Government Polytechnic, Kolhapur

An Autonomous Institute of Government of Maharashtra

A
REPORT
ON

“FIRE EXTINQUISHER ROBOT”

In partial fulfillment for the award of the

Diploma in

Electronics and Telecommunication

SUBMITTED BY
NAME OF STUDENTS
1) AISHWARYA SANTOSH KADRE (198021)
2) NEHA PRAKASH MANE (198033)
3) SIDDHI MAHESH SUTAR (198060)

Under valuable Guidance of

SMT. C.S.PRABHU

Department of Electronics and Telecommunication

Academic Year 2021-22

1
 CERTIFICATE

This is to certify that the project report entitled “FIRE EXTINQUISHER ROBOT”

has been successfully completed by Students of Sixth semester Diploma in Electronics

and Telecommunication Engineering

1) AISHWARYA SANTOSH KADRE (198021)

2) NEHA PRAKASH MANE (198033)
3) SIDDHI MAHESH SUTAR (198060)

in partial fulfillment for the award of Diploma in Industrial Electronics/Electronics and

Telecommunication Engineering under my guidance and supervision from Government
Polytechnic, Kolhapur, during the academic year 2021-2022.

SMT. C.S.PRABHU MR.D.K.LAMTURE

Project Guide H.O.D

Electronics and Telecommunication

2
 ACKNOWLEDGEMENT

Apart from individual efforts, the success of any project depends largely on the encouragement
and guidelines of many others. We take this opportunity to express our gratitude to the people who have
been instrumental throughout the project work. It is our privilege to express our gratitude towards our
project guide, SMT. C.S.PRABHU Mam for her valuable guidance, encouragement, inspiration and
whole-hearted cooperation throughout the project work.
We thank her for being a motivation through all our highs and importantly, our lows. We deeply express
our sincere thanks to our Head of Department Mr. D. K. LAMTURE Sir for encouraging and allowing
us to present the project on the topic “FIRE EXTINQUISHER ROBOT” and providing us with the
necessary facilities to enable us to fulfill our project requirements as best as possible. We take this
opportunity to thank all faculty members and staff of Department of electronics & Tele- communication,
who have directly or indirectly helped our project.
Our thanks and appreciations also go to our family and friends, who have been a source of
encouragement and inspiration throughout the duration of the project.

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 CONTENTS
Sr.No Contents Page Number

List of Figures 5
1 Chapter 1: Introduction
1.1 Background Study 7
1.2 Objective and Scope 7
1.3 Block diagram and description 8&9
1.4 Significance of Project 10

2 Chapter 2: Literature Reviews 11

3 Chapter 3: Methodology
12 – 19
3.1 Hardware Implementation
12
3.1.1 Circuit Diagram
13
3.1.2 Working
3.1.3 Major Components
14 – 19

3.2 Software Implementation 20 - 25

3.2.1 Software Used and its features 20 – 24
25
3.2.2 Flowchart of Program

4 Chapter 4: Result and discussions 25 – 27

4.1. Result
25
4.2. Snapshots of output
5 Conclusion and future scope 26 & 27
6 References 28
7 Appendix- Program 29 – 32

4
 LIST OF FIGURES

Fig no. Name of Figure Page No.

1.1 Fire Extinguisher Robot ………………………………………… 6

3.2 Block Diagram of Fire Extinguisher Robot …………………... 8

3.3 Circuit Diagram of Fire Extinguisher Robot………………..…. 12

3.4.1 ATmega328P microcontroller……………………………………… 14

3.4.2 Flame Sensor Module…………………………………………… 15

3.4.3 L293D Drive Module…………………………………………… 16

3.4.4 Relay Module………………………………………………… .. 17

3.4.5 Mini Sub Miserable Pump…………………………………… 18

3.4.6 Gear Motor………………………………………………… ………. 19

3.5.1 Arduino IDE logo………………………………………………… 20

3.5.1 Proteus logo………………………………………………………. 22

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 1. INTRODUCTION

According to National Crime Records Bureau, it is estimated that more than 1.2 Lakh deaths
have been caused because of fire accidents in India. Even though there are a lot of precautions taken for
Fire accidents, these natural/man-made disasters do occur now and then. In the event of a fire breakout,
to rescue people and to put out the fire we are forced to use human resources which are not safe.
Robotics is one of the fastest growing engineering fields of today. Robots are designed to remove the
human factor from labor intensive or dangerous work and also to act in inaccessible environment. The
use of robots is more common today than ever before and it is no longer exclusively used by the heavy
production industries.

The need of fire extinguisher robot that can detect and extinguish a fire on its own is long past
due. With the invention of such a device, people and property can be saved at a much higher rate with
relatively minimal damage caused by the fire. Our task as engineers was to build a prototype model that
could automatically detect and extinguish a fire. It is a robot that can move through a model structure,
find a lit candle and then extinguish it with the help of fire extinguisher. The Fire Fighting Robot is
designed to search for a fire in a small floor plans of house of the specific dimensions, extinguishes the
fire with the help of the fire extinguisher, and then return to the front of the house. Our prototype is
combination of the two models. First, it can detect the object and second it can detect and extinguish
fire.

Fire Fighting Robot uses Arduino, which will automatically sense the fire and start the water
pump. Arduino that could move towards the fire and pump out water around it to put down the fire.

Fig.1.1.Fire Extinguisher Robot

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 1.1 Background Study:

It has sometimes been impossible for fire-fighting personnel to access the site of a fire, even as
the fire causes tremendous property damage and loss of human life, due to high temperatures or the
presence of explosive materials. In such environments, fire-fighting robots can be useful for extinguishing
a fire. Thus, Fire-fighting robots are operated in places where fire fighters are unable to work. Besides
that, fire fighting robot can be use for protecting fire fighters from extreme danger in petro chemical,
chemical dangerous product, toxicity or exploder fire accidents. Therefore, it also can reduce the human
injury from a fire burning.

1.2 Objective and Scope:

Objectives and scope of proposed work are as follows:

1. To detect the fire using flame sensor

2. To extinguish the fire this detected.
3. The firefighting robot can work with firefighters, which greatly reduce the danger of injury to
victims.

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1.3 Block diagram and description:

RELAY WATER
PUMP

Fig.3.2 Block Diagram of Fire Extinguisher Robot

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 Description of block diagram:

The Arduino provides open source. The inbuilt drivers and sensors accessed easily. The
application of the feature to work as an automatic support to fire fighters.

The Above block diagram shows connection of Arduino Uno with Fire sensors, Motor drive
module and some components. Arduino Uno controls the whole process of this system like reading
output of fire sensor, sending command to motor driver, water pump, gives direction towards the
detected fire, etc.

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 1.4 Significance of Project:

The robot has fire sensors interfaced in its control circuitry which senses the presence and
intensity of fire and take the responsive action accordingly. The robot is designed to detect intensity
of fire and operate first at place where the intensity of fire is more.

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 2. LITERATURE REVIEW

To design and build a Fire Extinguisher robot, where a robot will be put in a particular
place where a fire the robot should be able to detect, and extinguish the fire. Researches were
done in the beginning of the project to get more information about robotics in general and to
think about the design, hardware components, and the software technique which will contro l
the robot. This robot contains Flame Sensors, DC motors, Motor driver, Arduino Uno and
Water pump is used in the robot's body. The software part of the project is the program code
written in the Arduino Uno to control the Fire Fighting Robot using C lang uage.

Detecting the fire and extinguishing it is a dangerous job and that puts lives of fire fighters at
risk. There are number of fire accidents in which fire fighter had to lose their lives in the line
of duty each year throughout the world. Increase in the number fire accidents are due to
expanding human population and growing industrialization. The physical limitations of humans
to deal with these kinds of destructive fires make fire extinguishing a complicated task. The
use of fire fighting robots can reduce the errors and the limitations that are faced by human fire
fighters.

There have been numerous and devastating losses because of a lack in technological
advancement. Additionally, the current methods applied in fire-fighting are inadequate and
inefficient relying heavily on humans who are prone to error, no matter how extensively they
have been trained. A recent trend that has become popular is to use robots instead of humans to
handle fire hazards. This is mainly because they can be used in situatio ns that are too
dangerous for any individual to involve themselves in. In our project, we develop a robot that
is able to extinguish fire in a given environment.

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 3. Methodology

3.1 Hardware Implementation:

3.1.1 Circuit Diagram:

Fig.3.3 Circuit Diagram of Fire Extinguisher Robot

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 Working:

The main brain of this project is the Arduino, but in-order to sense fire we use the Fire sensor
module (flame sensor). Sensors have an flame sensor (Photodiode) which is used to detect the
fire. When fire burns it emits a small amount of Infra-red light, this light will be received by the
flame sensor receiver on the sensor module, so that if a fire is detected the output pin (DO) will give
5V (High) and if the is no fire the output pin will be 0V (Low).

So, we place three such sensors in three directions of the robot to sense on which direction the
fire is burning. The detected direction of the fire the bow motors to move near the fire by driving
wheels settled with bow motor through the L293D module. When robot is near to fire we have to put
it out using water. Using small container carry water, a 9V pump is also placed in the container and
the whole container is placed on the robot so that we can control the direction in which the water has
to be putted.

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 3.1.2 Major Components:

(1) ATmega328P microcontroller (Arduino UNO):

Fig.3.4.1 ( ATmega328P microcontroller)

The digital and analog input/output pins are equipped in boards that may be interfaced to various
expansion boards and other circuits. Serial communication interface is a feature in this board,
including USB which will be used to load the programs from computer. Above block diagram gives
the representation of Home automation using Arduino and IOT. Figure shows the connection
between sensors, Wi-Fi module and microcontroller. When gas or person is detected the information
will be displayed on LCD and buzzer will be on. Using microcontroller information will be updated
on webpage with the help of Wi-Fi module. The high- performances Microchip 8-bit AVR RISC
based microcontroller combines 32KB ISP flash memory with read- while write capabilities.

Specifications:

 Microcontroller: ATmega328P
 Operating Voltage: 5V
 Input Voltage: 7-12V
 In out Voltage (limit): 6-20V
 Digital Input/output Pins: 14 (of which 6 provide PWM output)
 PWM Digital Input /output Pins: 6
 Analog Input Pins: 6

14
  DC Current per I/O Pin: 20 mA
 DC current for 3.3V Pin: 50 mA
 Flash Memory: 32 KB (ATmega328P) of which 0.5 KB used by bootloader
 SRAM: 2 KB (ATmega328P)
 EEPROM: 1 KB (ATmega328P)
 Clock Speed: 16 MHz
 LED_BUILTIN: 13

(2) Flame Sensors Module:

Fig.3.4.2 (Flame Sensor Module)

A flame detector is a sensor designed to detect and respond to the presence of a flame or fire.
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. The Flame sensor used in this project is shown below, these sensors are also called Fire
sensor module or flame detector sensor sometimes. There are different types of flame detection
methods.

When fire burns it emits a small amount of Infra-red light, this light will be received by the
Photodiode on the sensor module. If a fire is detected the output pin (DO) will give 0V (LOW), and if
the is no fire the output pin will be 5V (HIGH).

15
Specifications:

 Operating voltage of this sensor is 3.3V to 5V

 Detection angle is 600
 Pin1 (VCC pin): Voltage supply
 Pin2 (GND): This is a ground pin
 Pin3 (AOUT): This is an analog output pin
 Sensitivity is adjustable
 Range: 760nm to 1100nm (Light Wavelength

(3) L293D Motor Drive Module:

Fig.3.4.3 (L293D Drive Module)

L293D is a basic motor driver integrated chip (IC) that enables us to drive a DC motor in either
direction and also control the speed of the motor. The L293D is a 16 pin IC, with 8 pins on each side,
allowing us to control the motor. It means that we can use a single L293D to run up to two DC motors.
L293D consist of two H-bridge circuit. H-bridge is the simplest circuit for changing polarity across the
load connected to it. There are 2 OUTPUT pins, 2 INPUT pins, and 1 ENABLE pin for driving each
motor. It is designed to drive inductive loads such as solenoids, relays, DC motors, and bipolar stepper
motors, as well as other high-current/high-voltage loads.

16
 Specifications:

 Operating Voltage (VDC): 4.5 to 12 V

 Max current: 600 mA per rotor
 Two Motor Interfaces

(4) Servo motor SG90:

Fig.3.4.4 (Relay Module)

Micro Servo Motor SG90 is a tiny and lightweight server motor with high output power. Servo
can rotate approximately 180 degrees (90 in each direction), and works just like the standard kinds but
smaller. You can use any servo code, hardware or library to control these servos. Good for beginners
who want to make stuff move without building a motor controller with feedback & gear box, especially
since it will fit in small places. It comes with a 3 horns (arms) and hardware.

Specifications:

 Supply voltage – 3.75V to 6V

 Quiescent current: 2mA
 Current when the relay is active: ~70mA
 Relay maximum contact voltage – 250VAC or 30VDC
 Relay maximum current – 10A

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 (5) Mini Sub miserable Pump:

Fig.3.4.5 Mini Sub Miserable Pump

Micro DC 3-6V Micro Submersible Pump it is Mini water pump. This is a low cost, small size
Submersible Pump Motor which can be operated from a 3 ~ 6V power supply. It can take up to 120
liters per hour with very low current consumption of 220mA. Just connect tube pipe to the motor outlet,
submerge it in water and power it. Make sure that the water level is always higher than the motor. Dry
run may damage the motor due to heating and it will also produce noise.

Specification:

 Operating Voltage : 3 ~ 6V
 Operating Current : 130 ~ 220mA
 Flow Rate : 80 ~ 120 L/H
 Maximum Lift : 40 ~ 110 mm
 Outlet Outside Diameter : 7.5 mm

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 (6) Gear Motor:

Fig.3.4.6 (Gear Motor)

Gear motors are electric motors that utilize a type of gear system on the output of the motor. This
gearing arrangement is called a gear reducer or gearbox. The combination of an electric motor and
gearbox reduces design complexity and lowers cost, particularly for motors built for high torque and
low speed applications.

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 3.2 Software Implementation:

1. Arduino IDE 1.6.7:

For programming the microcontrollers, the Arduino project provides an integrated development
environment (IDE) based on a programming language named Processing, which also supports the
languages C and C++.The open source Arduino IDE makes it easy to write code and upload it to the
board.

Fig.3.5.1 (Arduino IDE logo)

Features:

Board Module Options:

The tool is armed with a board management module, wherein users can choose which board they want to
use. If another board is needed, they can seamlessly select another option from the dropdown menu.
PORT data is updated automatically whenever modifications are made on the board or if a new board is
chosen.

Direct Sketching:
Arduino IDE lets users can come up with sketches from within its text editor. The process simple and
straight forward. What’s more, the text editor has additional features that promote a more interactive
experience.

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Documentation:
The tool gives users an option to have their projects documented. The feature makes it possible for them
to track their progress and be aware of any changes made. In addition, documentation lets other
programmers utilize the sketches on their very own boards.

Sketch Sharing:
Arduino IDE allows users to share their sketches to other programmers. Each sketch comes with their
own online link for users to share with their colleagues or friends. This feature is only available in the
cloud version.

Integrated Libraries:
The software has hundreds of integrated libraries. These libraries were made and openly shared by the
Arduino community. Users can take advantage of this for their own projects without involving third-
party installations.

External Hardware Support:

While the tool itself is specifically intended for Arduino boards, it also has native connection support for
third-party hardware. This ensures extensive use of Arduino IDE without being tied down to proprietary
boards.

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 2. Proteus 8 Professional:

Proteus 8 Professional is software which can be used to draw schematics, PCB layout, and code
and even simulate the schematic. There are features like Simulation, Designing PCB, 3D
visualization, Bill of Materials.

Fig.3.5.1 (Proteus logo)

Features:
Schematic drawing:
Drawing the schematic is very easy using Proteus. You can click the "Pick devices" button and select
the desired component. You can draw wires by clicking on the terminal of the component or Vcc,
Ground, etc.

Simulation:

You can test it using Proteus's simulation feature. Many of the components in Proteus can be
simulated. There are two options for simulating: Run simulator and advance frame by frame. The
"Run simulator" option simulates the circuit in a normal speed (If the circuit is not heavy). "Advance
frame by frame" option advances to next frame and waits till you click this button for the next time.
This can be useful for debugging digital circuits. You can also simulate microcontrollers. The
microcontrollers which can be simulated include PIC24, dsPIC33, 8051, Arduino, ARM7 based
microcontrollers. You can download the compilers for Proteus or use different compiler and dump the
hex files in the microcontroller in Proteus. You can even interact in real-time with the simulation
using switches, resistors, LDRs, etc. There are even virtual voltmeter, ammeter, oscilloscope, etc.

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Designing PCB:
Designing PCBs are easy using Proteus. You can make your own design or let Proteus do that for you.
Making your own design is simple, you just have to place the components used in the schematic and
draw traces over them. Don't worry about violating any design rules because it automatically detects
design rule (DRC) errors. You can also let Proteus do the work for you. You can place the components
on their respective places and select the "auto route" option. This will automatically draw multiple
variations of traces and selects the best one. There is also an "Auto placer" option present; this option
needs you to specify the board dimensions by drawing the shape and size of the board so that, it can
place the components within the board boundaries. So, all you have to do is to make the schematic.

3D visualization:
You can now look at your finished PCB design without actually making one. The 3D visualization
feature virtually creates a 3D model of the PCB. You can use this to verify whether it will look like you
imagined.

Bill of Materials:
You just have to specify the cost of each of components. After specifying the cost for all items,
Proteus automatically makes a list of all components used with their individual price and total price.

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 3.2.2 Flowchart:

START

FIRE SENSOR
FIRE SENSOR LEFT FIRE SENSOR RIGHT
FORWARD

READ THE VALUES

READ THE VALUES READ THE VALUES

DETECTED DETECTED DETECTED

AT LEFT AT AT RIGHT
NO NO
FORWARD NO

INITIAL INITIAL
CONDITION INITIAL CONDITION
CSTOP YES CONDITION STOP
STOP YES

YES

TURN LEFT MOVE TURN RIGHT MOVE

TOWARDS FIRE START TOWARDS FIRE START
WATER FLOW WATER FLOW

MOVE TOWARDS FIRE

START WATER FLOW

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 4. RESULT

4.1 Results:

Fire-extinguisher robot has been developed to find the location of fire and extinguish it.
The flame sensor is functioning to sense the location of fire. Sensor and Motor drive module
connected to Arduino Uno, which controlled the movement of DC motor. Fire Extinguisher
Robot uses Arduino, which will automatically sense the fire and start the water pump. Robot that could
move towards the fire and pump out water around it to put down the fire.

25
 5. Conclusion and Future Scope

Conclusion:

This project gives a detailed mechanism about the robot that continuously monitors,
intimates the respective personnel and extinguishes the fire. 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 since it is a cotton industry.

26
 Future Scope:

This project has been motivated by the desire to design a system that can detect fires and
intervention. In the present condition it can extinguish fire only in the way and not in all the rooms.
It can be extended to a real fire extinguisher by replacing the water spray by a carbon-di-oxide
carrier and by making it to extinguish fires of all the room using microprogramming. This provides
us the opportunity to pass on to robots tasks that traditionally humans had to do but were inherently
lives threatening.

Fire-fighting is an obvious candidate for such automation. Of course, this project has only scratched
the surface. As in the design simplifications and the implementation constraints in suggest, our
project is very much a proof-of-concept. In particular, a practical autonomous fire-fighting system
must include a collection of robots, communicating and cooperating in the mission; furthermore,
such a system requires facilities for going through obstacles in the presence of fire, and ability to
receive instructions on-the-fly during an operation.

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6. Reference:

References took from following:

Website:
1. https://www.arduino.cc/en/pmwiki.php?n=Main/arduinoBoardUno
2. https://en.wikipedia.org/wiki/Arduino
3. https://roboindia.com/tutorials/motor-driver-arduino/
Book:
4. Beginning C for Arduino by Jack J Purdum.

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7. Appendix:

Program:

#include <Servo.h> //include servo.h library

Servo myservo;

int pos = 0;

boolean fire = false;

#define Left 9 // left sensor

#define Right 10 // right sensor

#define Forward 8 //front sensor

#define LM1 2 // left motor

#define LM2 3 // left motor

#define RM1 4 // right motor

#define RM2 5 // right motor

#define pump 6

void setup()

pinMode(Left, INPUT);

29
pinMode(Right, INPUT);

pinMode(Forward, INPUT);

pinMode(LM1, OUTPUT);

pinMode(LM2, OUTPUT);

pinMode(RM1, OUTPUT);

pinMode(RM2, OUTPUT);

pinMode(pump, OUTPUT);

myservo.attach(11);

myservo.write(90);

void put_off_fire()

delay (500);

digitalWrite(LM1, HIGH);

digitalWrite(LM2, HIGH);

digitalWrite(RM1, HIGH);

digitalWrite(RM2, HIGH);

digitalWrite(pump, HIGH);

delay(500);

for (pos = 50; pos <= 130; pos += 1) {

myservo.write(pos);

30
 delay(10);

for (pos = 130; pos >= 50; pos -= 1) {

myservo.write(pos);

delay(10);

digitalWrite(pump,LOW);

myservo.write(90);

fire=false;

void loop()

myservo.write(90); //Sweep_Servo();

if (digitalRead(Left) ==1 && digitalRead(Right)==1 && digitalRead(Forward) ==1)

digitalWrite(LM1, HIGH);

digitalWrite(LM2, HIGH);

digitalWrite(RM1, HIGH);

digitalWrite(RM2, HIGH);

else if (digitalRead(Forward) ==0)

digitalWrite(LM1, HIGH);

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digitalWrite(LM2, LOW);

digitalWrite(RM1, HIGH);

digitalWrite(RM2, LOW);

fire = true;

else if (digitalRead(Left) ==0)

digitalWrite(LM1, HIGH);

digitalWrite(LM2, LOW);

digitalWrite(RM1, HIGH);

digitalWrite(RM2, HIGH);

else if (digitalRead(Right) ==0)

digitalWrite(LM1, HIGH);

digitalWrite(LM2, HIGH);

digitalWrite(RM1, HIGH);

digitalWrite(RM2, LOW);

delay(300);//change this value to increase the distance

while (fire == true)

put_off_fire();

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