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Title
Abstract
Figures
Introduction
Overview of the Fire Fighting Robot
Conclusion
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Engineering

Intelligent Wireless Fire Extinguishing Robot

Profile image of Akib Ul IslamAkib Ul Islam

2017

Abstract

Increasing human population and technological advancement has led to increase in the fire accidents. The physical limitation of humans and adverse conditions makes fire extinguishing challenging and demanding task. Extinguishing fire manually by human being is very risky task and it may involve loss of life. Robotics is the emerging solution to protect human lives and their wealth and surroundings. Fire fighting robot is a hardware model which can extinguish fire during fire accidents. It can reduce the errors and limitations faced by the human fire fighters. Robot can search the area, locate the fire and extinguish the fire before it rages out of control. In this paper we have designed a fire extinguishing robot that can extinguish any kind of fire accurately and effectively. It is able to navigate through the building while actively scanning for the flame. It can send various data from the sensors to the cloud and operated wirelessly by any person. With the help of Internet of thi...

Figures (16)
Fig.2. Design of fire extinguishing robot Fig.1. Components of the designed robot (Top view)
Fig.2. Design of fire extinguishing robot Fig.1. Components of the designed robot (Top view)
ultrasonic sensor, Chassis, pair Of motors, pair Of wheels, H-bridge, water pump and nozzle. Flame sensor would detect the presence the flames and temperature sensor would monitor the temperature. Ultrasonic sensor is mounted over one servo motor to scan the area for objects for obstacles. Webcam would capture the video and send it to arduino yun where it gets processed. H-bridge is used for the movement of robot in left, right, forward and backward direction. Nozzle is connected to the pump which is connected to small container containing water. The nozzle is mounted over servomotor so that it can spread water over large area of fire. Fig 1 shows the overview of the components. Red line in fig 1 shows the connections. Fig 2 shows the design of fire extinguishing robot
ultrasonic sensor, Chassis, pair Of motors, pair Of wheels, H-bridge, water pump and nozzle. Flame sensor would detect the presence the flames and temperature sensor would monitor the temperature. Ultrasonic sensor is mounted over one servo motor to scan the area for objects for obstacles. Webcam would capture the video and send it to arduino yun where it gets processed. H-bridge is used for the movement of robot in left, right, forward and backward direction. Nozzle is connected to the pump which is connected to small container containing water. The nozzle is mounted over servomotor so that it can spread water over large area of fire. Fig 1 shows the overview of the components. Red line in fig 1 shows the connections. Fig 2 shows the design of fire extinguishing robot
Fig.3. Arduino Yun microcontroller board Processing power is provided by the Arduino Yun microcontroller. T Atmega32u4 and Atheros processor supports a Linux distribution based on O digital inpu communicai penWr /outpu ion be arduino sketches e with network interfaces and receive information from AR9331 processor. The USB host, network interfaces and SD card are connected to AR9331 and bridge library also enables the arduino to interface with those peripherals. communicai the A named ween t his microcontroller based on the heros AR9331 [4]. The OpenWrt-Yun. It has 20 pins, 16 MHz crystal oscillator, ICSP header, USB-A por Ethernet and Wi-Fi. The , 3 reset buttons, built-in bridge library facilitates he two processors, giving he abi ity to run shell scripts,
Fig.3. Arduino Yun microcontroller board Processing power is provided by the Arduino Yun microcontroller. T Atmega32u4 and Atheros processor supports a Linux distribution based on O digital inpu communicai penWr /outpu ion be arduino sketches e with network interfaces and receive information from AR9331 processor. The USB host, network interfaces and SD card are connected to AR9331 and bridge library also enables the arduino to interface with those peripherals. communicai the A named ween t his microcontroller based on the heros AR9331 [4]. The OpenWrt-Yun. It has 20 pins, 16 MHz crystal oscillator, ICSP header, USB-A por Ethernet and Wi-Fi. The , 3 reset buttons, built-in bridge library facilitates he two processors, giving he abi ity to run shell scripts,
Fig.4. Arduino Uno microcontroller It is a microcontroller based on Atmega328P. It has 14 digital input/output pins, 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an ICSP header and a reset button. The Atmega 328 has 32 KB of flash memory for storing the code. It also has 2KB of SRAM and 1KB of EEPROM. The Atmega 328 provides UART TTL serial communication, which is available on digital pins 0 and 1. An Atmegal6U2 on the board channels this serial communication over USB and appears as a virtual com port to software on the computer.
Fig.4. Arduino Uno microcontroller It is a microcontroller based on Atmega328P. It has 14 digital input/output pins, 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an ICSP header and a reset button. The Atmega 328 has 32 KB of flash memory for storing the code. It also has 2KB of SRAM and 1KB of EEPROM. The Atmega 328 provides UART TTL serial communication, which is available on digital pins 0 and 1. An Atmegal6U2 on the board channels this serial communication over USB and appears as a virtual com port to software on the computer.
Fig.7. Water spray system setup
Fig.7. Water spray system setup
The two wheels are driven by the pair of dc motors which are interfaced to the arduino yun through L- 293D dual H-bridge. L293D can drive two dc motors which can be controlled in both clockwise and anticlockwise direction. It has output current of 600mA and peak output current of 1.2A per channel [8]. The in-build diodes protect the circuit from back EMF at the outputs. Supply voltage range vary from 4.5V to 36V, making L293D a flexible choice for motor driver. Fig.9. L 298 Dual H-bridge 2.5 Software Used 95.1 Arduino IDE The open-source Arduino software is used to write the code for arduino uno and arduino yun microcontroller. The environment is written in Java and based on Processing and other open-source software. Many libraries can be used for interfacing various sensors with the arduino microcontroller.
The two wheels are driven by the pair of dc motors which are interfaced to the arduino yun through L- 293D dual H-bridge. L293D can drive two dc motors which can be controlled in both clockwise and anticlockwise direction. It has output current of 600mA and peak output current of 1.2A per channel [8]. The in-build diodes protect the circuit from back EMF at the outputs. Supply voltage range vary from 4.5V to 36V, making L293D a flexible choice for motor driver. Fig.9. L 298 Dual H-bridge 2.5 Software Used 95.1 Arduino IDE The open-source Arduino software is used to write the code for arduino uno and arduino yun microcontroller. The environment is written in Java and based on Processing and other open-source software. Many libraries can be used for interfacing various sensors with the arduino microcontroller.
Fig.10. Block diagram of the system
Fig.10. Block diagram of the system
a Once the robot is activated it sends a text message to the concerned user or authority on the fire .The text message is send by the arduino yun with the help of Twilio application using Sendsmschoreo [11]. After getting activated, it makes use of the ultrasonic sensor to accurately detect the distance of the object from the robot. Servo motor starts rotating from 0 degree to 180 degree and vice-versa. Since ultrasonic sensor is mounted over the servo motor which is rotating, it can scan large area. The information from the ultrasonic sensor is send to the arduino uno microcontroller. Processing software has been used to build a radar like screen from the data received from arduino uno. This visual effect would give the user controlling this robot clear idea about the objects or obstacles in front of the robot. The distance information is mapped on y-axis of the radar and the obstacles are shown as red circles. Since the arduino uno is connected to the mini laptop or tablet which is running processing software, the host pc cannot directly access this
a Once the robot is activated it sends a text message to the concerned user or authority on the fire .The text message is send by the arduino yun with the help of Twilio application using Sendsmschoreo [11]. After getting activated, it makes use of the ultrasonic sensor to accurately detect the distance of the object from the robot. Servo motor starts rotating from 0 degree to 180 degree and vice-versa. Since ultrasonic sensor is mounted over the servo motor which is rotating, it can scan large area. The information from the ultrasonic sensor is send to the arduino uno microcontroller. Processing software has been used to build a radar like screen from the data received from arduino uno. This visual effect would give the user controlling this robot clear idea about the objects or obstacles in front of the robot. The distance information is mapped on y-axis of the radar and the obstacles are shown as red circles. Since the arduino uno is connected to the mini laptop or tablet which is running processing software, the host pc cannot directly access this
Fig.12. Object seen by the robot virtual radar. To solve this problem we have used Team viewer software. Arduino yun USB-A port is connected to the webcam which can capture videos. A Linux shell script is running on the arduino yun which controls the webcam. The camera captures the videos and sends it to arduino yun where it gets processed. After processing the video, arduino yun sends the video to the cloud from where the host pc can easily access the videos capture from webcam using web browser like Google chrome , Microsoft edge etc[13].
Fig.12. Object seen by the robot virtual radar. To solve this problem we have used Team viewer software. Arduino yun USB-A port is connected to the webcam which can capture videos. A Linux shell script is running on the arduino yun which controls the webcam. The camera captures the videos and sends it to arduino yun where it gets processed. After processing the video, arduino yun sends the video to the cloud from where the host pc can easily access the videos capture from webcam using web browser like Google chrome , Microsoft edge etc[13].
Fig.13. Video of the object recorded by the webcam and accessed using web browser by host pc
Fig.13. Video of the object recorded by the webcam and accessed using web browser by host pc
The readings from DHT 11 sensor and the flame sensor are send to the Google spreadsheet hosted in the web server or cloud using Temboo. Arduino Yun uses the AppendRowChoreo [12] provided by Temboo to send data from the sensors to Google spreadsheet. All the sensors data would be uploaded to the Google spreadsheet after every 5 seconds. The data logged in the spreadsheet can be easily accessed by the host PC using web browser. The data from the temperature and humidity sensor provides crucial information regarding the temperature and humidity of the area to the user controlling the robot. After receiving all the information regarding temperature, humidity, obstacles in front of robot, detection of flames and getting the detailed overview of the fire and the situation with the help of video captured by the webcam, the user sitting on the host computer can finally take decisions on the movement of the robot such that it doesn’t collide with any obstacles and it extinguishes fire effectively. After analyzing the sensors data and the fire, the user on the host pc would give command to the robot regarding its movement and operations it needed to be performed .User can wirelessly control the movement of the robot from the host computer using Console Pixel [14]. At the back of the robot there are 3 led which glows according to the direction in which robot is moving. For example if robot is turning right, then the right led would glow and vice-versa. The designed robot responds to the command send through the console window effectively without any delay. Following are the commands used for the movement of robot: The robot is smart enough to overwrite any commands received from the user which possess threat to its existence or which can do damage to the
The readings from DHT 11 sensor and the flame sensor are send to the Google spreadsheet hosted in the web server or cloud using Temboo. Arduino Yun uses the AppendRowChoreo [12] provided by Temboo to send data from the sensors to Google spreadsheet. All the sensors data would be uploaded to the Google spreadsheet after every 5 seconds. The data logged in the spreadsheet can be easily accessed by the host PC using web browser. The data from the temperature and humidity sensor provides crucial information regarding the temperature and humidity of the area to the user controlling the robot. After receiving all the information regarding temperature, humidity, obstacles in front of robot, detection of flames and getting the detailed overview of the fire and the situation with the help of video captured by the webcam, the user sitting on the host computer can finally take decisions on the movement of the robot such that it doesn’t collide with any obstacles and it extinguishes fire effectively. After analyzing the sensors data and the fire, the user on the host pc would give command to the robot regarding its movement and operations it needed to be performed .User can wirelessly control the movement of the robot from the host computer using Console Pixel [14]. At the back of the robot there are 3 led which glows according to the direction in which robot is moving. For example if robot is turning right, then the right led would glow and vice-versa. The designed robot responds to the command send through the console window effectively without any delay. Following are the commands used for the movement of robot: The robot is smart enough to overwrite any commands received from the user which possess threat to its existence or which can do damage to the
Fig.14. Flow chart of the operations performed by the robot Fig.15. Data from the sensors logged in spreadsheet
Fig.14. Flow chart of the operations performed by the robot Fig.15. Data from the sensors logged in spreadsheet
LUUYEL. PUL CAAGIUIIL Th UITY Is ALLY UUostdells UClLOUleyU by ultrasonic sensor in front of robot and the user commands the robot to move forward, then the robot would send warning to the host pe and would not move forward. After receiving inputs from the user via console the robot performs the required operations of extinguishing fire. When it is close to the flame, the flame sensor would show the reading of 1. With the help of video received from the webcam, the user can easily extinguish the fire by typing ‘O’ and ‘P’ in the console window. The command ‘O’ send by the user using console will start the pump connected to the water container mounted below the chassis of the robot and the water starts coming out of the nozzle. When command ‘P’ is received by the robot from the host pe via console, the servo motor over which nozzle is mounted starts rotating and water is sprinkled in the large region due to 180 degree movement of the servo motor. In this way the robot can navigate in the whole room to locate and extinguish the fire.
LUUYEL. PUL CAAGIUIIL Th UITY Is ALLY UUostdells UClLOUleyU by ultrasonic sensor in front of robot and the user commands the robot to move forward, then the robot would send warning to the host pe and would not move forward. After receiving inputs from the user via console the robot performs the required operations of extinguishing fire. When it is close to the flame, the flame sensor would show the reading of 1. With the help of video received from the webcam, the user can easily extinguish the fire by typing ‘O’ and ‘P’ in the console window. The command ‘O’ send by the user using console will start the pump connected to the water container mounted below the chassis of the robot and the water starts coming out of the nozzle. When command ‘P’ is received by the robot from the host pe via console, the servo motor over which nozzle is mounted starts rotating and water is sprinkled in the large region due to 180 degree movement of the servo motor. In this way the robot can navigate in the whole room to locate and extinguish the fire.
Fig.17. Temboo conformation of successful data logging Fig.16. Zoom version of data logged in spreadsheet
Fig.17. Temboo conformation of successful data logging Fig.16. Zoom version of data logged in spreadsheet

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