Fire Fighter Robot with Fire Resistant Body
Abstract - The Multi Purpose Fire Fighter Robot has three main objectives for fire extinguish and rescue operation. The design was made as an all-terrain robot, for easy locomotion. A robotic arm with a gripper at its end will be used to remove debris from damaged building parts during fire accidents. The design has a water tank at its back, the water outlet is attached to the tip of the robotic arm for fire extinguishing with 360 degree scope. Some sensors like IR receivers and flame sensors are used for automatic fire detection. Ultrasonic sensors works as obstacle detector and PIR sensor acts as a human detector to save lives during automatic operation of the robot. The entire robot can also manually operated using Bluetooth remote interface. With all such functionalities, the robot helps not only civilians but also firemen during fire extinguish and rescue operation. This was designed as a Final Year project and to online publication as a journal through IRJET. The main objective was to help fireman in dealing with fire accidents more easily.
1. INTRODUCTION The fire fighting robot was made to sense fire using multiple sensors fitted on all sides. Once the different fire locations are obtained,the arduino is coded to run a sensing algorithm according to which the robot moves towards the nearest fire spot. After assessing the fire spot by flame sensor modules on the sides of the robotic arm, the water outlet hose fixated on the base of the tip of the robotic arm gripper is made to extinguish the fire. The navigation of the robot is achieved by IR sensors and ultrasonic sensors. The PIR sensor allows tracking of human beings. The deployment of the extinguishing device is implemented with a custom arm controlled by servos. The design of the robot was made as simple as possible, considering all the sensors, motors and drives used. All the important topics about the robot are explained in detail below.
1.1 Software Design The software for the robot was coded in Embed C, as it reduces complexity in comparison with assembly language and provides a far decent view of understanding the program for viewers. Since our Arduino supports Embed C, it was easier to code the entire program. The total program was divided into the three main parts, 1.Automatic 2.Manual 3.Security. Upon the robot initialization, the [1] Automatic mode runs as default. When the robot senses a fire accident, there will be two cases. If the robot can solve the emergency itself, the mode is set to [3] Security. But if the situation becomes complex for the robot to handle during both the fireextinguishing and pick and place operation, the mode is set to [2] Manual, where the user controls the robot using the Bluetooth remote interface, normally using an android device.
1.2 Sensor Synchronization Sensor synchronization included reading an ultrasonic transducers and interpreting distance for obstacle detection, and with the robot locomotion. Multiple power LEDs are used to signify the current operation of the robot. The most programming sensitive sensor was the ultrasonic and analog IR receivers. The ultrasound expects an initial triggerpulse, which is projected out and upon striking the object it reflects back until an echo is received. The length of time that the line is held is proportional to the distance that the sensor is reading. The IR receivers are set to read all analog values, and upon reading the values of flame detected, arduino will process the fire extinguishing operation. The Bluetooth module was coded to receive certain key codes. Each key code transferred will cause the robot to perform a different operation. The Coding was done with multiple conditions, as read from the sensor. Once a condition becomes true, the corresponding operation is executed by the robot
2. Mechanical Design of Robotic Arm The Custom made Robotic arm has 4 main parts 1. Base 2. Shoulder 3. Elbow 4. Gripper. All the robotic arm and robotic gripper were designed and cut out of mica rather than 3d printed parts. This is to ensure low cost with high endurance. The entire design uses just 4 servo motors as it provides better accuracy and precision. We used 3 SG90 servos and one MG995 servo. MG995 is used because of its high torque; it is housed in the base of the shoulder, managing the shoulder movements.
3. Arduino Mega 2560 R3 The Arduino MEGA 2560 microcontroller was primarily designed for projects and as improved version of Arduino Uno with more input and output terminals, more sketch memory and RAM. With 54 digital I/O pins, 16 analog inputs, a USB port for dumping the sketch, a power jack, an ICSP header and a reset button with more space for storing the code. The Arduino platform helps in projects due to its simplicity in embed C coding language and easy circuit connections using the header pins. The Arduino Mega 2560 is programmed using the Arduino Software (IDE);it also has a serial display to check the operation performed by the arduino Due to the above specifications, arduino mega was selected out of all arduino microcontroller models. Arduino Mega 2560 serves as a great development platform for 8-bit microcontroller projects. The additional I/O and serial ports and plentiful code space in the Mega provide significant advantages over the Uno or other previous-generation Arduino boards. What is great about the Mega, and the Arduino family as a whole, is the ability to transport your code from one hardware solution to another and even beyond to your own custom PCBs. Once you run out of resources on one of the smaller boards, and with only minimal code changes and a simple board selection in the Arduino IDE, you can be up and running on the Mega with ease
Working of Robot The Robot uses its multiple sensors all sides of its body, such on detection of fire; it runs an algorithm to identify the nearest fire spot, and moves towards it. Using the flame sensors on the robotic arm, the robot pin points the flame spot, and runs the motor pump to extinguish the flame. The outlet of the pump is fit tightly with a hose, and the other end of the hose is attached to the tip of the Robotic arm gripper. The ultrasonic sensor will help in identifying obstacles in front of the vehicle, and the robot changes direction and pace accordingly, if it’s a small obstacle the robotic arm removes the obstacle and continues forward. The robotic arm also helps in clearing the debris during fire accidents thus helping firemen. The entire mechanical design was made strong enough to defend fire intrusions unto the vehicle. Since it is autonomous, it helps in firemen safety. In case of serious real life situations, all parts of the robot can be controlled by using Bluetooth remote interface. A similar image of the motor pump is shown below.
CONCLUSIONS The Multi-purpose Fire Fighter robot helps in clearing the debris of buildings during fire accidents, extinguishing the fire spot with pin point accuracy and allows detection of humans within debris using PIR, and allows easy locomotion in and around the area by its all-terrain vehicle design. The robot not only helps civilians, but also firemen during fire accidents.
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