Fire Extinguisher Robot (Report)

FIRE EXTINGUISHER ROBOT
B.S ELECTRONIC ENGINEERING, BATCH 2016
Internal Advisor
Aamir Khan
Assistant Professor
Electronic Engg.
SSUET, Karachi.
SUBMITTED BY
Talha hanif 2016-EE-003

Farzan Khan 2016-EE-006
Dawood Tariq 2016-EE-044
Mubashir Iftikhar dodhy 2016-EE-051
DEPARTMENT OF ELECTRONIC ENGINEERING
SIR SYED UNIVERSITY OF ENGINEERING & TECHNOLOGY,
KARACHI.
2019
i
FIRE EXTINGUISHER ROBOT
BY

Report submitted in partial fulfillment of the requirements
For the degree
of Bachelor of Science
In Electronic Engineering
DEPARTMENT OF ELECTRONIC ENGINEERING
SIR SYED UNIVERSITY OF ENGINEERING & TECHNOLOGY, KARACHI
ii
Excellent Good Fair Poor
Criteria
(>=90%) (70-89%) (50-69%) (<50%)
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The abstract The abstract Abstract provides a Abstract is poorly
C1 provides an provides a good reasonable written.
Abstract excellent overview overview of the description of the
PLO-10 of the project project project but needs
improvement
Literature is well- Literature is well- Literature is not Literature is poorly
written, reflects written, reflects the properly written, written, does not
the relevant relevant does not fully reflect the relevant
knowledge of knowledge of reflect the relevant knowledge of
mathematics, mathematics, knowledge of mathematics,
science and science and mathematics, science and
C2 engineering engineering science and engineering
Literature fundamental and fundamental and engineering fundamental and
PLO-1 covered all covered most of fundaments and covered a very few
relevant material the material covered some of material relevant to
to the project. relevant to the the material the project.
project. relevant to the
project.
Problem statement Problem statement Problem statement Problem statement

is stated and is stated and is stated but lacks is vaguely stated
C3
covered sufficient covered necessary necessary without any
Problem
justification. New justification with justification. justification
Statement
reader can clearly reference.
PLO-2
understand its
value and context
The methods, The methods, The methods, Some aspects of
approaches, tools, approaches, tools, approaches, tools, the solution are
techniques, techniques, techniques, described briefly
algorithms, or algorithms, or algorithms, or other but much of the
C4 other aspects of other aspects of aspects of the description is left
Methodology the solution are the solution are solution are out.
PLO-4 well-described well-described. described but not in
with sufficient However further a convincing
details and explanation is manner.
supporting required.
diagrams.
Both Both Implementation of Both
implementation implementation a system, are implementation
and testing of a and testing of a performed with the and testing of a
C5 system are system are necessary details system, are not
Implementatio precisely performed with the for the reader. But properly
n and Testing performed with necessary details testing of a system performed with
PLO-5 accuracy and for the reader. is not properly lack of details.
provide all performed.
necessary details
for the reader.
C6 Includes all key Includes most of the Includes few key Key results of the
Results results of the key results of the results of the project are missing.
PLO-4 project. project. Graphs, project. Graphs, Graphs, figures and
Appropriate figures and tables figures and tables tables are not
graphs, figures and are included for are included with included.
tables are included effective limited
for effective interpretation and interpretation and
interpretation and explanation of the explanation of the
explanation of the results. results.
results.
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All important Most of the Few aspects of the Important aspects
aspects of the important aspects of project are of the project are
project are well- the project are well- summarized with not clearly
summarized with summarized with the sense of closure summarized with.
the sense of closure the sense of closure and demonstrate the References are not
C7
and and outcome(s) of the cited
Conclusion &
demonstrate the demonstrates the project.
References
major outcome(s) outcome(s) of the References are not
PLO-4
of the project. project. cited properly
References are A few of the
cited properly references are cited
using a standard properly
format
Almost no Occasional Occasional Frequent spellings
spelling or spellings and spellings and and grammatical
grammatical grammatical errors grammatical errors errors that impede
mistake with an that have only with high but the reading flow
C8
acceptable minor impact on acceptable with very high
Language
similarity index. flow of reading similarity index similarity index.
and
with acceptable
Grammar,
Formatting style similarity index The formatting of
Formatting
of chapters, table Formatting style is the chapters may
Style
of contents, title Formatting style of proper but figures need improvement.
PLO- 8
page, references chapters, table of and tables don’t
&10
and appendices contents, title follow standard
are proper and page, references practice (caption
relevant. and appendices are figure number etc.)
proper.
DECLARATION
I hereby declare that this project report entitled “FIRE EXTINGUISHER ROBOT” is an
original work carried out by TALHA HANIF, FARZAN KHAN, DAWOOD KHANZADA
and MUBASHIR IFTIKHAR DODHY in partial fulfillment for the award of degree of
Bachelor of Science in Electronic Engineering of Electronic Engineering Department, Sir
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Syed University of Engineering and Technology, Karachi, Pakistan during the year 2018 to
2019. The Project report has been approved as it satisfies the academic requirements in
respect of project work prescribed for Bachelor of Science in Electronic Engineering.
I also declare that it has not been previously and concurrently submitted for any other degree
or other institutions.
The contents of this thesis have not been submitted elsewhere for the award of any degree or
diploma. We hereby declare that this thesis is based on the results found by ourselves and the
materials of work found by other researchers are mentioned by reference. We carried out our
work by the supervision of SIR AAMIR KHAN.
Signature: ____________________________
Internal Advisor: _______________________
Date: ________________________________
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ACKNOWLEDGEMENT
First of all in particular we are truly all that much thankful to the Almighty Allah who gave
us strength and courage to accomplish this work. We would like to express the deepest
appreciation to our thesis supervisor Sir Aamir khan for his guidance, for his kind
considerations, encouragement, his cordial behavior, supervision and help throughout the
course of this research work. We are also thankful to him for trusting us and for all the
facilities he provided us to complete our research. He continuously guided us instead of his
busy schedule. It is an honor for us to say thanks to him in the light of the fact that we are
equipped for building up our understanding in regards to the proposal subject and complete
our work which wasn't possible without the assistance of his direction, consolation and
consistent backing. He has been a source of inspiration and kind help for us. We are also
thankful to SSUET for providing us an opportunity to develop this research work, as well
specially Dr. Lubna for helping us in the implementation of our system. We would like to
thank our team members also to keep a very healthy working environment which actually
needed to complete our task. This becomes possible only because of their positive mind and
hard work. And last but not least, we are grateful to our parents for their hidden help in terms
of prayers and faith in us, which actually empowered us to fulfill this task.it, was under their
watchful eye that we gained so much drive and an ability to tackle challenges head on.

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TABLE OF CONTENTS
Page No.
DECLARATION iii
ACKNOWLEDGEMENT iv
TABLE OF CONTENT v
LIST OF FIGURES x
ABSTRCT xii
CHAPTER ONE: INTRODUCTION
1.1 Introduction 1
1.2 Robotics 2
1.1.1 Artificial Intelligence 2

1.1.2 Characteristics Of Robot 2
1.3 Robot Intelligence And Vision 3
1.4 Robot Density Of Countries 4
1.5 Types Of Robots 4
1.6 History Of Project 5
1.7 Background Of The Project 5
1.8 Key Segment 5
1.9 Advantages And Disadvantages Of Autonomous System 6
1.8.1 Advantages Of Autonomous System 6
1.8.2 Disadvantages Of Autonomous System
6
1.9 Robotics and AI 7
CHAPTER TWO: THEORITICAL BACKGROUND
2.0 Background 8
2.1 Overview Of The Project 8
2.2 Methodology 9
2.3 Hardware portion
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2.4 Software portion 9
2.5 Paper review 10
2.5.1 paper 1 10
2.5.2 paper 2 11
2.5.3 paper 3 11
2.5.4 paper 4 12
2.5.5 paper 5 13
2.5.6 paper 6 14
2.5.7 paper 7 15
2.5.8 paper 8 15
2.5.9 paper 9 16
2.5.10 paper 10 16
2.5.11 paper 11 17
2.5.12 paper 12 17
CHAPTER THREE: DESIGN OF PROJECT
3.0 Introduction 18
3.1 Mechanical Design 18
3.2 Block Diagram 19
3.3 Block Diagram Explanation 19
3.4 Flow Diagram 21
3.5 Flow Diagram Explanation 21
CHAPTER FOUR: SYSTEM HARDWARE
4.0 Hardware 23
4.1 Dc Gear Motor 23
4.1.1 Specification 23
4.1.2 Precaution 24
4.2 Raspberry Pi 24
4.3 Ultrasonic Sensor 25
4.3.1 Introduction 26
4.3.2 Working Principle 26
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4.3.4 Precaution 27
4.4 Ardiuno 27
4.4.1 Introduction 28
4.4.3 Precaution 29
4.5 Pi Camera (V2) 29
4.6 Fire Ball 30
4.7 Throwing Mechanism 30
4.8 L298N Motor Driver (H-BRIDGE) 31
4.8.1 Working 32
4.9 Four Relay Module 33
4.10 limit switch 35
4.11 linear actuator 36
4.12 batteries 38
4.13 9v to 5v module 39
CHAPTER FIVE: SYSTEM SOFTWARE
5.0 Software 40
5.1 Phython 40
5.1.1 Why Phython’s Use? 40
5.1.2 Phython in this project 41
5.2 Open Cv 42
5.3 Arduino 42
5.3.1 Why Arduino? 43
5.4 Downloading & Installimg the Software 44
5.5 Connecting the Arduino 50
5.6 summary 51
5.7 programming 52
5.8 communication 52
CHAPTER SIX: RESULT AND DISCUSSION
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6.0 Result 53
6.1 By using matlab 53
6.2 By using open cv at real time 54
6.3 Conditions for vertical angle 55
6.4 Discussion
CHAPTER SEVEN: FUTURE ENHANCEMENT AND CONCLUSION
7.0 Conclusion
57
7.1 Future Enhancement

57
7.1.1 Addition of sensors

58
7.1.2 Put it on artificial intelligence

58
7.1.3 Using thermal camera

59
7.1.4 Increasing throwing range

59
7.1.5 Stairs climbing robot

59
7.1.6 Aerial robot

60
REFRENCES
60
APPENDIX A PROJECT GANTT CHART 63
APPENDIX B COST ANALYSIS 64
APPENDIX C DATA SHEET 65

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LIST OF FIGURES
Page No.
FIGURE 1.1 ROBOT DENSITIES OF COUNTRIES 4

FIGURE 1.2 TYPES OF ROBOTS 4
FIGURE 3.1 BLOCK DIAGRAM 19
FIGURE 3.2 FLOW DIAGRAM 21
FIGURE 4.1 24V DC GEAR MOTOR 24
FIGURE 4.2 RASPBERRY PI 25
FIGURE 4.3 ULTRA SONIC SENSOR 27
FIGURE 4.4 ARDIUNO MEGA 28
FIGURE 4.5 PI CAMERA 29
FIGURE 4.6 FIRE BALL 31
FIGURE 4.7 THROWING MECHANISM 31
FIGURE 4.8 L298n DUAL H-BRIDGE 32
FIGURE 4.9 MOTORS CONNECTION WITH H-BRIDGE 33
FIGURE 4.10 2 RELAY MODULE 33
FIGURE 4.11 LIMIT SENSOR 34
FIGURE 4.12 LINEAR ACTUATOR 35
FIGURE 4.13 BATTERIES 38
FIGURE 4.14 5 VOLTS MODULE 39
FIGURE 5.1 PHYTHON LOGO 41
FIGURE 5.2 OPEN CV LOGO 41
FIGURE 5.3 WEB PAGE OF ARDUINO 45
FIGURE 5.4 WEB PAGE OF ARDUINO SOFTWARE DOWNLOAD 46
FIGURE 5.6 WINDOW OF DOWNOADED FILE 47
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FIGURE 5.7 DOWNLOADED FILE LOADING 48
FIGURE 5.8 DOWNLOADED FILE FOLDER 49
FIGURE 5.9 ARDUINO SOFTWARE 50
FIGURE 6.1 SIMPLE FIRE PICTURE 53
40FIGURE 6.2 FIRE DETECTED 54
FIGURE 6.3 FIRE DETECTION IN REAL TIME BY OPEN CV 54
FIGURE 7.1 THERMAL CAMERA 58
FIGURE 7.2 STAIR CLIMBING ROBOT 59
FIGURE 7.3 AERIAL ROBOT 60
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ABSTRACT
The robot can perform the task automatically and with some kind of guidance. Robotics is a
general combination of computational intelligence and physical machine. The computational
intelligence usually involves the programming instructions. From the few years, many people
show their interest in the robotics. The field of robotics becomes popular due to the
development of the technologies.
We decided to develop such kind of the thing that makes the human life simple and
comfortable. To see the current environment, we decided to construct the fully automated
firefighting robot which helps the people to deal with the fire accident in the small scale
industries.
We are not focused on designing a firefighting robot on the larger scale. Our work is to make
and develop the autonomous robots that can manual control and detect automatically fire and
finish it. So to make such type of the robot we use the basic concepts. Design in such a way
which is easily understood by the unknown person all the concepts behind it.
The robotic vehicle is loaded with water tanker and a pump which is controlled over wireless
communication to throw water. An arduino series of microcontroller is used for the desired
operation.
At the transmitting end using push buttons, commands are sent to the receiver to control the
movement of the robot either to move forward, backward and left or right etc. At the
receiving end seven motors are interfaced to the arduino controller where six of them are
used for the movement of the vehicle and the remaining one to position the nozzle of the
robot. The RF transmitter acts as a RF remote control that has the advantage of adequate
range (up to 200 meters) with proper antenna, while the receiver decodes before feeding it to
another controller to drive DC motors via motor driver Relay module for necessary work. A
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water tank along with water pump is mounted on the robot body and its operation is carried
out from the arduino controller output through appropriate signal from the transmitting end.
The whole operation is controlled by an aeduino series microcontroller. A motor driver Relay
is interfaced to the controller through which the controller drives the motors.
Further the project can be enhanced by interfacing it with a wireless camera so that the person
controlling it can view operation of the robot remotely on a screen.
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Chapter 1 Introduction
CHAPTER 1
INTRODUCTION
1.0 INTRODUCTION:
Robot is defined as a mechanical design that is capable of performing human tasks or

behaving in a human- like manner. Building a robot requires expertise and complex
programming. It’s about building systems and putting together motors, image processing and
wires, among other important components. [1] A fire fighter robot is one that has a fire ball
extinguisher added to it. By attaching extinguisher to the robot, the automation put out the
fire without human controlling. This robot is able to sense and extinguish fire. This robot
implements the following concepts: image processing, proportional motor control. This robot
processes information from image processing via microcontroller (raspberry pi). This robot
capable of extinguishing a simulated tunnel fire, industry fire and military applications are
designed and built. Image processing will be used for initial detection of the flame. Once the
flame is detected, the robot sounds the alarm with the help of buzzer provided to it, the robot
throw the fire ball 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.
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 firefighting 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. 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, microcontroller, sensors and ball throwing
mechanism. Raspberry pi is the heart of the project. Raspberry microcontroller controls all
the parts of the robot by the use of programming.
Image processing senses the fire, it sends the signal to raspberry pi, as soon as raspberry pi
receives the signal a buzzer sounds, the buzzer sound is to intimate the occurrence of fire
accident. After the sounding of the buzzer microcontroller actuates the driver circuit and it
1
drives the robot towards fire place, as the robot reaches near the fire raspberry pi actuates the
relay and ball is thrown in the fire through spring mechanism.
1.1 ROBOTICS:
A robot (Industrial Robot) is reprogrammable, multifunction, manipulator design to move

materials, parts, tools, or specialized devices, through variable programmed motions for the
performance of the verity of tasks.
Autonomous – able to acts on its own, make decision without control by human.
Active Goals – for the purpose or can be directed to the active goal robot are designed. A
autonomous system which exist in the physical world, can sense its environment, and can act
on its active goal is called robot.
1.1.1 ARTIFICIAL INTELLIGENCE:

Artificial intelligence is a theory. The base object is the agent who is the "actor". It is realized
in software. Robots are manufactured as hardware. [2] The connection between those two is
that the control of the robot is a software agent that reads data from the sensors decides what
to do next and then directs the effectors to act in the physical world.
1.1.2 CHARACTERISTIC OF ROBOT:

A robot has these essential characteristics:
Sensing First of all your robot would have to be able to sense its surroundings. [1] It would
do this in ways that are not similar to the way that you sense your surroundings. Giving your
robot sensors: light sensors (eyes), touch and pressure sensors (hands), chemical sensors
(nose), hearing and sonar sensors (ears), and taste (tongue) will give your robot awareness of
its environment. Movement a robot needs to be able to move around its environment.
Whether rolling on wheels, walking on legs or propelling by thrusters a robot needs to be able
to move. To count as a robot either the whole robot moves, like the Sojourner or just parts of
the robot moves, like the Canada Arm.
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1.2 ROBOT INTELLIGENCE AND VISION:
Intelligence, as pertaining to human beings, is a very subtle and profound quality which
cannot be learnt or taught (though can be enhanced in scope and application) and cannot be
described in terms of logic and knowledge alone. Again, knowledge is much more than a
collection of pieces of information. [3] As the so-called machine intelligence of the present
time basically stems from the information and logic coded in computer, we cannot expect
true ‘intelligence’ in a robot right now in the sense of the robot having true ‘understanding’.
Still, the intelligent robots, as they are called, constitute an extremely popular topic in
robotics, because they can perform various tasks in an apparently intelligent manner. The
maturity of this technique is expected to provide tremendous decision-making capabilities to
the robots.
The dream of perfection for the science of robotics is a system equipped with high-
performance sensors and stereo vision, such that it can work in unstructured environment
where changes in scenario may be rapid and unexpected. In addition, certain degree of fault-
tolerance is desirable with decision- making capabilities such that it can perform tasks
assigned to it as long as they are physically possible.
Fire fighting is always a risk involved mission. To facilitate the fire extinguishing operations,
autonomous robots are being developed in recent days. In this paper, we propose a fire
fighting robot which uses a modular design concept to implement Fire detection, Path
directing and Extinguishing operations.
With the development in the field of robotics, human intrusion has become less and robots
are being widely used for safety purpose. In our day-to-day live fire accidents have become
common and sometimes may lead to hazards that make it hard for the firemen to protect
human life. In such cases, a fire fighting robot issued to guard human lives, wealth and
surroundings from the fire accidents.
3
1.3 ROBOT DENSITY OF COUNTRIES:
FIGURE 1.1 ROBOT DENSITIES OF COUNTRIES

1.4 TYPES OF ROBOTS:
FIGURE 1.2 TYPES OF ROBOTS
4
1.5 HISTORY OF PROJECT:
Autonomous is not an ancient phenomenon, it’s a relatively new breakthrough in engineering

and technology, in developing countries these type of robot are using frequently which save
people and fire fighter lives. [1] Controllers are in widespread use throughout the world for
conversion of manually operated system into automatic process.
1.6 BACKGROUND OF THE PROJECT:
The purpose is to create a fire extinguisher robot to help and solve a problem by most
peoples. In many industries, offices, universities, small industries, bakeries, banks, schools,
collages, and markets, these problems happen in regular days, so we are making this robot
that eliminate the fire and save people life and fire fighter too. [1] The working process of
this robot is first we send this robot in a specific region of fire then this robot detect fire
automatically by the help of image processing then it throw ball in effected area and
eliminate fire.
1.7 KEY SEGMENT:
The project has following main feature:
Less human effort.
Automatically detect fire.
Throw ball automatically.
Full heat proof body.
Carry up to 3 fire extinguisher balls.
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1.8 ADVANTAGES AND DISADVANTAGES OF AUTONOMOUS

SYSTEM:
1.8.1 ADVANTAGES OF AUTONOMOUS SYSTEM:
Following are the advantages of autonomous system.

Performance stability.
24/7 continuous working.
Reduction of operational error.
Better product.
Do not need to be paid.
Wide acceptance.
High processing.
Shortest path.
1.8.2 DISADVANTAGES OF AUTONOMOUS SYSTEM:

Following are the disadvantages of autonomous system.
Maintenance of speed.
Programming required.
Knowledge of the system.
If computer fails system will crush.
Addition product needs new reprogramming.
Skilled operator for the system.
Equipment is expensive.
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1.9 ROBOTICS AND AI:
Artificial intelligence is a theory. The base object is the agent who is the "actor". It is realized
in software. Robots are manufactured as hardware. The connection between those two is that
the control of the robot is a software agent that reads data from the sensors decides what to do
next and then directs the effectors to act in the physical world.
Robotics is a branch of technology which deals with robots. Robots are programmable
machines which are usually able to carry out a series of actions autonomously, or semi-
autonomously.
In my opinion, there are three important factors which constitute a robot:
1. Robots interact with the physical world via sensors and actuators.
2. Robots are programmable.
3. Robots are usually autonomous or semi-autonomous.
CONCLUSION:
In this chapter we learnt the basics about robot, its advantages and disadvantages.
characteristics of robot and background of robotics and is the effect of automations in our
daily life.
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Chapter 2 Theoretical Background
CHAPTER TWO
THEORITICAL BACKGROUND
2.0 BACKGROUND:
Extinguish fire is the duty of fire fighter. In this world a lot of dangerous places where if the fire
is begin then it will never easy to extinguish. [3] The most dangerous places where extinguish
fire is in first priority are chemical warehouse, forest, offices, industries, textiles industries,
hospitals, Etc. In many industries these problem happen in regular days, so we are making this
robot that eliminate the fire and save people life and fire fighter too. The working process of this
robot is that first we send this robot in a specific region of fire then this robot detects fire
automatically. With the help of image processing detect fire and by throwing ball eliminates fire.
2.1 OVERVIEW OF THE PROJECT:

Robot carries camera that constantly will observe the flame of a specific area where the robot
will be sending for eliminates the fire. Ultrasonic sensor saves the robot from obstacles and
hurdles. So when it detects the obstacle, it moves and change it way in a short time and moves to
the other side. [4] This robot only suitable for short distances and not for long distances. This is a
very common problem found on the robots. Robot is consists of well align six tires which can
help the robot to easily move left and right, forward and backward. The tires of the robot are
connected with dc motors and the movement of the robot is control by the controller. Image
processing which identifies the flame and take actions accordingly. To move towards fire. When
it detects the fire a beep is produced. For extinguishing the fire ball is thrown and to avoid
obstacles ultrasonic sensors are used.
2.2 METHODOLOGY:
We use the camera to detect the flame which is mounted in front of the robot which have two
servo motors in which one motor help the sensor move in left, right, upward and backward. [2]
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We use the ultrasonic sensors to avoid the obstacle, the sensor help us to avoid any obstacle or
any interference. Robot initially in steady or stop condition then we make pair or connect it to
our control device and are able to move robot in forward, reverse, left and right direction with
the help of six dc 24 volt gear motor which produce enough torque to make the robot in
movement condition. We also use the buzzer and led in the robot, when the flame is detected it
send signal and buzzer and led will glow and alert the fire extinguisher. We take to move the
robot and when it reach at specific area or the range of the camera where it able to detect the fire,
then it automatically detects the fire. The camera is alert if there is any flame is available in the
area and make the throwing mechanism to work in the direction where the fire is, at this time led
is on which indicate that robot detects the fire. [3] The brain of the robot is the Raspberry PI. By
the help of all these equipment we can eliminate and extinguisher the fire. We made this robot
for save the life of our people and fire fighter we are not designing this robot on larger scale but
we want to make a robot that extinguisher fire until the fire fighter reach there.
2.3 HARDWARE PORTION:
[4] Hardware portion includes the body of the robot with is heat resistant and ball throwing
mechanism attach to it which can carry 3 to 4 balls at a time. Moreover there are high torque dc
motors which can bear the weight of balls and body during movement .
2.4 SOFTWARE PORTION:
The raspberry pi is programmed using python. Once itis powered ON, the raspberry will
initialize GPIO pins as output in order to send the control signal to the ultrasonic sensor, in return
the sensor sends back a pulse as time taken for the ultrasonic wave to travel from the sensor to
any object and back.[4] To detect fire we use OpenCV for image processing and through upper
and lower boundaries of HSV color spaces of red, orange and yellow, we define the standard
colors of fire. [4] Once the fire is detected we send a signal to the wiper motor and DC motor (on
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the front side) in order to extinguish the detected fire, until the fire is extinguished the is loop
will be repeated.
2.5 PAPER REVIEW
Following are the review papers:
2.5.1 PAPER 1
Fire Fighting Robot using Image Processing
Abstract: In today’s world we discover it's necessary to own a fire extinguisher in each building
in line with the norms of state. however once there's fire breakout there's chaos and confusion of
either vacating the realm or turning on the fire extinguisher on and ending the fire. conjointly
correct training should be given to the staff or personal residing within the building so as to turn
on the extinguisher. thus we have come up with a system which might find the fire automatically
and directly activate the extinguisher on its own. we'd be inserting camera at varied location
within the building or field. using camera we'd be detecting the fire using image process. For
higher accuracy we are using smoke and temperature sensors. We are developing an intelligent
system by which can detect fire. For doing this first we need to train the system to identify fire.
Using advance color recognition algorithm we would be training the system to identify fire.
Once the system has learnt to identify fire it can easily detect the fire on its own and turn on the
extinguisher on its own. Also the system would check the intensity volume of fire break and
accordingly would sent alert to the fire brigade which currently has to be done manually.[5]
2.5.2 PAPER 2
robotic fire fighting
This paper presents a novel fire detection device in the highly complicated urban environment,
such as an office building, supermarket, school, etc. A robot for fire detecting and/or search and
rescue needs to move fast while searching wide area. For this, we had developed an thermal
image camera module which is capable of selectively acquiring very large field of view (FOV) -
panoramic view - images or narrow field of view images from a single viewpoint, at video rates.
An image processing and device controlling algorithm to detect a fire fastly and accurately was
10
developed also. The developed device was tested in the indoor environments and the feasibility
of the device was evaluated. We expect that the application of the proposed device is not limited
to fire fighting. Its application will include a military, security and scientific field. For the further
works, we will improve the performance of the detection algorithm in the proposed device and
test it using a mobile platform in a realistic environment[6]
2.5.3 PAPER 3
Automated Fire Fighting Robot
With the development in the field of robotics, human intrusion has become less and robots are
being widely used for safety purpose. In our day-to-day live fire accidents have become common
and sometimes may lead to hazards that make it hard for the firemen to protect human life. In
such cases, a fire fighting robot issued to guard human lives, wealth and surroundings from the
fire accidents. Here we implement two modes of robotic operations- Manual mode & Automatic
mode. In the Manual mode, PHP webpage is used to control the robotic vehicle. In Automatic
mode, the robot takes controls by itself based on the user predefined command. To detect fire,
we use OpenCV for image processing. Standard colors of fire are defined by upper and lower
boundaries of HSV color spaces of red, orange and yellow. The water spraying mechanism is
completely automatic to both the modes. In the PHP webpage we have a control to switch
between manual and automatic modes based on our choice.
2.5.4 PAPER 4
Artificial Eye and Sensory based an Intelligent Robot for Fire Extinguishment Task
The safety measures due to fire accident of home, laboratory, office, factory and building is
important to human life. Fire accidents may occur due to explosive or flammable materials. They
can be prevented by taking safety measures. Robots are best and efficient way for taking these
safety measures. So we are developing an autonomous ROBOT to detect fire and rescue from
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fire by using two methods. They are image signal processing and sensory methods. Usually
image signal processing is proficient for detecting objects. Here the image signal processing is
using to detect the fire from a long distance and priority manner, the sensor unit (flame,
temperature sensors) is used to provide precision for extinguishing system.
2.5.5 PAPER 5
Automatic Fire Detection using GSM and Image Processing
The project is designed to develop a fire fighting robot using GSM technology for remote
operation. The robotic vehicle is loaded with water tanker and a pump which is controlled over
wireless communication to sprinkle water. An 8051 series of microcontroller is used for the
desired operation. At the transmitting end using push buttons, commands are sent to the receiver
to control the movement of the robot either to move forward, backward and left or right etc. At
the receiving end three motors are interfaced to the microcontroller where two of them are used
for the movement of the vehicle and the remaining one to position the arm of the robot. The
GSM transmitter acts as a GSM remote control that has the advantage of adequate range (up to
200 meters) with proper antenna, while the receiver decodes before feeding it to another
microcontroller to drive DC motors via motor driver IC for necessary work. A water tank along
with water pump is mounted on the robot body and its operation is carried out from the
microcontroller output through appropriate signal from the transmitting end. The whole
operation is controlled by an 8051 series microcontroller. A motor driver IC is interfaced to the
microcontroller through which the controller drives the motors. Further the project can be
enhanced by interfacing it with a wireless camera so that the person controlling it can view
operation of the robot remotely on a screen.
12
2.5.6 PAPER 6
A computer vision based approach for detection of fire
Fire fighting is always a risk involved mission. To facilitate the fire extinguishing operations,
autonomous robots are being developed in recent days. In this paper, we propose a fire fighting
robot which uses a modular design concept to implement Fire detection, Path directing and
Extinguishing operations. The usual trend in the previous implementation is the use of smoke
detectors and physical sensors for fire detection as well as depth manipulation. Generally most
sensors have low range and are sensitive to environmental changes. In this paper, we propose a
computer vision based algorithm for fire detection and for directing the robot towards the
detected fire, thereby overcoming the above limitations. Color segmentation is used in initial
detection. Correlation is used to extract the non-static property of fire. Temperature sensor and
UV-TRON sensor are used to confirm the presence of fire along with depth mapping. Finally, a
water sprinkler is used to extinguish the detected fire.
2.5.7 PAPER 7
Vision and Infra-Red Sensor Based Fire Fighting Robot
Fire-fighting robots are useful in situations where it is too dangerous or has difficult access for
fire fighters. Modular design based on proximity, vision and IR sensors has been incorporated
into a fire-fighting model. The robot sprays water from manipulator to extinguish flame.
Software consists of integrated tracking, obstacle avoidance, flame detection and motion
13
algorithms. Through testing, it is possible to run in a realistic scene simulated in the lab and to
detect and extinguishment the flame. Robot can transfer video to remote location.
2.5.8 PAPER 8
Detection of fire using image processing techniques with LUV color space
Vision based fire detection system have recently gained popularity as compared to traditional fire
detection system based on sensors. The popularity and need of video surveillance at residential,
Industrial, public and business locations have supported the widespread use of vision based fire
detection system. The colour of fire is the basic technique for identification of fire in an image.
However, the colour of fire varies from red, orange, yellow to white. Also, there are non-fire
objects with fire-like colour. In order to improve the accuracy of fire detection system, colour
detection is combined with various other techniques. Edge detection, motion detection, area
covered by flames, existence of smoke, growth of fire and background segmentation are some
techniques which are combined by various researchers and used to correctly classify the fire
images and fire-like non fire images in a video. There are also various thresholds that are used to
differentiate fire in any frame. These thresholds need to be adjusted based on the type of area and
its brightness level. Also, the difference in the subsequent frames and area covered by the flames
supports the existence of fire if it is greater than the threshold. This paper presents the
comparative analysis of five recent vision based fire detection system. These fire detection
systems are based on flame colour detection combined with other features such as motion and
area of frame. The fire detection system based on LUV colour space and hybrid transforms is
proposed.
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2.5.9 PAPER 9
Image processing based forest fire detection using YCbCr colour model
In this paper image processing based forest fire detection using YCbCr colour model is
proposed. The proposed method adopts rule based colour model due to its less complexity and
effectiveness. YCbCr colour space effectively separates luminance from chrominance compared
to other colour spaces like RGB and rgb(normalized RGB). The proposed method not only
separates fire flame pixels but also separates high temperature fire centre pixels by taking in to
account of statistical parameters of fire image in YCbCr colour space like mean and standard
deviation. In this method four rules are formed to separate the true fire region. Two rules are
used for segmenting the fire region and other two rules are used for segmenting the high
temperature fire centre region. The results obtained are compared with the other methods in the
literature and shows higher true fire detection rate and less false detection rate. The proposed
method can be used for real time forest fire detection with moving camera.
2.5.10 PAPER 10
CeaseFire: The Fire Fighting Robot
This paper presents CeaseFire - the firefighting robot developed to serve firefighting crews in
real-time situations. The development aims to reduce the risk to human lives during fire hazards.
The robot has the capability to extinguish fires using water and carbon dioxide sprays, protect
15
itself from burns using mist sprays, and deliver live video frames of the fire sites. The merits of
the design include ease of handling, quick on-site initiation and long range remote
controllability. Fire-fighters can send the robot in to the hazard-affected site; analyze the exact
situation using temperature, air-quality and visual inspections of prone structures; and
subsequently stop the fire source using on-board extinguishers. Its quick and efficient response to
test situations demonstrates its reliability of usage in real world cases.
2.5.11 PAPER 11
Image Processing Based Fire Detection & Extinguisher System
In the first part, fire detects using image processing. Here in this project I’m using open CV and
python for fire detection. I created a HAAR Cascade Classifier for fire detection using Open CV.
It has trainer and detector for train our own cascade classifier, HAAR Cascade is used to detect
object for which it has been trained. Lots of positive and negative image samples are need to
train classifier. Training of cascade classifier is complex and time consuming process, so to make
it easy I find a cascade training software on web name is “cascade trainer GUI”.
For training cascade classifier, download and install this trainer EXE from the above link. Create
a folder with name fire (you can create folder with any name as my target object is fire, so I
created folder “fire”) now create two folders inside of fire folder with name “n” and “p”, n folder
is for negative image samples and p for positive image samples. Positive image contains the
object which we want to detect, in our case we want to detect fire so collect the image samples
which contains fire and put them inside of p folder. For negative samples collect large numbers
of images which do not contains fire even partially. Now follow the steps on above page for
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making your cascade classifier file, or you can download pre-made cascade classifier for fire
detection and source code from the link (source code)Comes toward the python, to run this
project you need to install following modules and libraries to your python setup.
2.5.12 PAPER 12
Fire detection and alert system using image processing
The proposed fire detection algorithm consists of two main parts: fire color modeling and motion
detection. The algorithm can be used in parallel with conventional fire detection systems to
reduce false alarms. It can also be deployed as a stand-alone system to detect fire by using video
frames acquired through a video acquisition device. A novel fire color model is developed in CIE
L*a*b* color space to identify fire pixels. The proposed fire color model is tested with ten
diverse video sequences including different types of fire. The experimental results are quite
encouraging in terms of correctly classifying fire pixels according to color information only. This
project performs fire detection through image processing and after detecting the fire the
information is transferred to the control room through Ethernet
CONCLUSION:
In this chapter we overviewed the basics of the fire fighting robot which theories are going to be
work on it and how it is done, moreover we observed what equipments we will need for
completion of this project.
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Chapter 3 Methodology
CHAPTER THREE
METHODOLOGY
3.0 INTRODUCTION:
The design of project can be explained in term of project system block diagram and flow
diagram. Block diagram illustrate the different procedure involved in the project and how
everything in the project is related. Furthermore mechanical structure can be defined in term of
how everything is mechanically connected into the hardware and where the different components
are connected. The flow diagram further illustrates the working of the robot.
3.1MECHANICAL DESIGN
 The mechanical structure is physically designed in such an arrangement that different

sensor scan communicate with controller and perform their function properly.
 We make six wheels drive robot due to our project size.
 This robot is divided in two parts the front one and the back one.
 The front structure is combination of 4 wheels.
 Back one is consisting of two wheels.
 All wheels are heat proof because they are made up of pure steel wheels and cover with
hard rubber due to grip on the surface.
 Each wheel is connected with a 24v dc gear motor which give good torque to move the
robot our body is made up of GI sheet which is also known as Galvanize iron which have
good heat resistance material and whole robot is covered with this sheet and heat
insulation sheet.
 For throwing mechanism spring method is use and it can throw ball up to 1.5m. It varies
angle in up and down direction.
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3.2 BLOCK DIAGRAM:
FIGURE 3.1 BLOCK DIAGRAM
3.3 BLOCK DIAGRAM EXPLANATION:
In the block diagram all the components of robot is displayed. The Robot is operated to detect
the fire and also to extinguish it. By autonomous mode. Firstly robot is sent to the fire affected
area then it initialize pi cam and turn 360 degree to detect fire, Secondly the fire is detected
through image processing. Thirdly if the fire is detected in the frame of a cam it will take its
coordinates and move it self in the direction of the robot, here obstacle can also come along so it
will stop and change its direction. It will stop at around 1.5 meters distant from the fire, Fourthly
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Raspberry pi and Pi camera sends command to throwing mechanism and then Fire ball will be
throw towards its target and extinguishes it.
The main component which is showed in block diagram above is:
• Arduino
• Pi Camera
• Raspberry pi
• Ultrasonic Sensor
• Motor Driver
• DC gear motor
3.4 FOR VARIABLE ANGLE :
To throw the ball at variable angle vertically linear actuator is used which can lift upward and
downward the angle of launch. It will vary at an angle from 45 degrees to 60 degrees by the
linear actuator. There is a condition for variable angle to launch if the axis of which the fire is
detected is upward on the y axis (specific range defined) it will move up the mechanism till the
limit switch is pressed, it will throw ball holding that position and after time interval it will come
back to its original state. Where it is ready again to detect fire.
In coding simply we have divided the 2 parts
1. If fire is detected and on base of the y-axis the pi will generate a signal A to the
Arduino which will make robot stop from rotating and then move forward towards
the fire until the ultrasonic sensor reads the value and without varying the angle
throwing mechanism will throw the ball in the fire and extinguish it.
2. If fire is detected and on the upper side of the y-axis the pi will generate a signal B to
the Arduino which will make robot stop from rotating and then move forward
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towards the fire until the ultrasonic sensor reads the value and with varying the angle
throwing mechanism it will throw the ball in the fire and extinguish it.
3.4 FLOW DIAGRAM:
Figure 3.2 FLOW DIAGRAM
3.5 FLOW DIAGRAM EXPLANATION:
When the process starts operator of the robot move the robot where the fire is, by the help of
image processing. The ultra-sonic sensor monitor that there is no object in front of the robot.
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When the ultra-sonic sensor detect the object in the way of robot it sends its current measured
values to arduino then the controller change the direction of the motion of robot.
The Pi camera also monitor the flame, and when the flame is detected, Pi camera sends current
measured values to controller then the controller start the controlling of the robot and then
Raspberry pi and Pi camera sends command to throwing mechanism and then Fire ball will be
throw towards its target and extinguishes it. All the process will be observing by the Pi Camera.
CONCLUSION:
In this chapter we conclude that what methods we are applying to accomplish our task and why
we are applying those methods and techniques, moreover this chapter defines all the working of
project through block diagram and flow diagram.
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CHAPTER FOUR
SYSTEM HARDWARE
4.0 HARDWARE:
This section describes all hardware components that are used will be explained in this section of
the report.
Arduino
• Pi Camera
• Raspberry pi
• Ultrasonic Sensor
• Motor Drivers
• DC gear motor
4.1 DC GEAR MOTOR:
We use 24 volt DC motor in our project it fulfill our requirement. Our project consists of six
wheels and each wheel is connected with an individual DC motor. These motors have high
torque and better RPM and speed. We use these motor because our project have a high weight
due to the water tank as well as body of our project.
4.1.1 SPECIFICATION:
 Operating voltage 24VDC
 from 5 PRM to 340 RPM of Speed Range.
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 Reduction Ratio: 1:49
 Rated Torque: 16 kgf-cm
 Rated Speed: 122 RPM
 No Load Current: < 500mA
4.1.2 PRECAUTION:
 Operate only with 24 v dc voltage. If you don’t operate at 24 v motor don’t give its
maximum output.
 Make proper connection.
 Don’t rotate when you are not using it , it can damage the winding of the motor.
Figure 4.1 24v dc gear motor
4.2 Raspberry Pi
Quad Core 1.2GHz Broadcom BCM2837 64bit CPU, 1GB RAM, BCM43438 wireless LAN and
Bluetooth Low Energy (BLE) on board, 100 Base Ethernet, 40-pin extended GPIO, 4 USB 2
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ports, 4 Pole stereo output and composite video port, full size HDMI, CSI camera port for
connecting a Raspberry Pi camera, DSI display port for connecting a Raspberry Pi touchscreen
display, micro SD port for loading your operating system and storing data, upgraded switched
micro USB power source up to 2.5A
Figure 4.2 raspberry pi
4.3 ULTRASONIC SENSOR:
4.3.1 INTRODUCTION:
In general, a human can hear sound frequency approximately 20Hz to 20kHZ.The ultrasonic
sound wave above the human hearing limit (greater than 20 kHz). Ultra-sonic sensor (Known as
transceiver it sends and receives signal at the same time it is called transducer. Transducer works
just like the sonar in which by reading the echo values we know the information about the target.
Usually, sensor produces the sound waves of the high frequency. In the ultra-sonic sensor we can
25
find out the distance of the target by sending the waves and it comes back which is receive by the
echo during the time interval.
4.3.2 WORKING PRINCIPLE:
The basic principle of the ultrasonic sensor is that it emits the sound pulse like the high
frequency and the short. The pulse speed of the ultrasonic sensor is same as the velocity of the
sound. Working of the ultrasonic is shown in the below. The ultrasonic sensor sends some waves
which strike with the target and it comes back to the sensor as the echo signals depend upon the
time duration between the sending and receiving the signal ultra-sonic is a descriptive referring
to ultrasound.
 In this sensor we work with the input and output trigger for the 10us signal.
 HC-SR04 sends pulse of the 40 kHz and find that there is the pulse signal back or not.
 When the pulse or the signal comes back, through high level.
 Required 5volt dc to operate
 Trig pin is input.
 Ground pin is GND
 Each pin is output
 Carry 15mA current
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 Dimension is 45*20*15mm
 Frequency is 40Hz
 Min Range is 2.6m
 Max Range is 4m
 Measured angle is 15 degree
4.3.4 PRECAUTION:
 Only operate on 5v dc.

 It is very sensitive use carefully
 Make sure that the pins of the sensors are not short
Figure 4.3 ultra sonic sensor hc_sr04
4.4 ARDIUNO:
Arduino is an open source PC equipment and programming organization, venture, and client
group that plans the produces single board microcontroller and microcontroller packs for
building advanced gadgets and intelligent items that can detect and control questions in the
27
physical world. The undertaking item are circulated as open source equipment and programming,
which are authorized under the GNU Lesser General Public License (LGLP) or the GNU
General Public License Allowing the fabricates of arduino sheets and programming
appropriation by anybody. Arduino sheets are accessible monetarily in shape, or as do-it-without
anyone else’s help (packs).
Arduino board outline utilized an assortment of microchips and controllers. The sheets are
furnished with sets of advanced and simple information/yields (I/O) sticks that might be
interfaced to different extension sheets (shields) and different circuits. The sheets highlight serial
interchanges interfaces, including Universal Serial Bus (USB) on a few modules, which are
likewise utilized for stacking programs from PC’s. the microcontrollers are ordinarily modified
utilizing a vernacular of highlights from the programming dialects C and C++. Not with standing
utilizing conventional compiler tool chains, the arduino venture gives a coordinated advancement
condition (IDE) in light of the Processing Dialect venture.
The arduino venture is begin in 2003 as a program for understudies at the Interaction Design
Institute Ivrea in Ivrea, Italy. Expecting to give a minimal effort and simple path for learners and
experts to make gadgets that interface with their condition utilizing sensors and actuators.
Normal cases of such gadgets planned for learner’s specialists incorporate basic robots, indoor
regulators, and movements locators.
The name Arduino originates from a bar in Ivrea, Italy, where a portion of the organizers of the
task used to meet. The bar was named after Arduin of Ivrea, who was the margrave of the March
of Ivrea and the King of Italy from 1002 to 101.
4.4.1 INTRODUCTION:
In our project, we use the Arduino.it works same just like the pic but it has the more flexibility to
upload the program many times. The Arduino has the 54 digital input and four for the serial port
and the 16 MHz for the crystal, also a place for connecting Arduino with PC and place directly
from the power supply. According to our project requirement, we program the Arduino by
28
connecting the Arduino to the computer by using the USB cable. The IDE uses the c language
for the Arduino.
 Microcontroller is AT
 Operating voltage is 5v
 i/p Voltage (Recommended) is 7-12V
 i/p voltage (limits) is 6-20V
 Analog i/p pins is 16
 DC current per I/O pin is 40mA
 DC current for is 3.3v pin is 50mA
 Digital i/p pins is 54(of which 15 provides PWM)
 Flash memory is 256 Kb
 SRAM is 4Kb
 Clock speed is 16Mhz
4.4.3 PRECUATION:
 Used only on its desired voltage
 Never through anything on its circuits board
 Make proper connection
 Build program properlly
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Figure 4.4 ardiuno
4.5 Pi Camera (V2):
8-megapixel ,Take high-definition video, as well as stills photographs, it supports 1080p30,
720p60 and VGA90 video modes.
Figure 4.5: pi camera
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4.6 FIRE BALL
Elite fire self activation fire extinguisher ball, automatically activated, no need for
annual/periodical maintenance activities, lightweight and comfortable to use, non-toxic
and environmentally friendly, emits a loud noise during activation which acts as a fire
alarm suitable for all types of fires (class-a, b, c, and e),weight = 1.6 kg.
Fireball is based on revolutionary technology that provides far more advanced solutions
than portable fire extinguishers. The limitations and problems associated with
conventional methods of extinction (maintenance, training, etc.) are at the origin of its
development. It is easy to use and provides permanent protection as it self-activates in
the presence of a flame without human intervention.
Figure 4.6 fire ball
4.7 THROWING MECHANISM:
For throwing ball we used spring ball throwing mechanism. Spring is stretched by using dc
motor and then when released spring throws the ball in direction of fire. It can throw ball upto
1.5 meters or more after receiving signal from raspberry pi of fire detection. It can vary its angle
upwards and downwards according to fire.
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Figure 4.7 throwing mechanism
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Chapter 4 System Hardware
4.8 L298N MOTOR DRIVER (H-BRIDGE):

There are many kinds of microcontrollers which operate at very low voltage about 5v and
current. On the other hand, the motors need higher voltages and current to operate. So, the
microcontrollers are not able to provide them the required higher voltage and current. So to
give them the required voltages and current we use motor driver ICs. The motor driver acts as
a little current amplifier. The motor driver takes a low value of the current signal and gives
out a high-value current signal which can drive a motor. L298N is also a type of motor driver
which is used in controlling the movement and a position of dc gear motor.
Figure 4.8 l298n dual h-bridge
WORKING:
An H-Bridge which can move a current in either direction of the circuit is handled with the
Help of the PWM. The duration of an electronic pulse controls with the PWM. There are four
power amplifiers of L298N and the four inputs are provided to t
hese amplifiers. To start running specific motor we pressed specific push button. There are
two inputs which monitor each motor. Enable pins which are used to select a specific
amplifier. ENA can select two amplifiers A1, A2 and similarly ENB can select two amplifiers
B1, B2. ENA selects bridge A and ENB selects bridge B while using as a bridge circuit. To
drive both the motors by using H-bridges, both enable bits are set high. There are no built-in
33
protection diodes in L298N so we use external diodes to prevent the IC from getting
damaged. Motors speed will be lower if low voltages are on the output side.
Figure 4.9 motors connection with h-bridge
4.9 Four Relay Module:
This is a 5V 4-channel relay interface board, and each channel needs a 15-20mA driver
current. It can be used to control various appliances and equipment with large current. It is
equiped with high-current relays that work under AC250V 10A or DC30V 10A. It has a
standard interface that can be controlled directly by microcontroller.
The Relay module allows a wide range of microcontrollers such as Arduino, AVR, PIC,
ARM with digital outputs to control larger loads and devices like AC or DC Motors,
electromagnets, solenoids, and incandescent light bulbs.
34
Figure 4.10 4 relay module
4.10 Limit switch:
1) Support control of 10A 30V DC and 10A 250V AC signals
2) 5V 4-Channel Relay interface board, and each one needs 15-20mA Driver Current
3) HIGH level trigger, with indicator LEDs showing working status
4) With two soldering points for 5V and GND, the module can be extended to 6- or 8-
channel relay one with other relay modules
5) Working voltage: 5V; PCB size: 5.6 x 7.5 cm ->2.20 inch x 2.95 inch
3.7 Limit Switch:
A limit switch detects the physical movement of an object by direct contact with that object.
Limit Switch is basically a limit set by the user to define the parameters where to exactly stop
or where is the limit is, the direction is set by the user and with the help of the limit switch the
prototype (e.g. robot) worksaaccordingly and moves in a certain limit and procedure.
A typical limit switch design uses a lever with a rolleratip to make contact with the moving
part. The screw terminals on the switch body provide connection points with the NC and NO
contacts inside the switch. Most of the limit switches in this design share a “common”
terminal between the NC and NO contacts.
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Figure 4.11 limit switch
4.11 linear actuator:
An electric linear actuator is a device that converts the rotational motion of an electric motor
into linear motion (push or pull movement). An electric linear actuator can be used anywhere
a machine pushes or pulls a load, raises or lowers a load, roughly positions a load, or rotates a
load. In this linear actuator is used to variate the angle of throwing mechanism. The Linear
motion is created by using a screw or Lead-scew as they are more correctly called. The screw
turns either clockwise or counter-clock-wise and this causes the shaft, which is basically a nut
on the screw to move up and down the screw as the screw turns. This is what creates the
linear motion.
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Figure 4.12 linear actuator
4.12 Batteries:
We have used 2 lead batteries
1. For Arduino, other circuitry motors and linear actuator.
2. For pi and pi cam
Lead–Acid batteries operate within a very wide range of temperatures, between the freezing
point of aqueous H2SO4 solutions and close to the boiling temperature. When operated within
this temperature range, they do not need any special temperature control. This is a great
advantage of Lead–Acid batteries over all other electrochemical power sources. However,
this does not hold for all types of Lead–Acid batteries.
A battery is an electrochemical cell (or enclosed and protected material) that can be charged
electrically to provide a static potential for power or released electrical charge when needed.
[18]
Types of Batteries:
There are many different types of batteries, the basic concept by which they function remains
the same. When a device is connected to a battery, a reaction occurs that This is known as an
electrochemical reaction. Italian physicist Count Alessandro Volta first discovered this
37
process in 1799 when he created a simple battery from metal plates and brine-soaked
cardboard or paper. Since then, scientists have greatly improved upon Volta's original design
to create batteries made from a variety of materials that come in a multitude of sizes.[15]
Since NiCd remains a standard against which other batteries are compared, we evaluate
alternative chemistries against this classic battery type.
Nickel Cadmium (NiCd) — mature and well understood but relatively low in energy
density. The NiCd is used where long life, high discharge rate and economical price.
Nickel-Metal Hydride (NiMH) — has a higher energy density compared to the NiCd at the
expense of reduced cycle life.
Lithium Ion Polymer (Li-ion polymer) — offers the attributes of the Li-ion in ultra-slim
geometry and simplified packaging. Main applications are mobile phones.
Lead Acid — most economical for larger power applications where weight is of little
concern. The lead acid battery is the preferred choice for hospital equipment, mobile phones
and laptop computers.
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Figure 4.13 Batteries
4.13 9v to 5v module:
The voltage source in a circuit may have fluctuations and would not give the fixed voltage
output. The voltage regulator IC maintains the output voltage at a constant value. The xx in
78xx indicates the fixed output voltage it is designed to provide. 7805 provides +5V
regulated power supply. Capacitors of suitable values can be connected at input and output
pins depending upon the respective voltage levels.
 The maximum output current 3A, long-running 2.1A, sufficient margin.

 Big shielded inductor current, low resistance, to maximize conversion efficiency
Reduce heat.
 Integration enabled port, default mode of operation, low close, bring convenience to
control.
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Figure 4.14 5 volts module for pi
CONCLUSION:
In this chapter we discussed what hardware requirements are needed for our project to be
completed.
CHAPTER FIVE
SYSTEM SOFTWARE
5.0 SOFTWARE:
We have divided system’s software into two, which will control the whole robot.
 For image processing python is programmed in raspberry pi and for detection in real
time open_cv is used. Raspberry pi is also used for generating gpio pins high for
further work for throwing mechanism.
 For movement of robot and for obstacle avidness Arduino microcontroller is
programmed.
5.1 PYTHON:
Compared to many languages, Python is easy to learn and to use. Its functions can be carried
out with simpler commands and less text than most competing languages. And this might
40
explain why it’s soaring in popularity, with developers, coding students and tech companies.
It’s not an exaggeration to say that Python plays a small part of all of our lives. It’s one of
those invisible forces with a presence in our mobile devices, web searches and gaming (and
beyond). So it was an obvious choice for inclusion in our full stack coding boot camp. Here’s
an introduction to the language itself, and some of the everyday but profound, things that
Python is used for.
5.1.1 WHY PYTHON’S USE?

Not surprisingly, given its accessible and versatile nature, Python is among the top five most
popular languages in the world. Python is used by Wikipedia, Google (where Van Rossum
used to work), Yahoo!, CERN and NASA, among many other organizations. It’s often used
as a “scripting language” for web applications. This means that it can automate specific series
of tasks, making it more efficient. Consequently, Python (and languages like it) is often used
in software applications, pages within a web browser, the shells of operating systems and
some games. The language is used in scientific and mathematical computing, and even in AI
projects. It’s been successfully embedded in numerous software products, including visual
effects compositor Nuke, 3D modelers and animation packages.
5.1.2 PYTHON IN THIS PROJECT:

In our project we have used python for detection of fire in an image by colour, first we
converted the given image to grayscale i.e. darker portion of the image become more black
and brighter portion of image become more bright (highlighted). Then the grayscale is
filtered through median filter which reduces the noise present in the image. Filtered image is
then converted into binary, then by using several samples of images and region of fire we
detected fire.
Figure 5.1 python logo
5.2 OPENCV:
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OpenCV is a library of programming functions mainly aimed at real-time computer vision.

We used openCV to collect images in real time and apply fire detection in it by the help of
python programming. Currently OpenCV supports a wide variety of programming languages
like C++, Python, Java etc and is available on different platforms including Windows, Linux,
OS X, Android, iOS etc. Also, interfaces based on CUDA and OpenCL are also under active
development for high-speed GPU operations.
Figure 5.2 OpenCV logo
5.3 ARDUINO:
The Arduino software development environment is free to download and use with no lengthy
Registration procedures or end-user agreements, and there is little to no setup to get the board
running with your computer, regardless of the platform, working equally well on Mac, Linux,
and Windows based PCs. The Arduino web site at www.arduino.cc provides easy-to-follow
“Getting Started” tutorials and whenever you get stuck there is always the active, vocal, and
generally helpful Arduino community that is willing to share its knowledge. This low barrier
to programming embedded electronics means it’s possible to make lights blink in ten minutes
flat with little to no prior experience.
Arduino is an open-source electronics platform based on easy-to-use hardware and software.

Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a Twitter
message - and turn it into an output - activating a motor, turning on an LED, publishing
something online. You can tell your board what to do by sending a set of instructions to the
microcontroller on the board. To do so you use the Arduino programming language (based on
Wiring), and the Arduino Software (IDE), based on Processing.
42
Over the years Arduino has been the brain of thousands of projects, from everyday objects to
complex scientific instruments. A worldwide community of makers - students, hobbyists,
artists, programmers, and professionals - has gathered around this open-source platform, their
contributions have added up to an incredible amount of accessible knowledge that can be of
great help to novices and experts alike. Arduino was born at the Ivrea Interaction Design
Institute as an easy tool for fast prototyping, aimed at students without a background in
electronics and programming. As soon as it reached a wider community, the Arduino board
started changing to adapt to new needs and challenges, differentiating its offer from simple 8-
bit boards to products for IoT applications, wearable, 3D printing, and embedded
environments. All Arduino boards are completely open-source, empowering users to build
them independently and eventually adapt them to their particular needs. The software, too, is
open-source, and it is growing through the contributions of users worldwide.
The core language used in the Arduino development environment is the C computer
programming language first developed at the research institute of Bell Laboratories in the
early 1970s for use with the UNIX operating system. C uses a procedural language syntax
that needs to be processed by a compiler to map human-readable code to machine
instructions. The long-standing popularity of C lends the Arduino some of its heritage, but the
code that we are writing in this book is only mostly C. Because there are aspects of the C
language that look like it was written by dyslexic aliens, and with the language sometimes
accused of being overly cryptic and difficult for beginners to pick up, the Arduino team has
developed the standard Arduino library that provides a simple and targeted set of functions
that make programming the Arduino interface board about as easy as it can get. Now, these
libraries are themselves actually C++, itself a subset of the original C language, but we really
don’t need to go there. What’s important is that most of the code that we will write for the
Arduino, including its syntax, structure, operators, control statements, and functions, remain
fundamentally and functionally the same as C. What will be unique to the Arduino, however,
are all sorts of functions that you will come to know and love, including pinMode(),
digitalWrite(), and delay() that are specific to the standard Arduino library. For the purposes
of this book, this basic framework of C combined with the additional Arduino library that is
automatically a part of every sketch that we write, is what we will refer to as Arduino C.
5.3.1 WHY ARDUINO?
43
Arduino has been used in thousands of different projects and applications. The Arduino
software is easy-to-use for beginners, yet flexible enough for advanced users. It runs on Mac,
Windows, and Linux. Teachers and students use it to build low cost scientific instruments, to
prove chemistry and physics principles, or to get started with programming and robotics.
Designers and architects build interactive prototypes, musicians and artists use it for
installations and to experiment with new musical instruments. Makers, of course, use it to
build many of the projects exhibited at the Maker Faire, for example. Arduino is a key tool to
learn new things. Anyone - children, hobbyists, artists, programmers - can start tinkering just
following the step by step instructions of a kit, or sharing ideas online with other members of
the Arduino community. There are many other microcontrollers and microcontroller
platforms available for physical computing. Parallax Basic Stamp, Net media’s BX-24, Phi
gets, MIT's Handy board, and many others offer similar functionality. All of these tools take
the messy details of microcontroller programming and wrap it up in an easy-to-use package.
Arduino also simplifies the process of working with microcontrollers, but it offers some
advantage for teachers, students, and interested amateurs over other systems:
Inexpensive - Arduino boards are relatively inexpensive compared to other microcontroller

platforms. The least expensive version of the Arduino module can be assembled by hand, and
even the pre-assembled Arduino modules cost less than $50 Cross-platform - The Arduino
Software (IDE) runs on Windows, Macintosh OSX, and Linux operating systems. Most
microcontroller systems are limited to Windows. Simple, clear programming environment -
The Arduino Software (IDE) is easy-to-use for beginners, yet flexible enough for advanced
users to take advantage of as well. For teachers, it's conveniently based on the Processing
programming environment, so students learning to program in that environment will be
familiar with how the Arduino IDE works.
Open source and extensible software - The Arduino software is published as open source
tools, available for extension by experienced programmers. The language can be expanded
through C++ libraries, and people wanting to understand the technical details can make the
leap from Arduino to the AVR C programming language on which it's based. Similarly, you
can add AVR-C code directly into your Arduino programs if you want to.Open source and
extensible hardware - The plans of the Arduino boards are published under a Creative
Commons license, so experienced circuit designers can make their own version of the
module, extending it and improving it. Even relatively inexperienced users can build the
breadboard version of the module in order to understand how it works and save money.
44
5.4 DOWNLOADING & INSTALLING THE SOFTWARE:

First things first, you need to download and install the Arduino software. Because the
Arduino Team is always making updates to the software, you should head to the main
download page on the Arduino website www.arduino.cc all procedure of installation are
shown in figures blow:
Figure 5.3 Webpage Of Arduino.Cc
 Now the page will appear for the downloading of the software then click on
WINDOWS ZIP files for non admin install then the downloading will be started.
45
Figure 5.4 Webpage Of Arduino Software Download
 After complete downloading go to download folder of your PC and click on

downloaded,file.
F
igure 5.5 Download Folder Of Pc & Downloaded File
46
 Open the file by double click on it and and the window will appear then click on
extract to and also a new sub window will appear then click on OK then the folder
will display in your download folder after a few loading.
Figure 5.6 Window Of Downloaded File
Figure 5.7 Downloaded File Loading
47
 Open the folder display in download folder in pc and click on arduino application file
this is the easy way to direct download the software from the web page of the arduino
community by the downloading of this software we safe the time of installation of the
software and we get direct install software of arduino.
Figure 5.8 Downloaded File Folder
 Window of the arduino software will appear on screen go to TOOL and select the
BOARD which you are using and also select the PORT by which arduino will connect.
Know start the programming and compile and run it into the arduino board by using
COMPILE and RUN button in programming software.
48
Figure 5.9 Arduino Software
5.5 CONNECTING THE ARDUINO:

With the software installed, you should be able to connect your Arduino to the USB port on
your computer using an A-B USB cable. The Arduino’s power indicator LED will light up on
the board, letting us know that it has power and is ready to go. With a brand-new Arduino
Uno, the first time that it powers up, the pin 13 LED marked L will begin to blink rapidly,
letting us know that the board has been fully tested. On Windows-based PCs or older Arduino
boards, it is necessary to install a driver for the Arduino’s onboard USB to Serial convertor.
5.6 SUMMARY:
With all the installing, connecting, and uploading done and out of the way, you should
now have a blinking LED on your Arduino Uno OR mega. That’s not to say you already
fully understand how it all works—because that would kind of defeat the entire purpose
of this
49
book. But now that we’ve got something to blink and know that we can make it work, we
might as well jump into learning the basics of programming the Arduino with our first
project.
By jumping right into how the code works, we can move from hacking together lines of
code that somebody else gave us to actually writing them ourselves.
5.7 PROGRAMMING:
Arduino consists of both a physical programmable circuit board (often referred to as a
microcontroller) and a piece of software, or IDE (Integrated Development Environment)
that runs on your computer, used to write and upload computer code to the physical
board.
5.8 COMMUNICATION:
Serial Communication used for communication between the Arduino board and a computer
or other devices. All Arduino boards have at least one serial port (also known as a UART or
USART): Serial. It communicates on digital pins 0 (RX) and 1 (TX) as well as with the
computer via USB. Thus, if you use these functions, you cannot also use pins 0 and 1 for
digital input or output.
You can use the Arduino environment’s built-in serial monitor to communicate with an
Arduino board. Click the serial monitor button in the toolbar and select the same baud rate
used in the call to begin().Serial communication on pins TX/RX uses TTL logic levels (5V or
3.3V depending on the board). Don’t connect these pins directly to an RS232 serial port; they
operate at +/- 12V and can damage your Arduino board.
The Arduino Mega has three additional serial ports: Serial1 on pins 19 (RX) and 18 (TX),
Serial2 on pins 17 (RX) and 16 (TX), Serial3 on pins 15 (RX) and 14 (TX). To use these pins
to communicate with your personal computer, you will need an additional USB-to-serial
adaptor, as they are not connected to the Mega’s USB-to-serial adaptor. To use them to
communicate with an external TTL serial device, connect the TX pin to your device’s RX
pin, the RX to your device’s TX pin, and the ground of your Mega to your device’s ground.
The Arduino DUE has three additional 3.3V TTL serial ports: Serial1 on pins 19 (RX) and 18
(TX); Serial2 on pins 17 (RX) and 16 (TX), Serial3 on pins 15 (RX) and 14 (TX). Pins 0 and
1 are also connected to the corresponding pins of the ATmega16U2 USB-to-TTL Serial chip,
50
which is connected to the USB debug port. Additionally, there is a native USB-serial port on
the SAM3X chip, SerialUSB'.
The Arduino Leonardo board uses Serial1 to communicate via TTL (5V) serial on pins 0
(RX) and 1 (TX)
Conclusion:
This chapter is about which softwares we need for our hardware to be programmed easily our
software portion is divided into two parts as discussed in this chapter
51
Chapter 6 Result And Discussion
CHAPTER SIX
RESULT AND DISCUSSION
6.0 RESULT:
“Autonomous Fire Fighting Robot” has been developed to specify the importance of the
automation in small industries as well as in everyday life. This chapter focuses on the vivid
details of the project as well as the knowledge was having gained.We use image processing for
fire detection and also use the ultrasonic sensors to avoid the obstacle. Robot initially in steady
or stop condition. We use the linear shaft for mechanical strucutre to changes its angle in y axis
as our desire. When we take the robot reach at specific area then it automatically detects the fire
the image processing compare the values and make the throwing mechanism in the direction
where the fire is high. When the robot detect the fire the led is on and with the help of the
throwing mechanism ball is throw in the fire which will extinguish it by exploding in the fire.
6.1 BY USING MATLAB:
Figure 6.1 Simple Fire Picture
52
Figure 6.2 Fire Detected
6.2 BY OPEN CV AT REAL TIME:
Figure 6.3 Fire Detection In Real Time By Open Cv
53
6.4 CONDITIONS FOR VERTICAL ANGLE:
This robot compares the Y-axis when the fire is detected. If the fire is on the ground at low level
it will simple throw the ball without operating linear actuator, if it detects the fire at height in y-
axis robot will operate linear actuator after reaching close to fire and then operate the throwing
mechanism to extinguish.
By the help of this report we conclude that a robot can be used in place of humans reducing the
risk and safe the life of the fire fighters. We also can use them in our homes, labs, offices, small
industries etc. They can provide a huge efficiency to detect the flame and it can be extinguish
before it become uncontrollable and threat to life. Hence, this robot can play a better role.
6.5 DISCUSSION:
Before deciding to undertake the task of the developing any unique project the most essential
part is the feasibility of the project. Whether we can what we intend. Therefore we set ourselves
small targets and prepared for each target one by one. The aim was make the project efficient,
robust and cost effective. Several hurdles were also encountered, but we overcame them through
determination and hard work.
Starting from the scratch we ought to search the Arduino most suitable for our purpose. We were
fortunate to find a Arduino mega was suitable for our project because we need a lot of inputs and
outputs both in digital and analog therefore arduino mega will fulfill our all need of having a lot
of inputs and outputs pins.
Next up was the task of finding sensors that fit our needs. We did several market surveys to
discover the most suitable sensors. This part was quite excited. Compatibility and the cost issues
were a headache. Yet we continued to search different markets both online and in the City’s
industries state. Finally we were successfully finds sensors. In this case we sacrificed quality to
reduce the cost. Finally after all these hurdles came the most vital phase of the project that is
Mechanical structure Assembling and programming. Assembling the hardware was a task which
required accuracy and precautions. Mounting the sensors like the ultra-sonic sensors on the
mechanical structure was a task that required expertise and intensive care so that while
functioning any equipment. May not malfunction. Wiring the components to power supply and
54
controller need a lot of attention. Wiring of the sensors to controller and the motors to controller
required hours of work and testing before finally finalizing the design.
Lastly the programming was left and the knowledge we gained from our university courses and
extra inputs from the internet helped us to achieve our goals. Programming mostly resulted in
several errors. Troubleshooting was required at different stages. Even when a C program runs
some wiring issues prevented desired outputs. But again through utter willpower and self-belief
our target was achieved.
55
Chapter 7 Future Enhancement And Conclusion
CHAPTER SEVEN
FUTURE ENHANCEMENT AND CONCLUSION
7.0 CONCLUSION:
Through this we can conclude that a robot can be used in place of humans reducing the risk of
life of the fire fighters. We can use them in our homes, labs, offices etc. They provide us greater
efficiency to detect the flame and it can be extinguish before it become uncontrollable and threat
to life. Hence, this robot can play a crucial role.
7.1 FUTURE ENHANCEMENT:

The project is further extended in many ways one idea is that, develop a robot for more capacity
of water and have a lot of speed to run.
In the project, we use the GSM (Global system for mobile communication). When the robot
detects the fire it sends the message to the specific number. For the further improvement in the
accuracy of the robot, GPS can be used to find the location of the robot. By using the hovercraft
technology for accurate navigation and give a new method for the fire extinguishing.
It has ability of automatic water splitting which can reduce human effort and save life of fire man
We take help by mat lab using thermal imaging which has high accuracy to detect the flame.
7.1.1 ADDITION OF SENSORS:

In future you can add smoke sensor, gas sensor, and thermal imaging which can make the robot
more efficient in different circumstances. Adding off many senor make it more reliable and
powerful among all
56
7.1.2 PUT IT ON ARTIFICIAL INTELLIGENCE:

In present time the world is shifting on AI because it is more accurate and advanced technology
in present area, example are self-driving car AUDI company work on AI technology which has
been launched in past 2 month, another example is all you know that humanoid robot its look
like a human, what type of activity human perform it can also perform in a good manner.
7.1.3 USING THERMAL CAMERA:

A thermal imaging camera (colloquially known as a TIC) is a type of thermographic camera. By
rendering infrared radiation as visible light, such cameras allow firefighters to see areas of heat
through smoke, darkness, or heat-permeable barriers.
Thermal cameras detect temperature by recognizing and capturing different levels

of infrared light. This light is invisible to the naked eye, but can be felt as heat if the intensity is
high enough. All objects emit some kind of infrared radiation, and it's one of the ways that heat
is transferred.
Figure 7.1 Thermal camera
57
7.1.4 INCREASING THROWING RANGE:

We can use cannon throwing mechanism for more efficiency through longer distance. It is uses
by the wire has a loop on it through which a lanyard, or rope, is attached. When it is time to fire
the cannon the rope on the friction primer is pulled. This fire ignites the black powder in the
breech. The explosion that results from the breech powder being ignited propels the projectile
out the end of the tube
7.1.5 STAIRS CLIMBING ROBOT:
A balancing robot that maintains vertical around a central point of a pair of arms that have a
drive wheel on each end would allow for 4WD when it is on level ground and then when
climbing stairs would rotate the wheels on said arms to climb the stairs. Through this robot it can
extinguish fire on various floors for this live monitoring can be done.
Figure 7.2 Stair Climbing robot
58
7.1.6 AERIAL ROBOT:
Those robots that can fly are called aerial robots. For extinguishing fire aerial robots can be used
in the forest where human cannot go due to fire, by carrying fire extinguisher balls in its tanks it
can help in eliminating fire of forest easily.
Figure 7.3 Aerial Robot
59
REFERENCES
[1] http://www.instructables.com/id/fire fighting robot-robotic-parts-finder/
[2] https://push.popsci.com/diy/article/2013-06/autonoumous robot?dom=rss-default&src=syn
[3] http://www.instructables.com/id/Make-Your-Own-fire fighting robot -Works-With-ip

camera and tx and rx/
[4] M. Nithiya, E. Muthamizh, and I. Yr-ECE, "FIRE FIGHTING ROBOT," Recuperado a

partir de http://www. ifet. ac. in/pages/intsymp14/TechnoVision, vol. 20, p. 2714.
[5] X. Lufeng and T. Daoling, "An ultrasonic obstacle avoidance system for fire fighting
robot," in Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on,
2002, pp. 1219-1222.
[6] H. Amano, "Present status and problems of fire fighting robots," in SICE 2002. Proceedings
of the 41st SICE Annual Conference, 2002, pp. 880-885.
[7] K. Altaf, A. Akbar, and B. Ijaz, "Design and construction of an autonomous fire fighting
robot," in Information and Emerging Technologies, 2007. ICIET 2007. International Conference
on, 2007, pp. 1-5.
[7] E. Krasnov and D. Bagaev, "Conceptual analysis of fire fighting robots' control systems,"
in Problems of Cybernetics and Informatics (PCI), 2012 IV International Conference, 2012, pp.
1-3.
[8] Tianhong Pan, Yi Zhu. "Chapter 7 A Fire Fighting Robot Using Arduino".Springer
Nature, 2018
[9] Introduction to Robotics - SAEED B.NIKU
[10] Sir Aleem's Class Hanouts
[11] http://wiki.sunfounder.cc/index.php?title=4_Channel_5V_Relay_Module
[12] http://www.electrical4u.com/
[13] http://electronics.howstuffworks.com/
[14] Student Paper, submitted to Ibra College of Technology
[15] https://www.pololu.com/product/2562
[16] https://ieeexplore.ieee.org/document/6958440 [12] http://www.electrical4u.com/
[17] https://www.researchgate.net/
[18] https://ieeexplore.ieee.org/document/8782369/
[19] N. Sariff , N. Buniyamin ; “Selangor, Malaysia “; 27-28 June 2006
[20] J.Tisdale , Z.Kim , J.K.Hedrick ; “IEEE Robotics & Automation Magazine “; Volume: 16 ,
June 2009
61
[21] S. I. Amer , M. N. Eskander , Aziza M. Zaki;”Electronics Research Institute (ERI), Dokki”,
Cairo, Egypt; 11, November 2012
[22] X.C.Lai ; S.S.Ge ; P.T.Ong ; A.A.Mamun; Singapore, Singapore; 2006 9th International
Conference on Control, Automation, “Robotics and Vision”
[23] D. Payton, J. Rosenblatt and D. Keirsey, “Grid-based-mapping-for autonomous-mobile-
robot”, Robotics and Autonomous Systems, volume: 11, pp 13–21, 1993.
[24] HongweiMo,“Neurocomputing”, Volume: 148, 19 ,pp:91-99,2015.
[25] J. Cook, “Adding Intelligence to Robot Arm Path Planning Using a Graph-Match
Analogical Reasoning System” IEEE International Conference on Intelligent Robots and
Systems, volume: 1, pages 657-663, July 1992
1. http://elm-chan.org/
2. https://www.google.co.in
3. http://en.wikipedia.org
4. . http://www.slideshare.net
5. www.ijeat.org
6. www.ermt.net
62
APPENDIX A PROJECT GANNT CHART
PROJECT GANNT CHART
63
APPENDIX B COST ANALYSIS
COST ANALYSIS
S.NO. COMPONENTS COST

1. Linear actuator 3000
2. FOR vertical 2500
64
APPENDIX B COST ANALYSIS
3. Frame structure 15000

4. Throwing mechanism 30000
5. Raspberry pi 6000
6. fire testing material damage 6000
7. pi Camera 3500
8. HIGH POWER RELAY 4000
9. DC GEAR MOTOR 24V 4000
10. STEEL WHEELS 6000
11. ELECTRONIC ITEMS 5000
12. ARDIUNO,SENSORS,WIRES,RELAYS 8500
,ULTRASONIC SENSOR,
13. EXTRA ITEMS 3500
14. BATTERY 1700
15. TOTAL COST 90000
65
APPENDIX C DATA SHEET
ARDUINO MEGA 2560
66
67
DC MOTORS
68
RASPBERRY PI
69
70
PI CAMERA
71
L298N MOTOR DRIVER
72
ULTRASONIC SENSOR
73
FOUR RELAY MODULE
74
75
76
77
78

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FIRE EXTINGUISHER ROBOT

B.S ELECTRONIC ENGINEERING, BATCH 2016

Talha hanif 2016-EE-003

DEPARTMENT OF ELECTRONIC ENGINEERING

SIR SYED UNIVERSITY OF ENGINEERING & TECHNOLOGY,

Talha hanif 2016-EE-003

Report submitted in partial fulfillment of the requirements

For the degree

DEPARTMENT OF ELECTRONIC ENGINEERING

SIR SYED UNIVERSITY OF ENGINEERING & TECHNOLOGY, KARACHI

Problem statement Problem statement Problem statement Problem statement

Internal Advisor: _______________________

Talha hanif 2016-EE-003

CHAPTER ONE: INTRODUCTION

1.1.1 Artificial Intelligence 2

CHAPTER TWO: THEORITICAL BACKGROUND

2.1 Overview Of The Project 8

CHAPTER THREE: DESIGN OF PROJECT

CHAPTER FOUR: SYSTEM HARDWARE

CHAPTER FIVE: SYSTEM SOFTWARE

CHAPTER SIX: RESULT AND DISCUSSION

CHAPTER SEVEN: FUTURE ENHANCEMENT AND CONCLUSION

7.1 Future Enhancement

7.1.1 Addition of sensors

7.1.2 Put it on artificial intelligence

7.1.3 Using thermal camera

7.1.4 Increasing throwing range

7.1.5 Stairs climbing robot

7.1.6 Aerial robot

APPENDIX A PROJECT GANTT CHART 63

APPENDIX B COST ANALYSIS 64

APPENDIX C DATA SHEET 65

FIGURE 1.1 ROBOT DENSITIES OF COUNTRIES 4

Robot is defined as a mechanical design that is capable of performing human tasks or

A robot (Industrial Robot) is reprogrammable, multifunction, manipulator design to move

1.1.1 ARTIFICIAL INTELLIGENCE:

1.1.2 CHARACTERISTIC OF ROBOT:

1.2 ROBOT INTELLIGENCE AND VISION:

1.3 ROBOT DENSITY OF COUNTRIES:

FIGURE 1.1 ROBOT DENSITIES OF COUNTRIES

FIGURE 1.2 TYPES OF ROBOTS

1.5 HISTORY OF PROJECT:

Autonomous is not an ancient phenomenon, it’s a relatively new breakthrough in engineering

1.6 BACKGROUND OF THE PROJECT:

1.7 KEY SEGMENT:

The project has following main feature:

Less human effort.

Automatically detect fire.

Throw ball automatically.

Full heat proof body.

Carry up to 3 fire extinguisher balls.

1.8 ADVANTAGES AND DISADVANTAGES OF AUTONOMOUS

1.8.1 ADVANTAGES OF AUTONOMOUS SYSTEM:

Following are the advantages of autonomous system.

24/7 continuous working.

Reduction of operational error.

Do not need to be paid.

1.8.2 DISADVANTAGES OF AUTONOMOUS SYSTEM:

Knowledge of the system.

If computer fails system will crush.

Addition product needs new reprogramming.

Skilled operator for the system.

1.9 ROBOTICS AND AI: