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ABSTRACT:

Our goal is to develop an intelligent multi sensor based fire fighting robot in our daily life. Wedesign the fire detection system using four flame sensors in the firefighting robot, and programthe fire detection and fighting procedure using sensor based method. The fire fighting robot isequipped with four thermistors/flame sensors that continuously monitor the temperature. If the

temperature increases beyond the predetermined threshold value, buzzer sounds to intimate theoccurrence of fire accident and a warning message will be sent to the respective personnel in theindustry and to nearby fire station with the !" module provided to it. #ire #ighting $obotcontinuously monitors the temperature at four sensors and if fire accident is true, the robot movesto the direction to which the temperature is recorded to be the relatively ma%imum among thefour sensors and e%tinguishes the fire with water pump provided to it. &fter e%tinguishing the fireit comes bac' to its initial position. It is more advantageous than a smo'e detector as it cane%tinguish the fire at the inception than waiting for an ob(ect to burn and produce smo'e. When asmo'e detector detects fire it, sprays water all over the place, instead of that particular point of source. It voluntarily detects and e%tinguishes fire without human aid.

INTRODUCTION:

$obot is defined as a mechanical design that is capable of performing human tas's or behavingin a human)li'e manner. *uilding a robot requires e%pertise and comple% programming. It+sabout building systems and putting together motors, flame sensors and wires, among other important components. & fire fighter robot is one that has a small fire e%tinguisher added to it.*y attaching a small fire e%tinguisher to the robot, the automation put out the fire by humancontrolling. This paper covers the design and construction of a robot that is able to sense ande%tinguish fire. This robot implements the following concepts environmental sensing, proportional motor control. This robot processes information from its various sensors and 'eyhardware elements via microcontroller. It uses thermistors or ultraviolet or visible sensors todetect the fire accident. & robot capable of e%tinguishing a simulated tunnel fire, industry fire andmilitary applications are designed and built. -ltraviolet sensors/thermistors/flame sensors will be

used for initial detection of the flame. Once the flame is detected, the robot sounds the alarmwith the help of buzzer provided to it, the robot actuates an electronic valve releasing sprin'lesof water on the flame.

FIRE FIGHTING ROBOT:

The pro(ect helps to generate interests as well as innovations in the fields of robotics whilewor'ing towards a practical and obtainable solution to save lives and mitigate the ris' of  property damage.

#ire fighters face ris'y situations when e%tinguishing fires and rescuing victims, it is aninevitable part of being a fire fighter. In contrast, a robot can function by itself or be controlledfrom a distance, which means that fire fighting and rescue activities could be e%ecuted without

 putting fire fighters at ris' by using robot technology instead. In other words, robots decrease theneed for fire fighters to get into dangerous situations. This robot provides fire protection whenthere is a fire in a tunnel or in an industry by using automatic control of robot by the use of microcontroller in order to reduced loss of life and property damage. This robot uses dc motors,castor wheel, microcontroller, sensors, pump and sprin'ler. "icrocontroller is the heart of the pro(ect. "icrocontroller controls all the parts of the robot by the use of programming. In thisrobot as the fire sensor senses the fire, it sends the signal to microcontroller since the signal ofthe sensor is very wea' the amplifier is used so that it can amplify the signal and sends it to

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microcontroller. &s soon as microcontroller receives the signal a buzzer sounds, the buzzer soundis to intimate the occurrence of fire accident. &fter the sounding of the buzzer microcontroller actuates the driver circuit and it drives the robot towards fire place, as the robot reaches near thefire microcontroller actuates the relay and pump switch is made O and water is sprin'led on thefire through the sprin'ler.

SMOKE SENSORS:

& smo'e detector also called a smo'e alarm is a device that detects smo'e, typically as anindicator of fire. 0ommercial, industrial, and mass residential devices issue a signal to a firealarm system, while household detectors, 'nown as smo'e alarms, generally issue a local audibleor visual alarm from the detector itself. Thus, it senses only the smo'e. Whereas, #ire sensorsused to detect the fire before it burns out and produces smo'e. In this way, it is veryadvantageous than the smo'e sensors.

ULTRASONIC SENSORS:

&lso 'nown as transceivers  when they both send and receive, but more generally calledtransducers. Wor' on a principle similar to radar  or sonar  !ic! evaluate attributes of a target by interpreting the echoes from radio or sound waves respectively. -ltrasonic sensors generatehigh frequency sound waves and evaluate the echo which is received bac' by the sensor. !ensorscalculate the time interval between sending the signal and receiving the echo to determine thedistance to an ob(ect.This technology can be used for measuring wind speed and direction 1anemometer 2, tan' or 

channel level, and speed through air or water. #or measuring speed or direction a device uses

multiple detectors and calculates the speed from the relative distances to particulates in the air or 

water. To measure tan' or channel level, the sensor measures the distance to the surface of the

fluid. #urther applications include humidifiers,  sonar ,  medical  ultrasonography,   burglar 

alarms and  non)destructive testing.

!ystems typically use a transducer which generates sound waves in the ultrasonic range, above

34,555 hertz, by turning electrical energy into sound, then upon receiving the echo turn the sound

waves into electrical energy which can be measured and displayed.

TEM"ERATURE

SENSOR:

& t!er#ist$r is a type

of resistor  whose resistance 

varies significantlywith temperature, more so than in standard resistors. The word is a  portmanteauof thermal  and

resistor .  Thermistors are widely used as inrush current limiters, temperature sensors,  self)

resetting overcurrent protectors, and self)regulating heating elements.

Thermistors differ from resistance temperatur e  detectors 1$T62 in that the material used in athermistor   is generally a ceramic or polymer, while $T6s use pure metals. The temperatureresponse is also different $T6s are useful over larger temperature ranges, while thermistorstypically achieve a higher precision within a limited temperature range, typically 785 90 to 3:5

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90.

U%TRON:

-;T$Ois an ultraviolet O/O## sensor tube that usesthe photoelectric effect of metal and gas

multiplication effect of electric current by means of discharge. It has a very narrow row range of 

sensitivity from 34<nm to :55nm and is completely insensitive to visible light. *ecause it used

the discharge phenomenon, its sensitive is high and an adequate output voltage is obtained,

ma'ing it possible to design a high sensitivity, quic' response ultraviolet detection with simple

circuitry.

GSM M$de#:

!" modem is used to intimate the occurrence of fire accident via !"!. -sing !" modem a predetermined message can be send to required persons and also to fire station so that they getalerted and reach the place quic'ly where fire bro'en out.Driver Circuit:

The driver circuit generally made by using one transistor and one relay. The driver circuit was

mainly operated by the "icro 0ontroller. The "icro 0ontroller was change the state of theoutput pin from the low to high that is from O level to the 3 level. *y using this sequence tocontrol the base of the transistor. The transistor will act as a O/O## switch corresponding to theinput of the base. If the base of the transistor will high the transistor will act as a O switchotherwise it will act as O## switchDC M$t$rs:

60 motors are generally more powerful than servos in terms of speed and torque."icrocontroller could not accurately control 60 motors without a motor controller. Therefore,motor 0ontrollers are needed. &n encoder used to get feedbac' from the 60 motor.C!assis:

&nother word for chassis is base. &ll components of the robot are attached directly to the

chassis therefore a strong yet light chassis will be ideal. 0hassis can be made from manydifferent types of materials, some common types are aluminum, steel, acrylic, plastic, and highdensity polymer. 

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$obot uses microcontroller to drive four flame sensors, and transmit distance range to maincontroller of the fire fighting robot through series interface. To drive the all the components <vdc and 3= v dc are required. The mains give the =:5v ac so first we step down the =:5v ac in to3=v ac by using step down transformer. Then the output is given to the full wave rectifier. Therectifier eliminates the negative pee' voltage of the input voltage .The output of the rectifier isthe pulsating dc. The error pulses are eliminating by using capacitor filter. Then the output at the parallel of the capacitor is the 3=v dc. *ut the "icro 0ontroller is wor' on <v dcTo convert the3=v dc into <v dc a regulator 1>45<2 is used. The output of the regulator is constant irrespectiveof the input voltage. The "icro 0ontroller requires the preset logic circuit for protection of theinternal program and internal cloc' in case of power failure. & sudden change in the power maycause data error resulting in the corruption of the internal program. The reset logic circuitcontains one capacitor and a resistor. The driver circuit generally made by using one transistor and one relay. The driver circuit is mainly operated by the "icro 0ontroller. The "icrocontroller changes the state of the output pin from the low to high, i.e. from O level to the 3level. The transistor will act as an O/O## switch corresponding to the input of the base. If the base current of the transistor is high the transistor is under O condition else it is in O## state.These conditions will be used to control the relay. The thermal sensors provide the senses theheat from within the room. #irst sensor will give the data to the micro controller if it finds theheat. The micro controller pin bit will goes low when the fire is present. The micro controller will always scan the input signal of sensors. If the first sensor gives the data about fire to themicro controller, it then finds the movement to reach the fire by calculating the input data. Themicro controller can give the output to two motors. One motor is used to move in forwarddirection to reach the destination point and the other is used to putoff the fire. &fter end of firethe robot will go bac' to the original position.

ROBOT MODEL

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