International Journal of Computer Engineering and Applications, Volume XII, Special Issue, March 18, ISSN

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1 Birdawade Sonal 1,Gawade Ujwala 2, Shaikh Ayub 3, Patil Prajkta 4,Panchal Jagruti 5,Gunaware Nilesh 6 Department of Computer Engineering Department of Computer Engineering H.S.B.P.V.T s COE, Kashti ABSTRACT: Nowadays, fire accidents are very common and sometimes it becomes very difficult for a fireman to save someone s life. It is not possible to appoint a person to continuously observe for accidental fire where robot can do that. Therefore in such cases firefighting robot comes in picture. Robot will detect fire remotely. These robots are mostly useful in industries where probability of accidental fire is more.the proposed vehicle is able to detect presence of fire and extinguishing it automatically by using gas sensor and temperature sensor. It contains gear motors and motor driver to control the movement of robot. Relay circuit is used to control the pump and when it will detect fire then it will communicate with microcontroller (Arduino Nano) through Bluetooth module. The proposed robot has a water jet spray which is capable of sprinkling water. The sprinkler can be move towards the required direction.at the time of moving towards the source of fire it may happen that it will come across some obstacles then it has obstacle avoiding capability. It will provide GUI for arduino operation using android. It detects obstacles using ultrasonic sensors upto range of 80 m. Communication between the mobile phone and robot will take place through Bluetooth which will have GUI to control the movement of robot. When mobile gets connected to Bluetooth firstly it will set module name, baud rate.it is feasible to implement Bluetooth communication between smartphones and microcontroller.android controlled robot can be used easily in everyday life such as in homes, market,companies etc. The development of apps for Android in Android SDK is easy and free of cost [3]. Keywords : Arduino Nano V3.1, PC with Arduino Software, DC Motor and Driver Circqit Pump And Sprinkler [I] INTRODUCTION Birdawade Sonal, Gawade Ujwala, Shaikh Ayub, Patil Prajkta, Panchal Jagruti, Gunaware Nilesh 1

2 Previously Fire Fighting Robots were controlled by using different electronics devices But this reduces the scope of control of firefighting robot.however,with the advanced techniques we can build the same robot by using android application to control the actions of the robot. With the help of such robots, fireman work really decreased and movements of robot are so much effective. By using an android app fireman man detect the fire and can able to extinguish it. At the same time robot can detect the obstacles and can avoid them by using ultrasonic sensors [1]. Our project is designed to build an android application which can control operations of the fire fighting robot. Fireman can send commands to robot through Bluetooth module which is mounted on robot itself. Smart phones has facility of Bluetooth through that Bluetooth fireman can control the movement of firefighting robot. For fire detection it is using two sensors. One is temperature sensor and second is smoke detector. Fire extinguishing system will be get activated when fire detection system detects fire [2].Sprinkler will start sprinkling water when it detects fire. At the transmitting end android application is used and at receiving end two motors are interface to microcontroller. [2] RELATED WORK There are several possibilities of fire in any remote area or in an industry. For instance, in garments godowns, cotton mills, and fuel storage tanks, electric leakages may result in immense fire & harm. In the worst of cases & scenarios, fire causes heavy losses both financially and by taking lives. Robotics is the best possible way to guard human lives, wealth and surroundings. A Firefighting robot is designed and built with an embedded system. It is capable of navigating alone on a modeled floor while actively scanning the flames of fire [2]. The robot could be used as a path guide in a fireplace device or, in normal case, as an emergency device. This robot is designed in such a way that it searches a fire, & douses it before the fire could spread out of range & control. This type of firefighting robot will sooner or later work with firefighters, thus greatly reducing the danger of injury to victims. Apart from this, this Firefighting robotic project will also help generate interest along with the innovations in the field of robotics while operating towards a sensible and obtainable solution to save lives and mitigate the danger to property. Hardware Implementation: Arduino Nano V3.1:The fire-fighting robot works under the control of the Arduino UNO R3.It is a open source prototype that is based on an easy-to use software and hardware. The Arduino Nano has a number of facilities for communicating with a computer, another Arduino or other microcontrollers [3]. In this, a circuit board is present that referred as microcontroller that can be programmed according to the user need. It consists of ready-made software called Arduino IDE (Integrated Development Environment), in which the computer code can be written and upload to the physical board. Birdawade Sonal, Gawade Ujwala, Shaikh Ayub, Patil Prajkta, Panchal Jagruti, Gunaware Nilesh 2

3 Bluetooth Module: Fig [1]: Arduino Nano Board The HC-05 Bluetooth Module makes a great solution for wireless communication as it can be used in a Master or Slave configuration. To connect a mobile phone to the Bluetooth module, it can be simply used in the Slave mode. This module has a default data transmission rate of 9600kbps and the range for Bluetooth communication is usually 30m or less. The HC-05 Bluetooth Module has 6 pins namely-vcc, GND, TX, RX, Key and LED. Temperature Sensor: Fig [2]: Bluetooth Module HC-05 The LM35 series are precision integrated circuit temperature device with an output voltage linearly-proportional to the centrigrade temperature. The low output impedance, linear output, and precise inherent calibration of the LM35 device. Makes interfacing to the read out or control circuitry especially easy. Birdawade Sonal, Gawade Ujwala, Shaikh Ayub, Patil Prajkta, Panchal Jagruti, Gunaware Nilesh 3

4 Fig [3]: Temperature sensor LM35 Ultrasonic Sensor: In fire fighting robot ultrasonic sensor work as when obstacle detected it send the data to arduino borad and this borad perform the actions.the ultrasonic sensor send out a highfrequency sound pluse and then times how long it takes for the echo of the sound to reflect back. The sensor has two openings on its front. One opening transmits ultrasonic wave the other receives them. This device can measure and calculate distance from the sensor to a specific target object. Software Implementation: Fig [4]: Ultrasonic Sensor MZ80 To program Arduino Nano there is a need for the open source Arduino IDE software that the card manufacturer company written. This is a software programming that is written by Java language which is used to program the Arduino cards and for downloading the Arduino cards to Arduino cards [4]. It contains a text editor used for writing code, a text console, as message area, a toolbar with buttons for the common functions and for a series of menus. It consists of an editor which uses the Wiring/ processing language, commands that supports the utilities for the projects and resemble the C language in some cases. The programming work can easily be performed by making the necessary settings and definitions in the IDE program. It connects to the Arduino hardware to upload programs and communicate with them. Birdawade Sonal, Gawade Ujwala, Shaikh Ayub, Patil Prajkta, Panchal Jagruti, Gunaware Nilesh 4

5 Fig [5]: Arduino IDE Program [3] PROPOSED SYSTEM As discussed earlier, the Block Diagram consists of several components which are used for the control and interfacing of the android controlled fire-fighting robot. The Main components that are used in this firefighting robot are given below. Obstacle detection Module: Birdawade Sonal, Gawade Ujwala, Shaikh Ayub, Patil Prajkta, Panchal Jagruti, Gunaware Nilesh 5

6 Check whether there is obstacle in front of the robot. If obstacle is within the certain range then stop the robot. Fire detection Module: The robot will move in the room and detect the fire. If the temperature at certain place is more than the threshold set then start the water sprinkler Else detect the fire inside the room Fireman Module: When the robot will be moving inside the room it can be controlled by the fireman using android phone. When obstacle detected the robot will be guided by the fireman where to move. The camera on the robot will allow fireman to analyze the situation and turn the pipe of water sprinkler. [4] WORKING PROCEDURE: A. Fire Fighting Robot: Whenever fire condition occurred our robot is ready to taking the appropriate action. Robot is on and moved four direction where the fire is detected and start working exstinguish the fire. If the obstacle is detected through the ultrasonic sensor robot moved backward direction and to find new route and exstinguish fire. Fig [6]: Fire fighting model Birdawade Sonal, Gawade Ujwala, Shaikh Ayub, Patil Prajkta, Panchal Jagruti, Gunaware Nilesh 6

7 B. Handling the robot through the android app: Connectivity to the Bluetooth module which is placed on the PCB board. Fig [7]: Connectivity to the Bluetooth module Fig [8]: Connect to Model Birdawade Sonal, Gawade Ujwala, Shaikh Ayub, Patil Prajkta, Panchal Jagruti, Gunaware Nilesh 7

8 Output: Fig [9]: Android mobile app screen [5] CONCLUSION: Thus we will be developing a robot which will be used for fire fighting purpose. This proposes a great chance for automation and will be useful at places where human cannot reach or is dangerous. The "Android controlled firefighting robot" can be used easily in everyday life such as in homes, laboratories, parking lots, supermarkets, stores, shops etc. The fire extinguishing was done with the help of water through the pumping mechanism. Some alternatives in these aspects are blowing wind by fans, fire extinguisher gel tightening with the help of servo motors etc. However, in this project, extinguishing of fire is done with the water which is most suitable for both time and material work Birdawade Sonal, Gawade Ujwala, Shaikh Ayub, Patil Prajkta, Panchal Jagruti, Gunaware Nilesh 8

9 REFERENCES: [1] TawfiqurRakib,M. A. Rashid Sarkar Design and fabrication of an autonomous firefighting robot with multi sensor fire detection using PID controller ICIEV Volumn 23 issue-1 JUNE 2016 [2] Khaled Sailan, Prof. Dr. Ing. Klaus- Dieter Kuhnert Obstacle avoidance stratergy using fuzzy logic steerig control of amphibious autonomous vehicle Ineternational journal of innovative science Engg. and Technology,Volumn 2, 2015 [3] ShivamAgrawal,Nidhi Agrawal Interfacing of robot with android app for to and fro communication IEEE,2016 [4] SaravananP.,SoniIshawaryaAndroid controlled intergratedsemi autonomousfire fightingrobot.ineternational journal of innovative science Engg. and Technology [5] S. JakthiPriyanka,R. Sangeetha Android controlled firefighting robot Ineternational journal of innovative science Engg. and Technology,Volumn 3, 2017 [6] Development &Applications of Automatic Fire fighting robot-international Journal of Advanced Research in Computer Engineering & Technology- Paul E Sandin,vol.2,issue14,2013. [7] International Journal of Recent Research in Mathematics Computer science and Technology-Abilash, Dhumathar, Sumit, Bhiogade, vol.2, Issue., April [8] International Journal of advanced Research in Computer and communication Engineering, IJARCCE DOI \ ,VOL.4,Issue9,September Birdawade Sonal, Gawade Ujwala, Shaikh Ayub, Patil Prajkta, Panchal Jagruti, Gunaware Nilesh 9