Subject- Capstone project
FIRE FIGHTERS ROBOT VEHICLE USING AURDINO
Submitted By :-
ROLL NO. Student’s Name Enrollment No.
08 Varad Manoj Botke 2200310139
18 Mitali Suresh Rathod 2200310154
41 Yash Santosh Dadgal 23410240371
44 Prashant Mahadev Surve 23410240377
66 Bhagyashri Balaji Surushe 23410240381
64 Kartik Dilip Gore 23410240373
Guide By:-
Ms. V. S. Paikine mam
H. O. D. Principal
Ms. V. S. Paikine mam. Dr. B. G. Gawalwad Sir
(Electrical Department ) Government Polytechnic, Washim
DEPARTMENT OF ELECTRICAL ENGINEERING
ACADEMIC YEAR- 2024-2025
1
GOVERNMENT POLYTECHNIC, WASHIM
CERTIFICATE
This is certify that Varad Manoj Botke, Mitali Suresh Rathod, Prashant
Mahadev Surve, Yash Santosh Dadgal, Bhagyashri Balaji Surushe,
Kartik Dilip Gore .
Of Polytechnic Third Year Electrical Engineering Student have submitted
a Capstone projects planning reports of Capstone report planning titled FIRE
FIGHTERS ROBOT VEHICLE USING AURDINO. during academic
year 2024-2025 in satisfaction manner in partial fulfillment of requirement
for diploma in Electrical Engineering of MSBTE – Mumbai.
Guide By H.O.D
Ms. V. S. Paikine mam Ms. V. S. Paikine mam
(Lecturer in EE Department) (Electrical Department)
Principal
Dr. B. G. Gawalwad sir
Government Polytechnic, Washim
2
DECLARATION
I declare that this written submissions represent by idea in my own word
and where other ideas or word have been included, I have adequately cited
and referenced and originals sources. I also declare that I have adhered to all
principles of academic honestly and integrity and have not misrepresented or
fabricated or falsified any idea/ data/ facts / source in my submission. I
understand that any evolutions of the above will be cause for disciplinary
actions by the institute and can also evoke panel actions from the source
which have thus not been properly cited or from whom proper permissions
has not been taken when needed.
1. Varad Manoj Botke
2. Mitali Suresh Rathod
3. Prashant Mahadev Surve
4. Yash Santosh Dadgal
5. Bhagyashri Balaji Surushe
6. Kartik Dilip Gore
3
ACKNOWLEDGEMENT
This project is done as a semester project as a part of course titled FIRE
FIGHTING ROBOT VERTICAL USING AURDINO. We are really
thankful to our Principal Mr. B. G. GAWALWALD SIR, H.O.D. Ms. V.S.
PAIKINE MAM
and the Project Coordinator Ms. V. S. PAIKINE MAM Electrical
Engineering Department, Government Polytechnic for his invaluable
guidance and assistance, without which the accomplishment of the task
would have never been possible.
We are also thankful to Ms. V. S. PAIKINE MAM Project Mentor for giving
this opportunity to explore into the real world and realize the interrelation
without which a project can never progress. In our present project we have
chosen the topic “ FIRE FIGHTING ROBOT VERTICAL USING
AURDINO”.
We are also thankful to our present, friends and all staff of ELECTRICAL
ENGINEERING DEPARTMENT, for providing us relevant information
and necessary clarifications, and great support
4
INDEX
Sr. No. Title Page No.
1 INTRODUCTION 11
2 ABSTRACT 12
3 BLOCK DIAGRAM 15
4 PROBLEM FORMULATION 16
5 METHODOLOGY 17
6 HARDWARE IMPLEMENTATION 18
7 DESIGN STRUCTURE 20
8 WORKING CONCEPT OF FIRE 21
FIGHTING ROBOT
9 HARDWARE USED 22
10 FLAME SENSORS 23
11 SERVO MOTORS 24
12 SUBMERSIBLE WATER PUMP 24
13 MOTOR DRIVERS 25
14 TEMPERATUREM SENSOR (LM35) 26
5
15 DC MOTORS 25
16 PUMP 25
17 PROGRAMMING 28
18 SOFTWARE USED 28
19 CODING 28-34
20 WORKING 35
21 RESULT DISCUSSION 37
22 RESULTS AND CONCLUSIONS 38
23 REFERENCES 39
6
CHAPTER-1
7
LIST OF FIGURES AND TABLES
Figure 1: Block Diagram of Fire Fighting robot
Figure 1.1: Fire Fighting Robot
Figure 2. Fire Sensor Module
Figure 3. Arduino Uno microcontroller based development
board Figure 4:
Figure 5: Flame Sensor
Figure 6. Servo Motor
Figure 7. Submersible Water Pump Gas Sensor (MQ3)
Figure 8. H Bridge circuit
Figure 9. Temperature Sensor (LM35)
Figure 10
Figure 11. Mode MCU
Figure 12. Fire Fighting Robot
Figure 13. Flame Sensor
8
ACTION PLAN
1. We selected our capstone project topic under the guidance of
Ms. V. S. Paikine mam
2. We discussed with Ms. V. S. Paikine mam about fire fighters
robot vehicle using aurdino
3. We searched research papers on about fire fighters robot vehicle
using aurdino
4. We collected 5 research papers on fire fighters robot vehicle
using aurdino
5. We searched review papers fire fighters robot vehicle using
aurdino
6. We searched information fire fighters robot vehicle using
aurdino on Wikipedia.
7. We watched videos on YouTube about how to make a fire
fighters robot vehicle using aurdino.
8. We searched information the working principle of about fire
fighters robot vehicle using aurdino
9. We discussed with all team members how to make a fire fighters
robot vehicle using aurdino and also discussed which material was
suitable for manufacturing.
10. We created an MS Word file of information on fire fighters
robot vehicle using aurdino.
11. We created the MS Word file of material cost for
manufacturing the fire fighters robot vehicle using aurdino.
9
12. We arranged all data and made a file of the synopsis for
selection of the project by the teacher.
13. We showed all hard copies of data to Ms. V. S. Paikine mam
14. We started to make the connection of the about fire fighters
robot vehicle using aurdino as per the circuit diagram.
15. We placed all circuits on the structure of the about fire fighters
robot vehicle using aurdino
16. We joined all wire joints and supply joints.
17. The structure was ready to run.
18. We tested and evaluated about fire fighters robot vehicle using
aurdino
19. We submitted the project and report to Ms. V. S. Paikine mam
10
INTRODUCTION
Robot is a machine that looks like a human being and
performs various complex tasks. There are many types of robots
such as fixed base robot, mobile robot, underwater robot, humanoid
robot, space robot and medicine robot etc. In this paper a FIRE
EXTINGUISHING ROBOT is proposed. This robot is equipped
with a single flame sensor used to sense environmental fire and feed
the signals to the microcontroller in order to trigger the pump which
sprinkles water in order to extinguish the fire. This robot is
controlled using a mobile phone through DTMF tones decoded by
the DTMF decoder. This robot implements the concepts of
environmental fire sensing, proportional motor control. The motor
driver is used for the bidirectional control of the motors equipped
in the robot. Every instruction for motion control is given to the
robot with the help of DTMF technology.
Thus, the robot processes information from its various key
hardware elements such as flame sensor, DTMF decoder via
Arduino Uno board (microcontroller). The programming of the
robot is done using the arduino C which is derived from C and C++
languages. This paper is presented as follows. Proposed
methodology in section II which constitutes of block diagram and
components and their explanation. Hardware and software details
are included in section III. In Section IV, results and conclusions
are included.
11
ABSTRACT
Detecting fire and extinguishing is a hazardous job for a fire extinguisher,
it often risks the life of that person. This project aims in giving a technical
solution to the mentioned problem. A robot is a mechanical design that is
capable of carrying out a complex series of actions automatically, especially
one programmable by a computer. A fire extinguisher robot is a DTMF tone
controlled robot that has a small fire extinguisher unit added on to it. This
mobile robot is controlled using a mobile phone through DTMF tones for its
movement and reaching the fire, the flame sensor detects the fire and gives the
further signal to the extinguisher units to trigger the pump and spray the water.
The whole system is programmed using an Arduino UNO board
(ATmega328P microcontroller) which forms the brain of the system.
12
CHAPTER-2
13
Fig.1 shows the Block Diagram of Fire Fighting robot. The basic
theme of this paper is to sense the environmental fire and extinguish it with
the help of a water pump. The Arduino UNO Microcontroller board based on
the ATmega328P. The ATmega328P is good platform for robotics application.
Thus the real time fire extinguishing can be performed.
The Arduino software runs on different platforms such as mac, windows and
Linux. Simple and clear programming is possible in case of Arduino software.
The Arduino libraries play a major role in making the programming easier by
providing wider range of libraries. There are many built in libraries available
in the Arduino software and it allows to add additional libraries that are
available in the open source for download. Adding of new boards to Arduino
software is possible. Since,
Arduino C is derived from C and C++ programming and is much easier when
compared other controller programming.
14
BLOCK DIAGRAM
Figure 1: Block Diagram of Fire Fighting robot
Material Required:
1. Arduino UNO
2. Fire sensor or Flame sensor (3 Nos)
3. Servo Motor (SG90)
4. L293D motor Driver module
5. Mini DC Submersible Pump
6. Small Breadboard
7. Robot chassis with motors (2) and wheels(2) (any type)
8. A small can
9. Connecting wires
15
PROBLEM FORMULATION
Fire disaster is one of the dangerous problems that can lead to heavy
loss both financially and by taking lives. Sometime it becomes difficult for
fighters to access the site of a fire because of explosive materials, smoke, and
high temperatures. Such situations risk the lives of fire fighters too. In such
environments, fire-fighting robots can be useful. This Fire Extinguishing
Robot is based on IOT Technology. In Fire Extinguishing Robot, we intend
to build a system that could extinguish a small flame by sensing and moving
to the location itself .Sometime delay in the arrival of fire fighters leads to
numerous consequences. The Fire Extinguishing robot continuously monitors
the environment and extinguishes it without delay
16
METHODOLOGY
The Methodology is divided into three parts. The first part is on
the design structure, followed by hardware description and the finally on the
programming design. This robot’s main function is to detect fire and move
towards the fire automatically to extinguish it from a safe distance using a
water sprinkler. This robot’s movement and behaviour will be fully
controlled by the Arduino microcontroller. This advanced robot allows a user
to control a fire fighter robot equipped with water tank and gun remotely
wirelessly for extinguishing fires. For this purpose the system uses Radio
frequency (RF) remote for remote operation along with RF receiver based
microcontroller circuit for operating the robotic vehicle and water pump. The
RF based remote transfers user’s commands through radio frequency signals
which are then received by the receiver circuit. The receiver circuit then
decodes the data sent by the user. The receiver then forwards the data to
the microcontroller. Now the microcontroller processes these instructions and
then instructs the vehicle motors to run the vehicle in desired direction.
17
HARDWARE IMPLEMENTATION
The hardware part is one of the crucial parts in the development of
firefighting robot. It includes Arduino UNO, IR flame sensors, servo motors,
submersible water pump, motor driver, mini breadboard, BO motors, and
rubber wheels. Fig 3 shows the block diagram of firefighting robot which
consists of three IR flame sensors as the input of the system. Arduino UNO
is used as a micro-controller that connects other components. L293D Motor
driver is used to drive motors and is capable of running two DC motors (Left
DC motor and Right DC motor) at the same time .
18
CHAPTER-3
19
DESIGN STRUCTURE
In this section, the prototype of robotic system is presented, in which it
consists of IR flame sensors, servo motors, submersible water pump, motor
driver, mini breadboard, BO motors, rubber wheels, processor, and
communication module for exchanging data between the fire-fighting robot
and Arduino software. Fig 2 shows the basic prototype of our firefighting
robot. The robot carries four main functions: First, it initializes itself i.e. its
sensors gets initializes as the power is supplied. Second, robot sense the
surrounding environment (for instance for the level of temperature) and
identify the fireplace. Third, robot sends the navigating information and starts
to navigate itself towards the fireplace. Fourth, finally the robot starts to
extinguish the fire with the help of servo motors and submersible water pump.
Figure 1.1. Fire Fighting Robot
20
WORKING CONCEPT OF FIRE FIGHTING ROBOT
The main brain of this project is the Arduino, but in-order to sense fire we use
the Fire sensor module (flame sensor) that is shown below.
Figure 2. Fire Sensor Module
A fire sensor module (usually IR or flame sensor) detects infrared light
emitted by flames. When a flame is present, the sensor outputs a low signal;
otherwise, it stays high. This signal can trigger alarms, relays, or
microcontrollers for fire detection systems.
21
HARDWARE USED
1. ATmega328P microcontroller (Arduino UNO):
Fig 3: Arduino Uno microcontroller based development board
A Microcontroller is a compact device with a processor, storage and
configurable input/output devices on a single integrated circuit. We'll be using
the Arduino UNO board, which combines a microcontroller with all of the
extras needed to quickly create and debug projects. The ATmega3288based
UNO is a microcontroller board
14 Digital input/output
pins, 6 Analog inputs,
16MHz Quartz
crystal USB
connector, Power
jack,
ICSP header, and
Reset button.
Attach it to a computer via USB cable or power it with an AC to DC adapter
to get started. The ATmega3288 has 32kb of memory, 2kb of SRAM, and 1kb
of EPROM. The Arduino Software can be used to programmed the
UNO(IDE). The boot loader on the ATmega3288 on the UNO comes
preprogrammed, allowing you to upload new code. It uses the original STK
500 protocol to communicate.
22
FLAME SENSORS
Fig 5: Flame Sensor
A flame sensor is the most sensitive to normal light of any sensor. This
sensor senses flame if the light source emits a wave length between 760nm
and [Link] detection angle would be 60o and can be achieved from a
distance of 100cm. This sensor's output is either an analog or digital signal.
The infrared flame flash method is used by this sensor as shown in Figure 5.
Fig 5 shows the flame sensor. This sensor is able to detect a flame by
sensing light wavelength between 760 –1100 nanometers. The test distance
depends on the flame size and sensitivity settings.
The detection angle is 60 degrees, so the flame does not have to be right in
front of the sensor. There are two sensor outputs
i. Digital – sending either zero for nothing detected or one for a positive
detection ii. Analog – sending values in a range representing the flame
probability/size/distance; must be connected to a PWM capable input It has
four pins,
Voltage Supply (Vcc),
Ground pin (GND),
Analog output (Aout),
and Digital output
(Do)
23
SERVO MOTORS
Fig 6. shows the Servo Motors.
Servo Motors are electronic devices that are mainly used for
providing specific velocity and acceleration.
SUBMERSIBLE WATER PUMP
Fig 7. Shows the Submersible Water Pump.
Submersible Water Pump is ideal for making automatic watering system
using Arduino. The water pump is an important part of the robot as it will
pump water to extinguish the fire.
24
25
MOTOR DRIVERS
Fig 8: H Bridge circuit
Motor drivers are used to describe the direction of movement of the robot.
It is used to give high voltage and high current as an output to run the motors
which are used in the project for the movement of the robot. Fig 5 is the circuit
of the H Bridge which is used for the motor driving in the IC L293D and also
provides the bidirectional motor control.
DC MOTORS
In this project we use simple DC motor for the rotation of the wheel which
are responsible for the movement of the robot. Usually DC motors convert
electrical energy into mechanical energy.
PUMP
Pump is a mechanical device which is used to pump water on to the fire to
extinguish it. It uses a simple motor to pump water.
26
TEMPERATURE SENSOR (LM35)
The temperature sensors in the LM35 series are accuracy integrated
circuits temperature sensors with a linearly proportional output voltage to
Celsius scale value. The Temperature can be measured more precisely than
with a thermistor as shown in Figure 5.
Figure 9. Temperature Sensor (LM35)
The sensor circuitry is fully sealed and is not exposed to the elements. due
to oxidation The LM35 produces a higher output voltage than thermocouples,
so it might not be necessary to amplify the output voltage. It calibrates in
Celsius with a 0.5°C precision guarantee and a measurable range of
55°Cto+150°C.
27
CHAPTER-4
28
PROGRAMMING
For programming, the Arduino software provides an integrated
development environment (Arduino IDE) and core libraries. The Arduino
IDE program is a software program written in Java language and based on
the Processing. The Arduino IDE is basically a framework built on top of
C and C++ and compiled using avr-gcc and AVR Libc. The open source
Arduino IDE makes it easy to write code and upload it to the Arduino Uno
for execution. It is available for all major desktop platforms i.e., Windows,
Mac OS X, and Linux. Fig 10 shows the Arduino IDE program.
SOFTWARE USED:
Arduino IDE
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.
CODING
#include <Servo.h>
// Define flame sensor pins
#define FLAME_SENSOR_LEFT A0
#define FLAME_SENSOR_CENTER
A1 #define
FLAME_SENSOR_RIGHT A2
// Define motor driver pins
#define MOTOR_L1 5 // Left Motor Forward
#define MOTOR_L2 6 // Left Motor Backward
29
#define MOTOR_R1 9 // Right Motor Forward
#define MOTOR_R2 10 // Right Motor
Backward
// Define relay for water pump
#define RELAY_PIN 7
// Define servo motor
pin #define
SERVO_PIN 3
// Create Servo
object Servo
waterServo;
// Flame sensor threshold
#define FIRE_DETECTED_THRESHOLD 800 // Adjust based on sensor
readings
void setup() {
// Initialize Serial Monitor
[Link](9600);
// Set motor pins as output
pinMode(MOTOR_L1, OUTPUT);
pinMode(MOTOR_L2, OUTPUT);
pinMode(MOTOR_R1, OUTPUT);
pinMode(MOTOR_R2, OUTPUT);
// Set relay as output
pinMode(RELAY_PIN, OUTPUT);
30
digitalWrite(RELAY_PIN, LOW); // Ensure relay (pump) is OFF at startup
// Initialize servo motor
[Link](SERVO_PIN);
[Link](90); // Set initial servo position to center
// Set flame sensor pins as input
pinMode(FLAME_SENSOR_LEFT, INPUT);
pinMode(FLAME_SENSOR_CENTER, INPUT);
pinMode(FLAME_SENSOR_RIGHT, INPUT);
[Link]("🚀 Fire Fighting Robot Initialized...");
void loop() {
// Read flame sensor values
int flameLeft = analogRead(FLAME_SENSOR_LEFT);
int flameCenter = analogRead(FLAME_SENSOR_CENTER);
int flameRight = analogRead(FLAME_SENSOR_RIGHT);
// Print sensor values to Serial Monitor
[Link]("Flame Left: ");
[Link](flameLeft);
[Link](" | Flame Center: ");
[Link](flameCenter);
[Link](" | Flame Right: ");
[Link](flameRight);
31
// Check flame detection
if (flameCenter < FIRE_DETECTED_THRESHOLD) {
[Link]("🔥 Fire Detected at Center! Moving Forward...");
moveForward();
activateWaterPump();
else if (flameLeft < FIRE_DETECTED_THRESHOLD) {
[Link]("🔥 Fire Detected at Left! Turning Left...");
turnLeft();
activateWaterPump();
else if (flameRight < FIRE_DETECTED_THRESHOLD) {
[Link]("🔥 Fire Detected at Right! Turning Right...");
turnRight();
activateWaterPump();
else {
[Link]("✅ No Fire Detected. Stopping...");
stopMotors();
deactivateWaterPump(); // Ensure pump is OFF when no fire is detected
delay(500); // Delay for stability
// Function to move
32
forward void
moveForward() {
digitalWrite(MOTOR_L1,
HIGH);
digitalWrite(MOTOR_L2,
LOW);
digitalWrite(MOTOR_R1,
HIGH);
digitalWrite(MOTOR_R2,
LOW);
}
// Function to turn
left void
turnLeft() {
digitalWrite(MOTOR_L1, LOW);
digitalWrite(MOTOR_L2, HIGH);
digitalWrite(MOTOR_R1, HIGH);
digitalWrite(MOTOR_R2, LOW);
delay(500); // Adjust timing
stopMotors();
}
// Function to turn
right void turnRight()
{
digitalWrite(MOTOR_L1, HIGH);
digitalWrite(MOTOR_L2, LOW);
digitalWrite(MOTOR_R1, LOW);
digitalWrite(MOTOR_R2, HIGH);
delay(500); // Adjust timing
stopMotors();
}
33
// Function to stop
motors void
stopMotors() {
digitalWrite(MOTOR_L1,
LOW);
digitalWrite(MOTOR_L2,
LOW);
digitalWrite(MOTOR_R1,
LOW);
digitalWrite(MOTOR_R2,
LOW);
}
// Function to activate water pump and move
servo void activateWaterPump() {
[Link]("🚰 Activating Water Pump...");
digitalWrite(RELAY_PIN, HIGH); // Turn ON the water
pump
// Move the servo from left to right
for (int pos = 60; pos <= 120; pos += 5)
34
[Link](pos);
delay(100);
}
// Move the servo from right to left
for (int pos = 120; pos >= 60; pos -= 5) {
[Link](pos);
delay(100);
delay(2000); // Pump stays on for 2 seconds
deactivateWaterPump(); // Turn off the water pump
}
// Function to deactivate water
pump void deactivateWaterPump()
{
[Link]("✅ Deactivating Water Pump...");
digitalWrite(RELAY_PIN, LOW); // Turn OFF the water pump
[Link](90); // Reset servo to center position
35
WORKING
The Arduino UNO development board issued to control this firefighting
robotic system, which is made up of HC-SR04 sensors. A gas sensor
(MQ2) for sensing hazardous smoke, a temperature sensor (LM35) for
more precise temperature measurement, and a fire flame sensor (IR) for
detecting and sensing the approaching fire are all mounted on a servo-
motor for obstacle detection and free path navigation. In addition, for
extinguishing the flames, it also makes use of a water tank and a spray gun
mechanism. With the aid of a 12V pump, water is pumped from the main
water tank to the water nozzle
36
CHAPTER-5
37
RESULT DISCUSSION
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. Fig 11 shows the overall prototype of Fire Fighting Robot
Figure 12. Fire Fighting Robot
38
RESULTS AND CONCLUSIONS
The Fire Fighting Robot employs DTMF technology to control the
directions of the robot. We design the fire detection system using flame
sensor that is capable of sensing the flame of wavelength range 760 to 1100
nm, and the sensing range depends on the sensitivity and varies from 10cm
to 1.5feet. The robot can operate in the environment which is out of human
reach in very short time, the delay employed is very minimal. The robot
accurately and efficiently finds the fire and within minimum time after the
fire is detected it is extinguished.
Figure 13. Flame Sensor
39
REFERENCES
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all levels of an ecosystem , according to 2001.
[2] S. Boopalan, G. Narendra Prasad, C. SwarajPaul, Kumar Narayanan, and R.
Anandan, G. Narendra Prasad International Journal of Engineering and
Technology, 2018, Firefighting robot with vision camera and gas sensors .
[3] H. Anandakumar and K. Umamaheswari, A bio-inspired swarm intelligence
technique for social aware cognitive radio handovers, Computers & Electrical
Engineering, vol. 71, pp. 925–937, Oct. 2018.
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Wavelet Feature Descriptor and Feed Forward Back Propagation Neural Networks
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110, 2018. doi:10.1007/978-3-319-717678_9
[5] Nagesh M S, Deepika T V, Stafford Michahial, and Dr. M Shivakumar, Fire
Extinguishing Robot, International Journal of Advanced Research in Computer
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[6] Mukul Diwanji, Saurabh Hisvankar, and Chhaya Khandelwal, Autonomous Fire
Detecting and Extinguishing Robot , Manipal University Jaipur,
September 28-29, 2019
[7] Control of an Autonomous Industrial Fire Fighting Mobile Robot by HP SINGH,
Department of Mathematics, Sri Venkateswara College,
University of Delhi
[8] An Autonomous Firefighting Robot Real Time Man-Robot Control of a Group of
Specialized Mobile Robots Vassil Sgurev, Stanislav Drangajov, Lyubka
Doukovska Institute of Information and Communication Technologies, 1113
Sofia.
[9] A System Architecture of Wireless Communication for Fire- Fighting Robot by
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Yuseong-gu, Daejeon 305- 701, Republic of Kor
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