Final Report

FIRE EXTINGUISHING ROBOT
MINI PROJECT REPORT
Submitted in partial fullfillment of the requirements for the award of the

Bachelor of Technology Degree in Electrical and Electronics Engineering
of the Cochin University of Science and Technology
Submitted By
ARUN THANKAPPAN
MOHAMMED FAIZ M
MUHAMMED SUFIYAN K
NISHAD A
(6th Semester, B.Tech.)
DEPT. OF ELECTRICAL & ELECTRONICS ENGINEERING

COLLEGE OF ENGINEERING
KIDANGOOR
2016
DEPT. OF ELECTRICAL & ELECTRONICS ENGINEERING

COLLEGE OF ENGINEERING
KIDANGOOR
2016
CERTIFICATE
This is to certify that this mini project report entitled FIRE EXTINGUISHING
ROBOT is a bonafide record of the mini project work done by ARUN THANKAPPAN, MOHAMMED FAIZ M, MUHAMMED SUFIYAN K, NISHAD A under
our guidance towards the partial fulfillment of the requirements for the award of B.tech
degree in Electrical and Electronics Engineering of the Cochin University of Science and
Technology during the year 2015 - 2016.
Guided By
Project Coordinator
Mrs.JASMI M S
Mr. ANITH KRISHNAN
Assistant Professor
Assistant Professor
Dept. of Electrical & Electronics
College of Engineering Kidangoor
Project Coordinator
Head of the Department
Mrs.SONIMA M S
Assistant Professor
Mrs.BINIMOL V.K
Assistant Professor
ACKNOWLEDGEMENT
We express our sincere and wholehearted appreciation towards our guide Asst.Prof. Mrs.
Jasmi M S for her advice and guidance. We are using this occasion to thank our project
coordinators Asst.Prof. Mr. Anith Krishnan and Asst.Prof. Mrs. Sonima M S for their
advice and co-operation in the project works. We also would like to thank the Principal
Dr. Viswanadhan and HOD
Mrs. Binimol V K for providing us the facilities required
for our project. Finally we thank all our friends and family for providing us strength and
endurance.
ARUN THANKAPPAN
MOHAMMED FAIZ M
MUHAMMED SUFIYAN K
NISHAD A
Abstract
The aim here is to build a robot that can detect and extinguish fire in a flat surface.
This fire extinguishing rolling robot is a prototype of the actual one. Sensors used here
are simple infrared (IR) photodiodes that detect IR rays coming out of the fire. The robot
moves with the help of two motors, whose sense of rotation is controlled by the controller,
depending on the feedback from the sensor. The basic function of the algorithm is to orient
the front sensor in front of the fire so that the nozzle of the pump comes directly above
the fire source. When this is achieved, the dc water pump is used to extinguish the fire
by spraying water from the bottle, which stores water. The robot can be made to work
in manual as well as in autonomous mode. The robot is controlled by the operator with
the help of a wireless remote that uses an RF module for communicating with the robot.
Switches, push buttons and joysticks are provided on the remote that controls various tasks
such as autonomous mode selection, reset and starting the pump.
Contents
1 Introduction
Block Diagrams
2.1
Receiver Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2
Transmitter Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 WORKING
3.1
Stage 1: Fire detection (autonomous mode): . . . . . . . . . . . . . . . . .
3.2
Stage 2: Extinguishing fire . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3
Stage 3: RF communication and manual control (manual mode). . . . . . .
4 MAIN COMPONENTS
4.1
Atmega16 microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2
ATmega8 microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
4.3
L293D motor driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
4.4
433Mhz RF Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
4.5
12V DC geared motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
4.6
12V water pump motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
5 CIRCUIT DIAGRAM
5.1
Sensor Module
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
19
5.1.1
5.2
17
CONTENTS
5.2.1
5.3
5.4
ii
Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
20
5.3.1
Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
6 ALGORITHM AND PROGRAM

6.1
6.2
23
23
6.1.1
Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
6.1.2
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
28
6.2.1
Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
28
6.2.2
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
29
7 APPLICATIONS
40
8 CONCLUSIONS AND FUTURE SCOPE
41
9 BILL OF MATERIALS
42
A DATA SHEETS
45
A.1 ATmega 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
A.2 ATmega 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
A.3 L293D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
A.4 433 Mhz RF module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
A.5 IR Photodiode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
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College of Engineering, Kidangoor
List of Figures
2.1
Main Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2
Remote Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1
Atmega16 Pin-out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
4.2
ATmega8 Pin-out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
4.3
L293D motor driver IC Pin out . . . . . . . . . . . . . . . . . . . . . . . .
12
4.4
RF module Pin-out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
4.5
DC geared motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
4.6
water pump motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
5.1
Sensor circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
5.2
Receiver circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
5.3
Transmitter circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
iii
Chapter 1
Introduction
The aim here is to build a robot that can detect and extinguish fire in a flat surface. This
fire extinguishing rolling robot is a prototype of the actual one.
Sensors used here are simple infrared (IR) photodiodes that detect IR rays coming out
of the fire. The sensor board mounted on top of the robots chassis is circular in shape so
that it gives the robot all-round detection view of 360. Sensors are equally spaced at 45
each. These act as the eyes of the robot. The robot moves with the help of two motors,
whose sense of rotation is controlled by the controller, depending on the feedback from the
sensor. The basic function of the algorithm is to orient the front sensor in front of the fire
so that the nozzle of the pump comes directly above the fire source. When this is achieved,
the dc water pump is used to extinguish the fire by spraying water from the bottle, which
stores water. The robot can be made to work in manual as well as in autonomous mode.
The robot is controlled by the operator with the help of a wireless remote that uses an
RF module for communicating with the robot. Switches, push buttons and joysticks are
provided on the remote that controls various tasks such as autonomous mode selection,
reset and starting the pump.
Chapter 2
Block Diagrams
2.1
Receiver Section
Figure 2.1: Main Section
CHAPTER 2.
BLOCK DIAGRAMS
Block diagram description

SENSOR MODULE:
Sensors used here are simple infrared (IR) photodiodes that detect IR rays coming out of
the fire. The sensor board mounted on top of the robots chassis is circular in shape so that
it gives the robot all-round detection view of 360 degree. Sensors are equally spaced at 45
degree each. These act as the eyes of the robot.
MOTOR DRIVER ICs:
Two L293D ICs are used here. L293D is a 16-pin IC which can control a set of two
DC motors simultaneously in any direction. It works on the concept of H-bridge. In a
single L293D chip there two h-Bridge circuit inside the IC which can rotate two dc motor
independently.
ATMEGA16 MICROCONTROLLER:
It is the main working unit of the robot. Constant feedback from the sensor is fed to the
Atmega 16.It is an 8-bit high performance microcontroller of Atmels Mega AVR family
with low power consumption.
RF RECEIVER:
Signals from transmitter section is given to microcontroller via RF transmitter. It receives
signals from transitter and fed to Atmega 16.
MOTORS:
Two 12V DC geared motor is used for the movement of motor. A 12V DC water pump is
used to extinguish the fire by spraying water.
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CHAPTER 2.
2.2
BLOCK DIAGRAMS
Transmitter Section
Figure 2.2: Remote Section

Block diagram description
REMOTE:
reset and starting the pump.
ATMEGA8 MICROCONTROLLER:
The output from remote is fed to Atmega 8 Microcontroller. Corresponding changes are
given to RF transmitter.
RF TRANSMITTER:
RF Transmitter transmits corresponding signals to RF receiver.
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Chapter 3
WORKING
This fire extinguishing robot is a prototype of the actual one. Sensors used here are simple
infrared (IR) photodiodes that detect IR rays coming out of the fire. The sensor board
mounted on top of the robots chassis is circular in shape so that it gives the robot all-round
detection view of 360 degree. Sensors are equally spaced at 45 degree each. These act as
the eyes of the robot. In the actual robot, use of fire sensors or IR cameras is recommended.
But these are too expensive and hence IR photodiodes have been used as a substitute in
the prototype.
The pump used here symbolizes the fire extinguishing mechanism, and is used as a
substitute in the prototype. Also, the body used is not fire-proof. The actual robot must
use fire-proof material for proper and better functioning for efficient results.
IR WAVES: Wavelengths longer than visible and up to 1mm are termed as IR waves.
IR radiation can be felt as radiant heat, for example, when you stand in front of a fire.
The light emitted by a burning source comprises IR waves, so by using IR photodiodes as
sensors we can detect a fire. This principle has been used in the designing of the sensor
board.
DC WATER PUMP: A 12V DC water pump is used for the purpose of extinguishing
fire. It pumps out water stored in a bottle. Any other suitable water pump can also be
used.
CHAPTER 3. WORKING
RF MODULE: A pair of 433MHz RF transmitter-receiver module is used. It allows

transmission and reception of serial data without physical connection. The frequency of
an RF signal is inversely proportional to the wavelength of the field.
The robot can be made to work in manual as well as in autonomous mode. The fire
extinguishing robot works in three stages.
3.1
Stage 1: Fire detection (autonomous mode):
IR photodiodes are connected in reverse bias as shown in the circuit diagram of the sensor
module. Anodes are commonly connected to the ground and cathodes are connected to the
5V via resistors of 1M each. Voltage across the photodiode is given as input to ADC pins
(PA0 through PA7) of ATmega16. When IR waves fall on the IR photodiode, its resistance
decreases from 650k to 150k, reducing the voltage across the photodiode, thus changing
the input voltage at the ADC pin. By proper quantisation, the presence and absence of
the flame can be distinguished.
Similarly, eight IR photodiodes mounted in a circular fashion on the sensor board help
detect the fire; the corresponding LED glows if fire is detected. The cone of detection of
the IR photodiode is large, thus decreasing the resolution of the system. This problem can
be solved by properly shielding IR photodiodes.
Code to detect the presence of fire using the ADC is as follows:
{
unsigned char v;
v= read_adc(0);
if(v>=0 && v <=128) //Stores the digital
value of the analog voltage at ADC 0
fire_detected ( );
if(v>128 && v<=255)
fire_not_detected( );}
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CHAPTER 3. WORKING
3.2
Stage 2: Extinguishing fire
Constant feedback from sensors is fed to the main module, and hence position of the
fire with respect to the robot is determined. The main module includes an ATmega16
microcontroller, two L293D motor driver ICs to drive motors, a water pump and RF
receiver RX1. The basic function of the algorithm is to orient the front sensor in front of
the fire so that the nozzle of the pump comes directly above the fire source. When this is
achieved, the pump starts and extinguishes the fire. The robot moves with the help of two
motors, whose sense of rotation is controlled by the controller, depending on the feedback
from the sensor.
3.3
Stage 3: RF communication and manual control

(manual mode).
reset and starting the pump. For each command, the remote sends a specific character
that is received by the robot and the corresponding operation is performed.
Specimen code for autonomous mode is given as below:
For remote (transmitter):
if(check_bit(&PIND,4)==0)
{
i=h;
//auto mode
printf("%c",i);
}
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CHAPTER 3. WORKING
For robot (receiver):

while(1)
{
scanf("%c",&ii);
_delay_ms(10);
switch(ii)
{
case h:
//auto mode
autonomous();
break;
2016
Chapter 4
MAIN COMPONENTS
1. Atmega16 microcontroller
2. ATmega8 microcontroller
3. L293D motor driver
4. Photodiode (IR receiver)
5. 433Mhz RF module
6. 12V DC geared motor
7. 12V water pump motor
4.1
Atmega16 microcontroller
ATmega16 is an 8-bit high performance microcontroller of Atmels Mega AVR family

ATmega16 is a 40 pin microcontroller.
It has 16KB of programmable memory and 512Byte of EEPROM.
CHAPTER 4. MAIN COMPONENTS
10
There are 32 I/O (input/output) lines which are divided into four 8-bit ports designated as PORTA, PORTB, PORTC and PORTD
ATmega16 has various in-built peripherals like USART, ADC, Analog Comparator
etc.
Figure 4.1: Atmega16 Pin-out
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4.2
11
ATmega8 microcontroller
ATmega8 is an 8-bit high performance microcontroller of Atmels Mega AVR family

ATmega8 is a 28 pin microcontroller.
It has 8KB of programmable memory and 512Byte of EEPROM.
23 I/O line can be obtained from three ports; namely Port B, Port C and Port D.
ATmega8 has various in-built peripherals like USART, ADC, Analog Comparator
etc.
Figure 4.2: ATmega8 Pin-out
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4.3
12
L293D motor driver
L293D is a 16-pin IC which can control a set of two DC motors simultaneously in

any direction.
It works on the concept of H-bridge.
In a single L293D chip there two H-Bridge circuit inside the IC which can rotate two
DC motor independently
To simplify use as two bridges each pair of channels is equipped with an enable input.
A separate supply input is provided for the logic, allowing operation at a lower voltage
and internal clamp diodes are included.
This device is suitable for use in switching applications at frequencies up to 5 kHz.
Figure 4.3: L293D motor driver IC Pin out

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4.4
13
433Mhz RF Module
The RF module, as the name suggests, operates at Radio Frequency. The corresponding
frequency range varies between 30 kHz and 300 GHz. In this RF system, the digital data
is represented as variations in the amplitude of carrier wave. This kind of modulation is
known as Amplitude Shift Keying (ASK). The RF module we will use comprises of an RF
Transmitter and an RF Receiver. The transmitter/receiver (Tx/Rx) pair operates at a
frequency of 433 MHz and it has 4 output pins i.e. it can operate 4 peripherals remotely.
Transmitter Section
RF transmitters are electronic devices that creates continuously varying electric current,
encode sine waves, and broadcast radio waves
Receiver Section
RF receivers are electronics devices that separate radio signals from one another and convert specific signals into audio, video, or data formats.
Figure 4.4: RF module Pin-out

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4.5
14
12V DC geared motor
Geared DC motors can be defined as an extension of DC motor. A geared DC Motor has a

gear assembly attached to the motor. The speed of motor is counted in terms of rotations
of the shaft per minute and is termed as RPM .The gear assembly helps in increasing the
torque and reducing the speed. Using the correct combination of gears in a gear motor, its
speed can be reduced to any desirable figure. This concept where gears reduce the speed
of the vehicle but increase its torque is known as gear reduction.
The robot moves with the help of two motors, whose sense of rotation is controlled by
the controller, depending on the feedback from the sensor.be
Specifications
Voltage - 6V to 18V
RPM - 100 (at 12V)
Nominal Voltage - 12V
No- Load Current - 100mA
Full Load Current - 1900mA
Full Load Torque - 22 Kgcm (max)
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15
Figure 4.5: DC geared motor
4.6
12V water pump motor
A dc water pump is used to extinguish the fire by spraying water from the bottle, which
stores water.
Specifications
Weight: 150g
Dimension of inlet and outlet: 15mm O.D. / 5mm O.D.
Working voltage range: 12V DC-18V DC
Rated voltage: 12V DC
Working current: 0.1A-0.5A
Lift: 130cm (at 12V DC)
2016
16
Figure 4.6: water pump motor
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17
CHAPTER 5. CIRCUIT DIAGRAM
18
Chapter 5
CIRCUIT DIAGRAM
5.1
Sensor Module
2016
Figure 5.1: Sensor circuit
5.1.1
19
Design
1. Eight Sensors are used because it improves the resolution and area of detection.
2. Resistance with IR photodiode:
That circuit is actually a voltage divider circuit. When fire is not detected:
V2=(V1 R2)/(R1+R2) Where R2- resistance of photodiode.
V2=1.96V, V1= 5V, R2=650k ohm
On solving R1=1008163.265 ohm So taking 1M ohm resistor (std.)
3. Resistance with LEDs:
It is used to protect the LED from high voltage. It can be any value in between
100-1000 ohm. So taken 680 ohm.
5.2
Receiver Section
Figure 5.2: Receiver circuit
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5.2.1
20
Design
1. R2 is the pull up resistor and C3 is capacitor used to avoid unwanted reset of the
controller. Their value is selected from datasheet of Atmega 16.
2. C1 is the electrolytic capacitor used to avoid unwanted noise from the supply voltage.
Commonly using capacitor for Atmega microcontrollers is 10uF,25v.
3. To provide external clock pulse of 8MHz an 8MHz crystal oscillator is used. To
provide port capacitance two 22pF capacitor is used (from data sheet)
4. The motors used here is two 12V DC Johnson geared motor of 2Nm torque each.
This motor is selected to carry weight upto 10Kgms
5.3
Transmitter Section
Figure 5.3: Transmitter circuit
5.3.1
Design
1. R4 is the pull up resistor and C8 is capacitor used to avoid unwanted reset of the
controller. Their value is selected from datasheet of Atmega 16.
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21
2. C6 is the electrolytic capacitor used to avoid unwanted noise from the supply voltage.
Commonly using capacitor for Atmega microcontrollers is 10uF,25v.
3. To provide external clock pulse of 8MHz an 8MHz crystal oscillator is used. To
provide port capacitance two 22pF capacitor is used (from data sheet)
4. A four way dip switch is used in the circuit is to select different modes of operations.Since there are 5 modes we opted 4 way dip switch.
MODE SELECTION AND TEST POINTS
Manual Mode: If PD3, PD4, PD5, PD6 are high.

Reset Mode: If PD3 is low.
Autonomous mode: If PD4 is low.
Water pump on mode: If PD5 is low.
LED test mode: If PD6 is low.
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5.4
22
Limitations
Usage is limited to plane surface and the body is not fire proof
IR photodiodes also react to sunrays, since these too contain IR waves, thus allowing
the robot to make false judgments. However, the effect of sunlight and other factors
is not significant if we use better sensors (which are far more costly).
2016
Chapter 6
ALGORITHM AND PROGRAM
6.1
6.1.1
Transmitter Section
Algorithm
1.Start
2.Initialise ports and adc pins
3.Define POT1=read adc(0) and POT2=read adc(1)
4.Check whether PD4=0, do i=h (autonomous mode), else go to next step.
5.Check whether PD3=0, do i=r (reset mode), else go to next step.
6.Check whether PD5=0, do i=g (pump on mode), else go to next step.
7.Check whether PD4=0, do i=j (led test mode), else go to next step.
8.Check the condition ((POT1>200 && POT2<50)||(POT1<50 && POT2>200)):
8.1. Check whether (POT1>200 && POT2<50), do i=a (bot forward), else
go to step 8.2.
8.2. Check whether (POT1<50 && POT2>200), do i=b (bot reverse),
else go to step 9.
9.Check the condition ((POT1<50 && POT2<50)||(POT1>200 && POT2>200)):
9.1. Check whether (POT1<50 && POT2<50), do i=e (bot diff right),
else go to step 9.2
23
CHAPTER 6. ALGORITHM AND PROGRAM
24
9.2. Check whether (POT1<50 && POT2>200), do i=b (bot diff left),
else go to step 10.
10.Do i=c (current condition).
11.Stop.
6.1.2
Program
#include<avr/io.h>
#include<stdio.h>
#include<usart.h>
#include<initialise_16.h>
#include<avr/interrupt.h>
#include<util/delay.h>
#include<bitwise.h>
/*************GLOBAL VARIABLES********/
#define ADC_VREF_TYPE 0x60
unsigned char read_adc(unsigned char adc_input)

{
ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);
// Delay needed for the stabilization of the ADC input voltage
_delay_us(10);
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
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25
ADCSRA|=0x10;
return ADCH;
}
int main(void)
{
init_port();
init_adc();
init_usart();
//init_timer0();
//init_timer2();
//init_timer1();
//init_analog_com();
//init_timer_counter_interrupt();
sei();
unsigned char i,POT1,POT2;
while(1)//tx
{
POT1=read_adc(0);
POT2=read_adc(1);
{
i=h; //auto
printf("%c",i);
}
2016
else
26
{
i=r; //reset
printf("%c",i);
}
else if(check_bit(&PIND,5)==0)
{
i=g; //pump_on
printf("%c",i);
}
else if(check_bit(&PIND,6)==0)
{
i=j; //led testing
printf("%c",i);
}
else if((POT1>200 && POT2<50)||(POT1<50 && POT2>200))
{
if(POT1>200 && POT2<50)
i=a;//bot forward
if(POT1<50 && POT2>200)

i=b;//bot reverse
}
else if((POT1<50 && POT2<50)||(POT1>200 && POT2>200))
{
if(POT1<50 && POT2<50)
i=e;//bot diff right
if(POT1>200 && POT2>200)

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27
i=d;//bot diff left

}
else
i=c;
_delay_ms(10);
printf("%c",i);
}//wh
return 0;
}
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6.2
28
Receiver Section
6.2.1
Algorithm
1. Start
2. Define PDI to PD8 as read_adc(0) to read_adc(7) respectively.
3. Define motors
4. Assign ports and pins for enable and input of motors.
5. Assign following functions (movement):
5.1 Bot forward- move left motor and right motor in forward direction.
5.2 Bot reverse- move left motor and right motor in reverse direction.
5.3 Bot brake- left motor and right motor in braked condition.
5.4 Bot diff right- move left motor forward and right motor backward,
5.5 Bot diff left- move left motor backward and right motor forward.
5.6 Pump on- move pump forward.
5.7 Pump off- pump in braked condition.
6. Autonomous mode:
6.1 Check whether (PD1>128&&PD2>128&&PD3>128&&PD4>128&&PD5>128&&PD6>128
&&PD7>128&&PD8>128) move to step no 16. Else move to next step.
6.2 Check whether (PD3<128), make corresponding LED bright, move the
bot forward and turn on water pump. Else move to next step.
bot forward and turn on water pump. Else move to next step.
bot diff right and move to step 6.3. Else move to next step.
bot diff right and move to step 6.3. Else move to next step.
bot diff left and move to step 6.2. Else move to next step.
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29
bot diff right and move to step 6.3. Else move step 6.1.
7. Declared a character i.
8. If i=a move the bot forward. Else move to step 16.
9. If i=b, move the bot reverse. Else move to step 16.
10. If i=d, move the bot diff left. Else move to step 16.
11. If i=e, move the bot diff right. Else move to step 16.
12. If i=h, autonomous mode. Else move to step 16.
13. If i=g, pump on mode. Else move to step 16.
14. If i=j, led testing mode. Else move to step 16.
15. If i=r, reset mode (make LEDs in even ports bright). Else move to
step 16.
16. Bot is in braked and pump is off.
17. Stop.
6.2.2
Program
#include<avr/io.h>
#include<stdio.h>
#include<usart.h>
#include<initialise_16.h>
#include<avr/interrupt.h>
#include<util/delay.h>
#include<bitwise.h>
2016
30
#define PD1 read_adc(0)

#define L_OCR OCR1AL

#define R_OCR OCR1BL
/*************GLOBAL VARIABLES********/
enum motor_type {ml,

enum led
//VALUES===>>>0
pump,
mr};
{led1,led2,led3,led4,led5,led6,led7,led8};
1
unsigned char *motor_port_a[]= {&PORTC, &PORTC , &PORTD};

unsigned char motor_pin_a[]= {
2,
5,
6};
unsigned char *motor_port_en[]= {&PORTC, &PORTC ,

unsigned char motor_pin_en[]= {
1,
7,
4};
unsigned char *motor_port_b[]={&PORTC, &PORTC ,

unsigned char motor_pin_b[]= {3,
6,
&PORTD};
&PORTD};
5};
unsigned char rotate_a[]={0,1,0,1};

unsigned char rotate_b[]={1,0,1,0};
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31
unsigned char *led_port[]={&PORTB,&PORTB,&PORTB,&PORTB,&PORTB,&PORTB,

&PORTB,&PORTB};
unsigned char led_pin[]={0,1,2,3,4,5,6,7};
unsigned char sens[8],sensor,n=0,x=0,i;
/**********FUNCTIONS***********/
void move_motor(char motor,char dir)

{
change_bit(motor_port_a[motor],motor_pin_a[motor],rotate_a[dir]);
change_bit(motor_port_b[motor],motor_pin_b[motor],rotate_b[dir]);
}
unsigned char read_adc(unsigned char adc_input)
{
ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);
// Delay needed for the stabilization of the ADC input voltage
_delay_us(10);
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
return ADCH;
}
void bot_forward(void)
{
move_motor(ml,forward);
move_motor(mr,forward);
}
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32
void bot_reverse(void)
{
move_motor(ml,reverse);
move_motor(mr,reverse);
}
void bot_brake(void)
{
move_motor(ml,brake);
move_motor(mr,brake);
}
void bot_diff_right(void)
{
move_motor(ml,forward);
move_motor(mr,reverse);
}
void bot_diff_left(void)
{
move_motor(ml,reverse);
move_motor(mr,forward);
}
void pump_on()
{
move_motor(pump,forward);
}
void pump_off()
{
move_motor(pump,brake);
}
void autonomous()
2016
33
{
bot_brake();
PORTB=0xFF;
L_OCR=100;
R_OCR=100;
while
(PD1>128&&PD2>128&&PD3>128&&PD4>128&&PD5>128&&PD6>128&&PD7>128&&PD8>128)
{ scanf("%c",&i);
if(i==r)
main();
}
PORTB=0x00;
while(1)
{
scanf("%c",&i);
if(i==r)
main();
if(PD3<128)
{
PORTB=0x00;
change_bit(&PORTB,2,1);
bot_forward();
_delay_ms(200);
bot_brake();
pump_on();
_delay_ms(2000);
pump_off();
}
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34
else if(PD2<128)
{
PORTB=0x00;
bot_forward();
_delay_ms(200);
bot_brake();
pump_on();
_delay_ms(2000);
pump_off();
}
else if(PD1<128)
{
PORTB=0x00;
bot_diff_right();
while(PD2<128);
bot_brake();
pump_on();
_delay_ms(2000);
pump_off();
}
else if(PD8<128)
{ PORTB=0x00;
bot_diff_right();
while(PD2<128);
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35
bot_brake();
pump_on();
_delay_ms(2000);
pump_off();
}
else if(PD4<128)
{
PORTB=0x00;
bot_diff_left();
while(PD3<128);
bot_brake();
pump_on();
_delay_ms(2000);
pump_off();
}
else if(PD5<128)
{
PORTB=0x00;
bot_diff_left();
while(PD3<128);
bot_brake();
pump_on();
_delay_ms(2000);
pump_off();
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36
}
else if(PD6<128)
{PORTB=0x00;
bot_diff_left();
while(PD3<128);
bot_brake();
pump_on();
_delay_ms(2000);
pump_off();
}
else if(PD7<128)
{PORTB=0x00;
bot_diff_right();
while(PD2<128);
bot_brake();
pump_on();
_delay_ms(2000);
pump_off();
}
}//wh ends
}
int main(void)////////////rx
{
unsigned char ii=0;
init_port();
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37
init_usart();
init_adc();
sei();
char i;
while(1)
{
scanf("%c",&ii);
_delay_ms(10);
switch(ii)
{
PORTB=0;
case a:
PORTB=0x00;
bot_forward();
break;
case b:
PORTB=0x00;
bot_reverse();
break;
case d:
PORTB=0x00;
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38
bot_diff_left();
break;
case e:
PORTB=0x00;
bot_diff_right();//left forward
break;
case h://auto mode

autonomous();
break;
case g:
pump_on();
break;
case j://led testing

ii=0;
unsigned char i;
while(1)
{ scanf("%c",&i);
if(i==r)
main();
change_bit(&PORTB,ii%8,1);
_delay_ms(100);
change_bit(&PORTB,ii%8,0);
2016
39
_delay_ms(100);
ii++;
}
break;
case r:
//reset
main();
break;
default:
bot_brake();
pump_off();
PORTB=0xaa;
break;
}//sw
}//wh
return 0;
}
2016
Chapter 7
APPLICATIONS
By replacing IR photo sensors with the thermal image-processing camera, the pump
with a fire extinguishing mechanism and by making the body of the robot fire-proof,
it can be used for fire extinguishing purposes. It can also be used in assisting fire
fighters, thus helping them reach inaccessible places to save more lives.
Increasing the number of sensors will improve the resolution and accuracy of the
system further.
In autonomous mode, it can detect a fire, if any, and extinguish it without any
assistance.
The RF module makes it possible for the operator to control the robot manually
from a distance, thus allowing surveillance facility.
40
Chapter 8
CONCLUSIONS AND FUTURE
SCOPE
This project presents a fire extinguishing robot:
Which sense IR rays coming out of fire using simple IR photodiodes.
The robot will work in both manual and autonomous mode.
It is designed with Atmega16 microprocessor as main module.
Future Scope
Use more sensors such as smoke detectors and thermal image processing for feedback
and to improve the accuracy and reliability of the system further.
Replace IR photo sensors with more dependable ones, which have filters, because IR
sensors even take sunlight as a source of IR waves, leading to errors and false alarms.
41
42
CHAPTER 9. BILL OF MATERIALS
43
Chapter 9
BILL OF MATERIALS
Sl No
Components
12V DC geared motor
599
1198
Atmega 16
175
175
Atmega 8
90
90
RF Module
300
300
LM7805 Regulator
10
20
8 MHz Crystal Oscillator
16
L293D
60
120
16 pin IC base
28 pin IC base
10
40 pin IC base
11
Dotted Board
20
40
12
Jumper
30
120
13
Connentor
20
14
IR photodiode
10
80
15
Sheet Metal
66.66
4.8kg
320
16
Miscellaneous
550
Total
3064
Cost Per Individual Item Quantity
2016
Total
Bibliography
Magazine
[1] Electronics for you. Article: Fire Extinguishing Robot by Amol Gulhane, Edition May
2015.
Websites
[2] http://electronicsforu.com/electronicsforu/circuitarchieves/responsive/viewarticle.asp
[3] http://maxembedded.com/category/microcontrollers-2/atmel-avr/
44
Appendix A
DATA SHEETS
A.1
ATmega 16
A.2
ATmega 8
A.3
L293D
A.4
433 Mhz RF module
A.5
IR Photodiode
45

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FIRE EXTINGUISHING ROBOT

MINI PROJECT REPORT

Submitted in partial fullfillment of the requirements for the award of the

DEPT. OF ELECTRICAL & ELECTRONICS ENGINEERING

DEPT. OF ELECTRICAL & ELECTRONICS ENGINEERING

Mr. ANITH KRISHNAN

Dept. of Electrical & Electronics

Dept. of Electrical & Electronics

College of Engineering Kidangoor

College of Engineering Kidangoor

Head of the Department

Dept. of Electrical & Electronics

Dept. of Electrical & Electronics

College of Engineering Kidangoor

College of Engineering Kidangoor

Mrs. Binimol V K for providing us the facilities required

Stage 1: Fire detection (autonomous mode): . . . . . . . . . . . . . . . . .

Stage 2: Extinguishing fire . . . . . . . . . . . . . . . . . . . . . . . . . . .

Stage 3: RF communication and manual control (manual mode). . . . . . .

L293D motor driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12V DC geared motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12V water pump motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 ALGORITHM AND PROGRAM

8 CONCLUSIONS AND FUTURE SCOPE

A.4 433 Mhz RF module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FIRE EXTINGUISHING ROBOT

College of Engineering, Kidangoor

L293D motor driver IC Pin out . . . . . . . . . . . . . . . . . . . . . . . .

water pump motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Figure 2.1: Main Section

Block diagram description

FIRE EXTINGUISHING ROBOT

College of Engineering, Kidangoor

Figure 2.2: Remote Section

FIRE EXTINGUISHING ROBOT

College of Engineering, Kidangoor

RF MODULE: A pair of 433MHz RF transmitter-receiver module is used. It allows

Stage 1: Fire detection (autonomous mode):

FIRE EXTINGUISHING ROBOT

College of Engineering, Kidangoor

Stage 2: Extinguishing fire

Stage 3: RF communication and manual control

College of Engineering, Kidangoor

For robot (receiver):

FIRE EXTINGUISHING ROBOT

College of Engineering, Kidangoor

ATmega16 is an 8-bit high performance microcontroller of Atmels Mega AVR family

CHAPTER 4. MAIN COMPONENTS

Figure 4.1: Atmega16 Pin-out

FIRE EXTINGUISHING ROBOT

College of Engineering, Kidangoor

CHAPTER 4. MAIN COMPONENTS

ATmega8 is an 8-bit high performance microcontroller of Atmels Mega AVR family

Figure 4.2: ATmega8 Pin-out

FIRE EXTINGUISHING ROBOT

College of Engineering, Kidangoor

CHAPTER 4. MAIN COMPONENTS

L293D motor driver

L293D is a 16-pin IC which can control a set of two DC motors simultaneously in

Figure 4.3: L293D motor driver IC Pin out

College of Engineering, Kidangoor

CHAPTER 4. MAIN COMPONENTS

Figure 4.4: RF module Pin-out

College of Engineering, Kidangoor