Indian Streams Research Journal

Vol.2,Issue.II/March; 12pp.1-4

RATNESH MALIK Research Papers

ISSN:-2230-7850

FIRE FIGHTING ROBOT : AN APPROACH

MANISH KUMBHARE B.E. Final Year K.D.K.C.E. Nagpur

S S KUMBHALKAR Asst. Professor, Dept of Mechanical Engineering K.D.K.C.E. Nagpur

RATNESH MALIK B.E. Final Year K.D.K.C.E. Nagpur

Abstract
This paper covers the design and construction of a robot that is able to extinguish a fire. This robot is fully autonomous and implements the following concepts: environmental sensing and awareness, proportional motor control. This robot processes information from its various sensors and key hardware elements via SMCL microcontroller. It uses Ultraviolet, Infrared and visible light to detect various components of its environment. A robot capable of fighting a simulated tunnel fire, industry fire and military applications are designed and built.

Ultraviolet sensors will be used for initial detection of the flame. Once the flame is detected, the robot sound the alarm, the robot actuates an electronic valve releasing sprinkles of water on the flame. The project helps to generate interests as well as innovations in the fields of robotics while working towards a practical and obtainable solution to save lives and mitigate the risk of property damage. Key words: Microcontroller, Sensors, dc motors, Pump, Robot and Fire. Introduction: Fire fighting and rescue is recognized as a risky mission. Fire fighters face risky situations when extinguishing fires and rescuing victims, it is an inevitable part of being a fire fighter. In contrast, a robot can function by itself or be controlled from a distance, which means that fire fighting and rescue activities could be executed without putting fire fighters at risk by using robot technology instead. In other words, robots decrease the need for fire fighters to get into dangerous situations. Further, if the robots replace or support fire fighter in missions, the load for fire fighters reduced. Moreover, one can say nothing but there is the limit of fire department power. So it is impossible to extinguish fire and rescue many victims at a time in a huge disaster. In this case, the robot technology make possible to rescue much more victims.To make human lives easier and to make maximum use of time available. This project uses modular design concept to implement robot system. This robot provides fire protection when there 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, chassis, microcontroller, sensors, pump and sprinkler. Microcontroller acts as a brain of the robot. Microcontroller controls all the parts of the robot by the use of programming. In this robot as the fire sensor senses the fire, it sends the signal to microcontroller;

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Vol.2,Issue.II/March; 2012

since the signal of the sensor is very weak the amplifier is used so that it can amplify the signal and sends to microcontroller. As soon as microcontroller receives the signal an alarm sounds, the alarm sound is to know whether the fire is sensed by the sensor or not. After sounding the alarm microcontroller actuates the driver circuit and it drives the robot towards fire place, as the robot reaches near the fire microcontroller actuates the relay and pump switch is made ON and water is sprinkled on the fire through the sprinkler. The brief descriptions of the parts are as follows: Various parts of the robot: Fire sensor: Using a UV sensor, a flame the size of a single candle can be seen Five meters away. The Trekker utilizes a Hamamatsu UV sensor that is mounted onto the Trekker sweeping sensor brackets. The Trekker scans the area and finds an open flame. The Hamamatsu UV TRON Flame Detector is lightweight, has low current consumption, and operates as high sensitivity UV Sensor. The UV TRON is an ultraviolet detector that makes use of the photoelectric effect of metal combined with the gas multiplication effect. It has a narrow spectral sensitivity of 185 to 260 nm. Thus it is solar blind, being completely insensitive to visible light. Unlike semiconductor detectors, it does not require optical Visible-cut filters, thus making it easy to use.

Fig.1: Fire sensor Microcontroller: Microcontroller is a general purpose device, which integrates a number of the components of a microprocessor system on to single chip. It has inbuilt CPU, memory and peripherals to make it as a mini computer. A microcontroller combines on to the same microchip: 1.The CPU core 2.Memory(both ROM and RAM) 3.Some parallel digital I/O Microcontroller combines other devices such as: 1.A timer module to allow the microcontroller to perform tasks for certain time periods. 2.A serial I/O port to allow data to flow between the controller and other devices such as a PIC or another microcontroller. 3.An ADC to allow the microcontroller to accept analogue input data for processing. Microcontrollers are: 1. Smaller in size 2.Consumes less power 3. Inexpensive Micro controller is a standalone unit, which can perform functions on its own without any requirement for additional hardware like I/O ports and external memory. The heart of the microcontroller is the CPU core. In the past, this has traditionally been based on a 8-bit microprocessor

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unit. In the recent years, microcontrollers have been developed around specifically designed CPU cores, for example the microchip PIC range of microcontrollers. AT89C51 is the 40 pins, 8 bit Microcontroller manufactured by Atmel group. It is the flash type reprogrammable memory. Advantage of this flash memory is we can erase the program within few minutes. It has 4kb on chip ROM and 128 bytes internal RAM and 32 I/O pin as arranged as port 0 to port 3 each has 8 bit bin .Port 0 contain 8 data line(D0-D7) as well as low order address line(AO-A7). Port 2 contain higher order address line (A8-A15). Port 3 contains special purpose register such as serial input receiver register SBUF, interrupt INT0,INT1 and timers T0 , T1 many of the pins have multi functions which can be used as general purpose I/O pins (or) Special purpose function can be decided by the programmer itself. The specifications are as follows: 4K Bytes of In-System Reprogrammable Flash Memory Endurance: 1,000 Write/Erase Cycles 1.Fully Static Operation: 0 Hz to 24 MHz 2.Three-Level Program Memory Lock 3.128 x 8-Bit Internal RAM 4. 32 Programmable I/O Lines 5.Two 16-Bit Timer/Counters 6.Six Interrupt Sources 7.Programmable Serial Channel 8.Low Power Idle and Power Down Modes Electrical: The uses 12V DC motors, Microcontroller, Fire extinguisher system will use a nominal voltage of 12.0V at most. The battery provides maximum power of 65 W and an average power of 7.8 Watts. Features of the Fire Fighting Robot: 1.The fire sensors are capable of detecting fire from 2 m away. 2.The ultraviolet sensor detection range is 360 degrees. 3.The fire extinguisher works for a continuous time till the water tank becomes empty. 4.The robot moves at 2.5 ft/sec on a flat surface, accelerate from 0 to 1 ft/sec in two seconds. 5The robot turns within a 6 radius and utilizes circular or octagon design in order to minimize possible impact area. Mechanical parts: Chassis: Another word for chassis is base. All components of the robot are attached directly to the chassis; therefore a strong yet light chassis will be ideal. Chassis can be made from many different types of materials, some common types are aluminum, steel, acrylic, plastic, and high density polymer. Custom chassis: When considering about the shape of the chassis, it is important to consider impact or collision area as well as maneuverability. Some of the considered shapes are in small scale robotic, rounded shape robots are the most basic type of robot simply because of its ability to move around without colliding especially in the corners. For this reason, it is ideal for tight corner situations like maze for example. DC Motors: DC motors are generally more powerful than servos in terms of speed and torque. Microcontroller could not accurately control DC motors without a motor controller. Therefore, motor controllers are needed. An encoder used to get feedback from the DC motor. Working of the Fire Fighting Robot: The fire fighting robot is constructed using aluminium frame. The contour of the fire fighting robot is cylinder. The diameter is 50 cm, and height is about 130 cm. The main controller of the fire fighting robot is the microcontroller. The hardware devices have microcontroller, sensors and sensory circuits, driver circuit with relay, fire extinguisher, pump and sprinkler. The microcontroller used is a SMCL type or Motorola 6808/8051. There are six systems in the fire fighting robot, including structure, avoidance obstacle and driver system, software development system, fire detection, remote supervise system and others. Each system contains some functions in the fire fighting robot. The block diagram of

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the fire fighting robot is shown in Fig.2 .In the drive device, there are fire fighting device, auto-charging device, and the robot is controlled by using wireless RF interface. In the motion control function, it cans orders command to control two DC servomotors through motion control card and driver Devices. In the avoidance obstacle function, the robot catches eight pieces IR sensor status using digital input terminal (in the motion control card), and measure distance of obstacle using eight ultrasonic sensors through series interface. Robot uses microcontroller to drive eight ultrasonic sensors, and transmit distance range to main controller of the fire fighting robot through series interface. The design of ultrasonic driver circuit and use of multi-sensor fusion method are to get exactly decision output. In the sensory system, there are fire detection, power detection and environment detection. There are some devices which are communicated with main controller of the fire fighting robot. Such as touch screen, wireless RF interface and alarm device. The hardware configuration of the remote supervise system includes a fire fighting robot, supervised microcontroller as show in the section of microcontroller. The main controller of the fire fighting robot gets sensory data to detect fire, gas, etc and interact with the microcontroller. In the security system, it displays sensory status that is detected using variety of sensors, and displays the state of motor and battery, and displays the detection results using sensors from the fire fighting robot. In the security module, it contains fire detection module, gas detection module, etc. The fire sensor is using here to sense the fire. The fire sensor output is very low voltage need to amplify that voltage with help of differential amplifier. The amplified voltage is given to micro controller. The micro controller is Atmel or SMCL flash type's reprogrammable controller. The program is fed to microcontroller and it runs according to our objective. Therefore, it received the signal from amplifier and activates corresponding driver circuit. It any objectives related to smoke is there; the sensor detecting the smoke finds that one and gives the signal to micro controller. By which the robot movement is controlled artificially, the micro controller activates the alarm driver circuits, and so the alarm makes sound for indication for fire. And the same time microcontroller activates driver circuit for water pump and water is sprinkled on the fire through the sprinkler. The keypad is used here to control the robot movement likes as forward and reverse direction and left and direction control.

Fig.2: Block Diagram

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Fig.3: Moving Fire Fighting Robot Calculations of robot speed: 45mA @ 8.6 V; 1000 rpm

? f

8 .6 1320 = K
F= ma

K= .0065V
N

dw a = dt

w = w a t 0 +
1 2 q = q w a t 0 + 0t + 2
2 2 () w = w 2a q q 0 + 0

M = Ia
0 0

at = a r

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FIRE FIGHTING ROBOT : AN APPROACH

2 an = w r 1 2 s= s0 + v0t + at 2 v= v0 + at 2 v2 = v0 + 2a() ss0

Indian Streams Reserach Journal

Vol.2,Issue.II/March; 2012

FR a = I

m = 10lb =4.54kg s = .15 r = 2 = .0508m + Fy = ma 2N = 4.54 * 9.81 N= 22.3 N f = sN = .7*22.3 = 3.345N

Fx = ma f = 4.54a m .15 * 22.3 m sN a= = = .736 2 m 4.54 s
.736 a= a r a = .0508 a = 14.5rad / s
+

Fig.4: Circuit diagram of Fire Fighting Robot

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Conclusion: This paper gives a detailed concept about a robot which automatically detects fire and extinguishes it in quickest time by the use of sensors, microcontroller, etc. This robot is used where human lives are very dangerous, for example for extinguishing fire in tunnels, in industries, hospitals and in house uses. References: [1] T.Tanzawa, N.ICiyohiro. Sonar with Cross Correlation for Out Door Robot, JSME Infclligent illohile Robot Symposium '94, pp.73, 1994 [2] Nagashima. and S. Yuta., Ultrasonic sensing for a mobile robot to recognize an environmentmeasuring the norma.1 clirection pf'walls, Proceedings of I.EEE/RSJ International Conference on Intelligent Robots and Systems(IROS'92), pp.805, 1992 [3] J. Borenstein and Y. Iioren, Obstacle avoidance with ultrasonic sensors, IEEE Journal of Robotics and Automadion, April, pp.213, 1988 [4] H. Amano: Fire Fighting and Rescue Robot in Japan, Proceedings of International Conference on Fire Fighters Safety on Rescue (2002) [5] Bradshaw, "The UK Security and Fire Fighting Advanced Robot project," IEEE Colloquium on Advanced Robotic Initiatives in the UK, 1991, pp. 1/1-1/4. [6] L. E. Parker, B. A. Emmons, "Cooperative multi-robot observation of multiple moving targets," Proceedings of the IEEE International Conference on Robotics and Automation,, vol.3, 1997, pp.20822089. [7] H. Kobayashi, M. Yanagida, "Moving object detection by an autonomous guard robot," Proceedings of the 4th IEEE International Workshop on Robot and Human Communication, 1995, TOKYO, pp.323-326.

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