FIRE ACCIDENT FIGHTING ROBOT

CHAPTER-3
DEVELOPMENT OF HARDWARE
3.1 Introduction to arduino
“ Arduino is an open-source electronics prototyping platform based on flexible
and easy to operate hardware and software, it’s intended for artists, designers,
hobbyists, & anyone interested in creating interactive objects OR environments ’’

Since arduino is open source, the CAD and PCB design is freely available. Anyone
can buy pre-assembled original Arduino board. You can build an arduino for
yourself. Although it is allowed to build arduino boards, it’s not allowed to use the
name Arduino and the corresponding logo. Most boards are designed around the
Atmel Atmega328

3.2 Popular arduino boards

There are several different Arduino boards on the market (both original
and cloned).

 Arduino UNO
o Most popular board. Ideal for starters.
o Standard USB for data and power and programming.
o Power Input connector.
o Female headers.
o 14 digital I/O ports (of which 6 PWM).
o 6 analog input port
o 1 hardware serial port (UART).

 Arduino Nano
o Much smaller than the UNO (only 18x43 mm).
o Input 6-20 V on Vin (6-12 recommended).
o Mini USB for data and power and programming.
o 14 digital I/O ports (of which 6 PWM).
o 8 analog input ports.

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o 1 Hardware serial port (UART).

 Arduino Mini
o Smallest Arduino board, used in small sized projects.
o No USB connector, you need a USB to serial convertor to
program this board.
o No separate power connector (you must use +9V header pins).
o Input 7-9 V.
o Male headers at the bottom side, so ideal to use on a solder
less breadboard.
o 14 digital I/O ports (of which 6 PWM).
o 8 analog input ports (4 of them are not connected to header
pins).
o No hardware serial port (UART).
 Arduino Mega
o Largest Arduino board for large number of I/O ports
o Normal size USD for data and power and programming.
o Power input connector.
o Input 6-20 V (7-12 recommended).
o Female headers at the top side.
o 54 digital I/O ports (of which 15 PWM).
o 16 analog input ports.
o 4 serial ports.
3.3 Connections
The following connections are available on most Arduino boards.
Differences can be found in the number of Digital I/O and Analog Inputs.

Common connections

Name Description
GND Ground
5V Regulated 5V output (recommended)
Regulated 5V input (not recommended)
3.3V Regulated 3.3V output (from FTDI)

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Vin Non regulated input (6-12V)

RESET
IOREF
AREF
Dx Digital input and output. two values(HIGH OR LOW)
Dx ~ Digital Input/Output PWM. Values: 0..255 through PWM (Pulse
Width Modulation)
Ax Analog Input. Values: 0..1023
Shared connections

Name Shared with Description

RX D0 TTL Series Receive
DX D1 TTL Series Transmit
SCK D13 SPI Serial clock
MISO D12 SPI Master In Salve Out
MOSI D11 SPI Master Out Slave In
SS D10 SPI Slave select
SDA A4 I2C TWI Data
SCL A5 I2C TWI Clock

3.5 ARDUINO UNO R3

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Fig.3.1. Overview Of Arduino Uno Board

Specifications
Microcontroller Atmega238
Operating voltage 7-12V Recommended
Digital I/O Pins 14-Pins (of which 6 PWM)
Analog Input Pins 6
DC Current Per I/O Pins 40 Ma
DC Current For 3.3 V 50 mA
Flash Memory 32KB
USB To Serial Converter Atmega 16U2
UART 1
3V Available

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3.6 Sensors
Flame sensor
This flame sensor looks like a very dark (black) LED, but actually is a IR photo
transistor. It senses IR from a candle light, cigarette lighter or other flames, but
also the IR frequencies that are part of some halogen lights.

Fig.3.2. IR Flame Sensor

Connections Flame Sensor (IR photo transistor)

Pin nr Name Description Arduino pin

1 Collector Shortest leg flat 5V
edge
2 Emitter Logest leg Any Digital port

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Rounded edge and to GND

through a 22K
ohm resistor
IR Proximity Sensor Board
The IR Proximity sensor board can detect an object in its proximity.

Fig.3.3. Photo Diode

Specifications IR proximity sensor board

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The sensitivity can be set through the potentiometer on the sensor board. The
output of this board is HIGH when an object is detected and low when there is no
object near. If you use a separate TCRT5000 module, without the sensor board,
the output is analog and gives an output value between 0-1023. So check whether
sample sketches found on the internet are based on the sensor board, or on the
separate TCRT5000 module. Placing three of these sensor boards parallel, you can
use them as a Line tracker. When the middle sensor detects a line, the robot
should go straight through. When the left sensor detects the line, the robot has
drifted to much to the right, so the robot should turn to the left. When the right
sensor detects the line, the robot has drifted to much to the left, so the robot
should turn to the right.

Connections IR proximity sensor board

Pin nr Name Description Arduino pin

1 G GROUND GND
2 V+ 5V 5V
3 S Signal Any digital port

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3.7 Motors

Standard Servo
Servo’s are DC motors with a potentiometer connected to the motor
shaft. This potentiometer tells the servo driver in which position the shaft is. This
way you can turn this shaft very accurate, but only for a limited angle. Most
common servo’s can only turn for about 180 degrees. In lots of projects (RC cars,
model planes etc.) only 90 degrees is used.

Fig. 3.4. Standard servo motor (Tower pro)

Connections Standard Servo

Pin nr Name Description Arduino pin

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1 Brown Ground GND

2 Red 5V 5V
3 Orange Signal Any digital pin
Motor Driver board L298n

Fig. 3.5. Motor driver board L298N

Driving a DC motor directly from an Arduino board is not recommended. The
current drawn by the motor could be way more than the Arduino can deliver.
Another challenge is to reverse the direction of a DC motor, since PWM can only
address values from 0..255. Using this Motor Driver board gives a solution to both
challenges. The speed of one motor can be changed through 1 PWM output,
while the direction can be changed through 2 digital outputs (opposite values). So
a total of three digital outputs are needed. You can reduce this to 2 digital outputs

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when using a TTL inverter (NOT gate), because 2 of the 3 inputs should always
have opposite/inverted values, this is called Sign-Magnitude. It is even possible to
use only 1 PWM output pin by changing the duty cycle to change both speed and
direction ( 0-49% è reverse, 50% è stop and 51-100% )

Connections Motor Driver Board

8-pin header

Pin nr Name Description Arduino pin

1 ENA Speed control of PWM
motor A
2 IN1 Clockwise
3 IN2 Anti-clockwise
4 IN3 Clock wise
5 IN4 Anti-clockwise
6 ENB Speed control of PWM
motor B
7 GND Ground Not connected
8 +5V 5V Not connected
3.8 Sound
A buzzer is a tiny speaker that can only produce a loud buzzing sound. Playing
notes is not possible (use a piezo speaker instead).

Fig. 3.6. Buzzer

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Specifications Buzzer
 Voltage: 3.5-5.5V
 Frequency: 2300Hz

Connections Buzzer

Pin nr Name Description Arduino pin

1 + Signal Any pin
2 - Ground GND

3.9 Robot chassis

The Robot Car Kit 01 is a kit that can act as a basic framework for a car/robot.
Simply add extra components, such as a power source (rechargeable battery,
batteries) and a controller, such as an Arduino with a motor controller.

The base plate already contains the holes for mounting an Arduino.
The motors are designed for a voltage of 3 - 9 V DC

. Fig. 3.7. Robot Chassis

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What’s included
 Plexiglass Chassis & Parts
 6V 200 RPM Plastic Gear Motors (4)
 Wheels (4)
 Brass 40 mm Standoffs (6)
 Metal Caster Wheel
 AA Battery Holder
 Screws, Nuts
Specifications
 Wheel Differential Drive
 Double Deck, Extendable
 Slot cuts can be used for attaching sensors, boards.
 Suitable for light chasing robots, Arduino based robots.

3.10 Jumper wires

Jumper wires are used for making connections between items on your
breadboard and your Arduino’s header pins. Use them to wire up all your
circuits
3.11 Fire stop cylinder

Flame Retardant Fluid, Portable & Handy - Special Extinguishing Formula

A must for every Car, House Hold , Office, Train, Air, Boat, Emergency
Services, Trekking & Holidaying etc. Can be kept in the bottle Holder of

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your Automobile easily, shelves etc (OR) can also be fixed on the walls of
Automobiles, Homes & Offices using the stand provided along with the
container. Helpful in training to handle during emergency situations.
Children should be trained thoroughly & strictly under adult supervision.
Non TOXIC, Environmentally safe, Ozone Friendly

3.12 Connection diagram

The below figure shows the connection diagram of FIRE ACCIDENT FIGHTING
ROBOT

Fire
extinguisher

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