for
detecting and avoiding obsta cles, on-thefly communication between humans and mobile
agents, etc. It will be both interesting and challenging to put all this together into a
practical, autonomous fire-fighting service.

46
 REFERENCES

[1] P. D. Minns, C Programming for the PC the MAC and the Arduino Microcontroller
System. Author House, 2013.

[2] A. M. Gibb, “New media art, design, and the arduino microcontroller: A malleable
tool,” Pratt Institute, 2010.

[3] Y. A. Badamasi, “The working principle of an arduino,” in 2014 11th international

conference on electronics, computer and computation (ICECCO). IEEE, 2014, pp.
1–4.

[4] C.-K. Joo, Y.-C. Kim, M.-H. Choi, and Y.-J. Ryoo, “Self localization for intelligent
mobile robot using multiple infrared range scanning system,” in 2007 International
Conference on Control, Automation and Systems. IEEE, 2007, pp. 606–609.

[5] K. Rambabu, S. Siriki, D. Chupernechitha, and C. Pooja, “Monitoring and controlling

of fire fighthing robot using iot,” International Journal of Engineering Technology
Science and Research, vol. 5, no. 3, pp. 552–557, 2018.

[6] J. Jalani, D. Misman, A. Sadun, and L. Hong, “Automatic fire fighting robot with
notification,” in IOP Conference Series: Materials Science and Engineering, vol. 637,
no. 1. IOP Publishing, 2019, p. 012002.

[7] J. Fang, “Research progress of fire fighting robot [j],” Fire Fighting today, vol. 5,
no. 03, pp. 19–22, 2020.

[8] P. R. Krishnan and J. Jacob, “An iot based efficient energy management in smart
grid using dhocsa technique,” Sustainable Cities and Society, vol. 79, p. 103727, 2022.

[9] M. A. Hossain, H. S. Roy, M. F. K. Khondakar, M. H. Sarowar, and M. A. Hos-

sainline, “Design and implementation of an iot based firefighting and affected area
monitoring robot,” in 2021 2nd International Conference on Robotics, Electrical and
Signal Processing Techniques (ICREST). IEEE, 2021, pp. 552–556.

47