On

“Arduino based Fire Fights Robotics Sensor”

Submitted in partial fulfillment of the Three Year Diploma in

Electronics & Engineering

Under the supervision of

Mr. Jitndra Kumar

Submitted By:-Anamika Yadav
:- Hemalata Rani

Km. Mayawati Govt. Girls Polytechnic, Badalpur, Gautam

Buddha Nagar,(UP)

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 Km. Mayawati Govt. Girls Polytechnic, Badalpur,
Gautam Buddha Nagar, (UP)
(Department of Technical Education, Uttar Pradesh, AICTE New Delhi Approved)

Candidate Declaration
I hereby declared that the work which is being presented in the project entitled “
implementation of Robotics Sensor based Polytechnic in partial fulfillment of the
requirement for the award of the diploma in Electronics Engineering, Km.
Mayawati Government Girls Polytechnic, Badalpur, Gautam Buddha Nagar is an
authentic record of my own work carried out under the supervision of Mr. Jitndra
Kumar (H.O.D)Department of ELX KMGGP Badalpur.
The matter presented in this report has not been submitted by me for the
award of any other diploma or any other institute / university.
This is to certify that the above statement made by the candidate is correct to
the best of my knowledge.
Anamika Yadav and Hemlata Rani
BTE UP Enrollment No.:-E1610233000013
BTE UP Enrollment No.:-E1610233000020
To the best of my Knowledge, the matter embodied in the project report has not
been submitted to any other university / institute for the award of any Diploma.

Date: Mr. Jitendra Kumar Rathi

(Project Supervisior)

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 Km. Mayawati Govt. Girls Polytechnic, Badalpur,
Gautam Buddha Nagar, (UP)
(Department of Technical Education, Uttar Pradesh, AICTE New Delhi Approved)

Certificate
This is to certify that the project report entitled “implementation of Robotics
Sensor Based Polytechnic ” submitted by Anamika Yadav and Hemlata Rani, in
partial fulfillment of the requirements for the award of Diploma in Electronics
Engineering at
Km. Mayawati Govt. Girls Polytechnic Badalpur GB Nagar is an authentic work
carried out by her under my supervision and guidance.

Date: Mr. Jitendra Kumar

(Project Supervisor)

The Diploma in ELX Viva-Voce examination of Anamika Yadav and Hemlata

Rani, Polytechnic student, has been held
on…………………………………………

Signature of Signature of Signature of

Supervisior HOD External Examiner

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 Acknowledgement

I would like to express my deep and sincere gratitude to my supervisor Mr.

Jintendra Kumar Rathi, who gave me his full support and encouraged me

to work in an innovative and challenging project for Educational field. His

wide knowledge and logical thinking gave me right direction all the time.

I am deeply grateful my project coordinator for his help and support

provided at every step of the project. Last but not the least, I also convey my
regards to all other faculty members of the Department of Electronics and
Engineering.

(Project Supervisor)
- Jitendra Kumar(H.O.D)

- Satyendra Kumar Yadav

- Ritu Anand

- Jyoti Garg

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 A PROJECT REPORT
ON
“FIRE FIGHT ROBOTICS
SENSOR”

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TABLE OF CONTENTS:-

TABLE CONTENT PAGE NO

INTRODUCTION 7

PLATFORM USED 8

AIM OF THE PROJECT 9

WORKING OF THE PROJECT 10

CIRCUIT DIAGRAM 12-13

COMPONENT LIST 14-16

CIRCUIT DISCRIPTION 17-58

RESULT& CONCLUSION 59

REFERENCE 60

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 INTRODUCTION

According to National Crime Records Bureau (NCRB ) it is estimated that

have been caused because of fire accidents in India form 2010-2014 . Even
though there are a lot of precautions taken for FIRE accidents in natural /
man- made distaters do occur now and then . In the event of a fire breakout ,
to rescue people and to put out the fire we are forced to use human
resources which are not safe .With the advancement of technology especially
in Robotics it is very much possible to replace humans with robots for
fireting the fire . This would improve the efficiency of firefights and would
also prevent them from risking human lives . Today we are going to bulid a
Fire Fighting Robot using Arduino , which will automatically sense the fire
and start the water pump

In this project , we will learn how to bulid a simple robot using Arduino that
could move to wards the fire and pump out water around it to put down the
fire. It is very simple robot that would teach us the underlying concept of
robotics ; you would be able to build more sophisticated robots once you
understand the following basics . S let’s get started more than 1.2 lakl deaths

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 PLATEFORM USED

HARDWARE REQUIREMENTS:

1) Arduino UNO

2) Fire sensor or Flame sensor

3) L293D motor Driver module

4) Small Breadboard

5) Robot chassis with motors and wheel (any type)

6) A small can

7) Connecting Wires

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 AIM OF PROJECT
This project aims in giving a technical solution to the mentioned problem . A
robot is desigen that is capable of carrying out a complex series of actions
automatically , especially one one programmable by a computer . Afire
extinguisher robot is a fire flam put robot that has a small fire extinguisher unit
added on to it . fire fight robot is controlled using a arduino uno through flame
sensor for its movement and reaching the fire , the flame sensor detects the fire and
gives the futher single to the extinguisher units to tigger the pump and spray the
water . the whole system is programmed using an arduino UNO board (AT mega
328P microcontroller) which froms the brain of the system

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 WORKING OF PROJECT

The main brain of this project is the Arduino but in – order to sense fire we use
the fire sensor module (flame sensor)

As you can see these sensor have an IR receiver (photodiode) which is used to
detect the fire when fire burns it emits a small amount of infra-red light . this light
will be recived by the IR reciver on the sensor module .So we place oneway
such sensor in one directions of the robot to sense on which

direction the fire is buring.

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 CIRCUIT DIAGRAM
You can either connect all the shown connections for uploading the program to
check the working or you can assemble the bot completely and then proceed with
the connections. Both ways the connections are very simple and you should be able
to get it right.

Based on the robotic chassis that you are using you might not be able to use the
same type of container that I am using. In that case use your own creativity to set
up the pumping system. However the code will remain same. I used a small
aluminium can (cool drinks can) to set the pump inside it and poured water inside
it. I then assembled the whole can on top of a servo motor to control the direction
of water. My robot looks something like this after assembly.

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COMPONENT LIST

1. Arduino UNO

2. Flame sensor or Fire sensor

3. L293D motor Driver module

4. Breadboard

5. Robot chassis with 2D.C motor (12v)

6. Wheel(any type)

7. A small can

8. Jumper wire or connecting wires

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Consist Of:

1) Arduino Uno :
The Arduino Uno board is a microcontroller based on the ATmaga328. It
has 14 digital Input /Output pins in which 6 can be used as PWM
Outputs ,a 16 MHZ ceramic resonator , an ICSPheader, a use USB
connection , 6 analog inputs a power jack and a reset button .
2) Sensor Fire module:
A flame sensor detectors the presence of fire of fire or flames. In
extremely hazardous environments, flame sensor work to minimize the
risks associated with fire . IR Receiver which is used to detect the fire.
When fire burns it emits a small amount of Infra-read light , this light
will be recived by the IRreciver on the sensor module.

3) D.C. MOTOR:
A D.C motor is any of a class of rotary electrical machines that
converts direct current electrical energy into mechanical energy
. the most common types rely on the forces of DC motors have
some iternal mechanism, either electromechanical or electronic to
change the direction of current flow in part of the motor.

4) MOTOR DRIVER :
The Motor Driver is a madule for motors that allows you to control the
working speed and directions of two motors si,ultaneously . this Motor
Driver is designed and developed based on L293D is a16 Pin Motor
Driver IC. This is designed to provide bidirectional drive current at
voltages from 5Vto 36V .
5) Relay coil:
current flowing through the coil of the relay creats a magnetic field
which attracts a lever and changes the switch contacts …. The coil of a
relay passes a relatively large current , typically 30mA for a 12v relay ,

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 but it can be as much as 100mA for relays designed to operate from
lower voltage.

6) Breadboard:
A breadboard is a solderless device for temporary prototype with
electronics and test circurit designs. Most electronic components in
electrnic circuits can be interconnected by inserting their leads or
terminals into the holes and then making connections through wires
where appropriate.

7) JUMPER WIRE:
A jump wire (also know as jumper wire,or jumper) is an electrical wire
, or group of them in a cable , with a connector or pin at each end (or
sometime without them – simply “tinned” ), which is normally used to
interconnect the components of a breadboard or other prototype or test
circuit, internally or with other..

8) Water pump:
N the pump in the cooling system of an automobile that cause the water
to circulate . type of : pump a mechanical device that moves fluid or gas
by pressur or suction.

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 PROGRAMING YOUR ARDUINO

INCLUDE 328P-PU
if (digitalRead(Left_S) ==1 && digitalRead(Right_S)==1 && digitalRead(Forward_S)
==1) //If Fire not detected all sensors are zero

//Do not move the robot

digitalWrite(LM1, HIGH);

digitalWrite(LM2, HIGH);

digitalWrite(RM1, HIGH);

digitalWrite(RM2, HIGH);

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 MICROCONTROLLER UNIT

Introduction to ATmega328:

ATmega-328 is basically an Advanced Virtual RISC (AVR) micro-controller. It

supports the data up to eight (8) bits. ATmega-328 has 32KB internal builtin
memory. This micro-controller has a lot of other characteristics. You should also
have a look at .

ATmega 328 has 1KB Electrically Erasable Programmable Read Only Memory
(EEPROM). This property shows if the electric supply supplied to the micro-
controller is removed, even then it can store the data and can provide results after
providing it with the electric supply. Moreover, ATmega-328 has 2KB Static
Random Access Memory (SRAM). Other characteristics will be explained later.
ATmega 328 has several different features which make it the most popular device
in today’s market. These features consist of advanced RISC architecture, good
performance, low power consumption, real timer counter having separate
oscillator, 6 PWM pins, programmable Serial USART, programming lock for
software security, throughput up to 20 MIPS etc. ATmega-328 is mostly used
in Arduino.

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 PIN CONFIGURATION

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 ATMEGA-328 PIN DESCRIPTION
 Functions associated with the pins must be known in order to use the
device appropriately.

 ATmega-328 pins are divided into different ports which are given in
detail below.

 VCC is a digital voltage supply.

 AVCC is a supply voltage pin for analog to digital converter.

 GND denotes Ground and it has a 0V.

 Port A consists of the pins from PA0 to PA7. These pins serve as
analog input to analog to digital converters. If analog to digital
converter is not used, port A acts as an eight (8) bit bidirectional
input/output port.

 Port B consists of the pins from PB0 to PB7. This port is an 8 bit
bidirectional port having an internal pull-up resistor.

 Port C consists of the pins from PC0 to PC7. The output buffers
of port C has symmetrical drive characteristics with source capability
as well high sink.

 Port D consists of the pins from PD0 to PD7. It is also an 8 bit

input/output port having an internal pull-up resistor.

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 ATmaga 328 PORT

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 ATMEGA-328 ARCHITECTURE

 An architecture of a device presents each information about the particular

device.

 ATmega-328 architecture is shown in the figure given below

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 ATMEGA-328 MEMORY
 ATmega 328 has three types of memories e.g. EEPROM, SRAM etc.

 Flash Memory has 32KB capacity. It has an address of 15 bits. It is a

Programmable Read Only Memory (ROM). It is non volatile memory.

 SRAM stands for Static Random Access Memory. It is a volatile

memory i.e. data will be removed after removing the power supply.

 EEPROM stands for Electrically Erasable Programmable Read Only

Memory.

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 ATMEGA-328 BLOCK DIAGRAM

 Block diagram shows the internal circuitry and the flow of the program of any
device.

 ATmega 328 block diagram is shown in the figure given below.

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 ATMEGA328 ARDUINO PIN

 The encircled section analog pins consists of the Arduino pins which are
connected to the corresponding AVR micro
micro-controller
controller ATmega-328
ATmega pins.
 I have written both of the pins in front of each other, it will help to
understand easily.
 If you want to work on this Arduino board then you must try
these Arduino Projects for Beginners
Beginners,, they will help to get your hands on
Arduino

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 APPLICATIONS

 A complete package including ATmega 328 and Arduino can be used in

several different real life applications.

 It can be used in Embedded Systems Projects.

 It can also be used in robotics.

 Quad-copter and even small aero-plane can also be designed through it.

 Power monitoring and management systems can also be prepared using

this device.

 i have designed this Home Security System using Arduino, you should
have a look

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 ARDUINO-UNO

Arduino Uno Board

Arduino is a single-board microcontroller meant to make the application

more accessible which are interactive objects and its surroundings. The
hardware features with an open-source hardware board designed around
an 8-bit Atmel AVR microcontroller or a 32-bit Atmel ARM. Current models
consists a USB interface, 6 analog input pins and 14 digital I/O pins that
allows the user to attach various extension boards.

The Arduino Uno board is a microcontroller based on the ATmega328. It

has 14 digital input/output pins in which 6 can be used as PWM outputs, a

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16 MHz ceramic resonator, an ICSP header, a USB connection, 6 analog
inputs, a power jack and a reset button. This contains all the required
support needed for microcontroller. In order to get started, they are simply
connected to a computer with a USB cable or with a AC-to-DC adapter or
battery. Arduino Uno Board varies from all other boards and they will not
use the FTDI USB-to-serial driver chip in them. It is featured by the
Atmega16U2 (Atmega8U2 up to version R2) programmed as a USB-to-
serial converter.

ARDUINO-BLOCK-DIAGRAM

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 Arduino Uno with Digital Input/Output

There are various types of Arduino boards in which many of them were
third-party compatible versions. The most official versions available are the
Arduino Uno R3 and the Arduino Nano V3. Both of these run a 16MHz
Atmel ATmega328P 8-bit microcontroller with 32KB of flash RAM 14 digital
I/O and six analogue I/O and the 32KB will not sound like as if running
Windows. Arduino projects can be stand-alone or they can communicate
with software on running on a computer. For e.g. Flash, Processing,
Max/MSP). The board is clocked by a 16 MHz ceramic resonator and has a
USB connection for power and communication. You can easily add micro
SD/SD card storage for bigger tasks.

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 Features of the Arduino Uno Board

 It is an easy USB interface. This allows interface with USB as this is

like a serial device.

 The chip on the board plugs straight into your USB port and supports
on your computer as a virtual serial port. The benefit of this setup is
that serial communication is an extremely easy protocol which is
time-tested and USB makes connection with modern computers and
makes it comfortable.

 It is easy-to-find the microcontroller brain which is the ATmega328

chip. It has more number of hardware features like timers, external
and internal interrupts, PWM pins and multiple sleep modes.

 It is an open source design and there is an advantage of being open

source is that it has a large community of people using and
troubleshooting it. This makes it easy to help in debugging projects.

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  It is a 16 MHz clock which is fast enough for most applications and
does not speeds up the microcontroller.

 It is very convenient to manage power inside it and it had a feature of

built-in voltage regulation. This can also be powered directly off a
USB port without any external power. You can connect an external
power source of upto 12v and this regulates it to both 5v and 3.3v.

 13 digital pins and 6 analog pins. This sort of pins allows you to
connect hardware to your Arduino Uno board externally. These pins
are used as a key for extending the computing capability of the
Arduino Uno into the real world. Simply plug your electronic devices
and sensors into the sockets that correspond to each of these pins
and you are good to go.

 This has an ICSP connector for bypassing the USB port and
interfacing the Arduino directly as a serial device. This port is
necessary to re-bootload your chip if it corrupts and can no longer
used to your computer.

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  It has a 32 KB of flash memory for storing your code.

 An on-board LED is attached to digital pin 13 to make fast the

debugging of code and to make the debug process easy.

 Finally, it has a button to reset the program on the chip.

Arduino was created in the year 2005 by two Italian engineers David
Cuartielles and Massimo Banzi with the goal of keeping in mind about
students to make them learn how to program the Arduino uno
microcontroller and improve their skills about electronics and use it in the
real world.

Arduino uno microcontroller can sense the environment by receiving input

from a variety of sensors and can affect its surroundings by controlling
lights, motors, and other actuators. The microcontroller is programmed
using the Arduino programming language (based on Wiring) and the
Arduino development environment (based on Processing).

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ATmega168/328-Arduino Pin Mapping:

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 ATmega168-328Arduino Pin Mapping

Programming:

 The Arduino integrated development environment (IDE) is a cross-

platform application written in Java, and is derived from the IDE for
the Processing programming language and the Wiring projects
 The Arduino Uno board can be programmed with the Arduino
software.

 Select “Arduino Uno from the Tools > Board menu (according to the
microcontroller on your board).

 The ATmega328 on the Arduino Uno comes preburned with a

bootloader that allows you to upload new code to it without the use of
an external hardware programmer. It communicates using the original
STK500 protocol.
 You can also bypass the bootloader and program the
microcontroller through the ICSP (In-Circuit Serial Programming)
header.

 The ATmega16U2 (or 8U2 in the rev1 and rev2 boards) firmware
source code is available .

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 Pin Diagram of Arduino Uno

The ATmega16U2/8U2 is loaded with a DFU bootloader, which can be

activated by:

 On Rev1 boards: connecting the solder jumper on the back of the

board (near the map of Italy) and then resetting the 8U2.
 On Rev2 or later boards: there is a resistor that pulling the 8U2/16U2
HWB line to ground, making it easier to put into DFU mode.

You can then use Atmel’s FLIP software (Windows) or the DFU
programmer (Mac OS X and Linux) to load a new firmware. Or you can use
the ISP header with an external programmer (overwriting the DFU
bootloader).

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 Arduino Uno Starter Kit

Arduino Based Home Automation System:-

The project is designed by using Arduino uno board for the development of
home automation system with Bluetooth which is remotely controlled and
operated by an Android OS smart phone. Houses are becoming smarter
and well developed by using such kind of advanced technologies. Modern
houses are gradually increasing the way of design by shifting to centralized
control system with remote controlled switches instead of conventional
switches.

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 Arduino Based Home Automation

In order to achieve this, a Bluetooth module is interfaced to the Arduino

Uno board at the receiver end while on the transmitter end, a Graphical
User Interface application on the cell phone sends ON/OFF commands to
the receiver where loads are connected. By touching the identified location
on the Graphical User Interface, lamps are used as loads in this project can
be turned ON/OFF remotely by using this technology. The loads are
operated by using Arduino Uno board through thyristors using triacs and
OPTO-Isolators.

Arduino based Auto Intensity Control of Street Lights:-

As the intensity is cannot be controlled by using High Intensity Discharge
(HID) lamps power saving is not possible in street lights with these lamps
as the density on roads is decreasing from peak hours of nights to early
morning.

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 Arduino Based Auto Intensity Control

Thus, this system overcomes this problem by controlling the intensity of

LED lights on street by gradually reducing intensity by controlling the
voltage applied to these lamps. This system uses arduino board to produce
PWM pulses and it is programmed in such a way that it decreases the
voltage applied to these lamps gradually till late nights and completely
shutdowns at morning.

Thus, Arduino development board can sense the environment by receiving

input from different sensors and affects its surroundings by controlling
motors, lights and other actuators. The microcontroller on the board is
programmed using the Arduino programming language. Thanks for your
attention to this article and clari
clarify doubts about Arduino projects by
commenting below.

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 CODE

int pos = 0;
boolean fire = false;

/*-------defining Inputs------*/
#define Forward_S 8 //forward sensor

/*-------defining Outputs------*/
#define LM1 2 // left motor
#define LM2 3 // left motor
#define RM1 4 // right motor
#define RM2 5 // right motor

#define pump 7

void setup()
{
pinMode(Forward_S, INPUT);
pinMode(LM1, OUTPUT);
pinMode(LM2, OUTPUT);
pinMode(RM1, OUTPUT);
pinMode(RM2, OUTPUT);
pinMode(13,OUTPUT);

pos=digitalRead(8);

void loop()
{
if(digitalRead(8)==0)
{

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 digitalWrite(LM1, HIGH);
digitalWrite(LM2, LOW);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, LOW);
digitalWrite(13, LOW);

}
else
{

digitalWrite(LM1, LOW);
digitalWrite(LM2, LOW);
digitalWrite(RM1, LOW);
digitalWrite(RM2, LOW);

digitalWrite(13, HIGH);

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WORKING OF IR SENSOR OR FLAME SENSOR

The main brain of this project is the Arduino, but in-order to sense fire we
use the Fire sensor module (flame sensor)

As you can see these sensors have an IR Receiver (Photodiode) which is

used to detect the fire. How is this possible? When fire burns it emits a
small amount of Infra-red light, this light will be received by the IR receiver
on the sensor module. Then we use an Op-Amp to check for change in
voltage across the IR Receiver, so that if a fire is detected the output pin
(DO) will give 0V(LOW) and if the is no fire the output power
willbe5V(HIGH).So, we place three such sensors in three directions of the
robot to sense on which direction the fire is burning.
The flame sensor is a rather simple device located at the burner
assembly. It's not much more than a thin, usually bent, metallic rod that sits
in front of the flame stream inside the furnace. The purpose of the flame
sensor is to confirm to the system that whenever the gas valve is open, a
fire is actually present.

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 ROBOT CHASIS

We detect the direction of the fire we can use the motors to move near the
fire by driving our motors through the L293D module. When near a fire we
have to put it out using water. Using a small container we can carry water,
a 5V pump is also placed in the container and the whole container is placed
on top of a servo motor so that we can control the direction in which the
water has to be sprayed. Let’s proceed with the connections now

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Working Principle of Relay

It workson the principle of an electromagnetic attraction. When

the circuit of the relay senses the fault current, it energises the
electromagnetic field which produces the temporary magnetic
field.
This magnetic field moves the relay armature for opening or
closing the connections. The small power relay has only one
contacts, and the high power relay has two contacts for opening
the switch.

The inner section of the relay is shown in the figure below. It has
an iron core which is wound by a control coil. The power supply is
given to the coil through the contacts of the load and the control
switch. The current flows through the coil produces the magnetic
field around it.

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Due to this magnetic field, the upper arm of the magnet attracts
the lower arm. Hence close the circuit, which makes the current
flow through the load. If the contact is already closed, then it
moves oppositely and hence open the contacts.

POLE and THROW

The pole and throws are the configurations of the relay, where
the pole is the switch, and the throw is the number of
connections. The single pole, the single throw is the simplest type
of relay which has only one switch and only one possible
connection. Similarly, the single pole double throw relay has a

one switch and two possible connections.

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 CONSTRUCTION of RELAY
The relay operates both electrically and mechanically. It consists
electromagnetic and sets of contacts which perform the operation
of the switching. The construction of relay is mainly classified into
four groups. They are the contacts, bearings, electromechanical
design, terminations and housing.

Contacts :–

The contacts are the most important part of the relay that affects
the reliability. The good contact gives limited contact resistance
and reduced contact wear. The selection of the contact material
depends upon the several factors like nature of the current to be
interrupted, the magnitude of the current to be interrupted,
frequency and voltage of operation.

Bearing :–

The bearing may be a single ball, multi-ball, pivot-ball and jewel

bearing. The single ball bearing is used for high sensitivity and
low friction. The multi-ball bearing provides low friction and
greater resistance to shock.

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Electromechanical design :–

The electromechanical design includes the design of the

magnetic circuit and the mechanical attachment of core, yoke and
armature. The reluctance of the magnetic path is kept minimum
for making the circuit more efficient. The electromagnet is made
up of soft iron, and the coil current is usually restricted to 5A and
the coil voltage to 220V.

Terminations and Housing :–

The assembly of an armature with the magnet and the base is

made with the help of spring. The spring is insulated from the
armature by moulded blocks which provide dimensional stability.
The fixed contacts are usually spot welded on the terminal link.

L293D Motor Driver

L293D Description:

L293D is a typical Motor driver or Motor Driver IC which allows

DC motor to drive on either direction. L293D is a 16-pin IC which
can control a set of two DC motors simultaneously in any
direction. It means that you can control two DC motor with a
single L293D IC

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Concept:
It works on the concept of H-bridge. H-bridge is a circuit which
allows the voltage to be flown in either direction. As you know
voltage need to change its direction for being able to rotate the
motor in clockwise or anticlockwise direction, Hence H-bridge IC
are ideal for driving a DC motor.

In a single L293D chip there are two h-Bridge circuit inside the IC
which can rotate two dc motor independently. Due its size it is
very much used in robotic application for controlling DC motors.
Given below is the pin diagram of a L293D motor controller.

There are two Enable pins on l293d. Pin 1 and pin 9, for being
able to drive the motor, the pin 1 and 9 need to be high. For
driving the motor with left H-bridge you need to enable pin 1 to
high. And for right H-Bridge you need to make the pin 9 to high.
If anyone of the either pin1 or pin9 goes low then the motor in
the corresponding section will suspend working. It’s like a switch.

TIP: you can simply connect the pin16 VCC (5v) to pin 1 and pin
9 to make them high.

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 L293D Pin Diagram

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 Working of L293D
There are 4 input pins for l293d, pin 2,7 on the left and pin 15
,10 on the right as shown on the pin diagram. Left input pins will
regulate the rotation of motor connected across left side and right
input for motor on the right hand side. The motors are rotated on
the basis of the inputs provided across the input pins as LOGIC 0
or LOGIC 1.

In simple you need to provide Logic 0 or 1 across the input pins

for rotating the motor.

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Circuit For l293d motor driver

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Voltage Specification:
VCC is the voltage that it needs for its own internal operation 5v;
L293D will not use this voltage for driving the motor. For driving
the motors it has a separate provision to provide motor supply
VSS (V supply). L293d will use this to drive the motor. It means
if you want to operate a motor at 9V then you need to provide a
Supply of 9V across VSS Motor supply.

The maximum voltage for VSS motor supply is 36V. It can supply
a max current of 600mA per channel.Since it can drive motors Up
to 36v hence you can drive pretty big motors with this l293d.

VCC pin 16 is the voltage for its own internal Operation. The
maximum voltage ranges from 5v and upto 36v.

TIP: Don’t Exceed the Vmax Voltage of 36 volts or it will cause

damage.

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 DIGRAM OF MOTOR DIVER L293D

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 BREADBOARD

A breadboard is a rectangular plastic board with a bunch of tiny holes in it.

These holes let you easily insert electronic components
to prototype (meaning to build and test an early version of) an electronic
circuit, like this one with a battery, switch, resistor, and an LED (light-
emitting diode). To learn more about individual electronic components, see
our Electronics Primer.

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 Working Principle Of A DC Motor

An electric motor is an electrical machine which converts electrical energy

into mechanical energy. The basic working principle of a DC motor is:
"whenever
whenever a current carrying conductor is placed in a magnetic field,
f it
experiences a mechanical force". The direction of this force is given by
Fleming's left-hand
hand rule and its magnitude is given by F = BIL. Where, B =
magnetic flux density, I = current and L = length of the conductor within the
magnetic field

Fleming's left hand rule:

If we stretch the first finger, second finger and thumb of our left hand to be
perpendicular to each other, and the direction of magnetic field
f is
represented by the first finger, direction of the current is represented by the
second finger, then the thumb represents direction of the force experienced
by the current carrying conductor
conductor.

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 What is a Jumper Wire?

Jumper wires are simply wires that have connector pins at each end,
allowing them to be used to connect two points to each other without
soldering. Jumper wires are typically used with breadboards and other
prototyping tools in order to make it easy to change a circuit as needed.
Fairly simple. In fact, it doesn’t get much more basic than jumper wires.

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 What Do the Colors Mean?

jumper wires come in a variety of colors, the colors don’t actually mean
anything. This means that a red jumper wire is technically the same as a
black one. But the colors can be used to your advantage in order to
differentiate between types of connections, such as ground or power.

Make Your Own Jumper Wires:-

While jumper wires are easy and inexpensive to purchase, it can also be a
fun task to challenge students to make their own. Doing so requires
insulated wire and wire strippers. However, beware that it is important not
to nick the wire when stripping off the insulation.

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 Types of Jumper Wires

Jumper wires typically come in three versions: male-to-male, male-to-

female and female-to-female. The difference between each is in the end

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point of the wire. Male ends have a pin protruding and can plug into things,
while female ends do not and are used to plug things into. Male-to-male
jumper wires are the most common and what you likely will use most often.
When connecting two ports on a breadboard, a male-to-male wire is what
you’ll need.

Alligator Clips:-

Alligator clips, which consist of two spring metal clips connected by wire,
are actually just fancy jumper wires! Their unique connection point (they
can be clipped on instead of inserted into) allow alligator clips to be used in
a variety of situations that would get a little awkward with a traditional
jumper wire. One of the most common uses for alligator clips in education
is with the Makey Makey, though they can also be used to connect the
ports on a LilyPad board as well as for a number of other applications.

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If you want to get really fancy, it’s even possible to get jumper wires with a
male pin connection on one end and an alligator clip on the other, making it
possible to connect just about anything!

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 Working of Fire Fighting Robot

It is recommended to check the output of the robot in steps rather than

running it all together for the first time. You can build the robot upto the
check if it is able to follow the fire successfully. Then you can check if the
pump and the working properly. Once everything is working as expected
you can run the program below and enjoy the complete working
The complete working of the robot can be found at the video given below.
The maximum distance to which the fire can be detected depends on the
size of the fire, for a small matchstick the distance is relatively less. You
can also use the potentiometers on top of the modules to control the
sensitivity of the robot. I have used a power bank to power the robot you
can use a battery or even power it with a 12V battery.

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 RESULTS AND CONCLUSIONS

In this project we aim to reduce the effect of fires accidents which usually
start from small flame, therefore people life and money would be saved.
The robot can successfully find fire and reach it without running into
obstacle

The Fire Fighting Robot employs technology to control the directions of the robot.
We design the fire detection system using flame sensor that is capable of sensing
the flame of wavelength range 760 to 1100 nm, and the sensing range depends on
the sensitivity and varies from 10cm to 1.5feet.

The robot can operate in the environment which is out of human reach in very
short time, the delay employed is very minimal. The robot accurately and
efficiently finds the fire and within minimum time after the fire is detected it is
extinguishe

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 REFERENCE
1) https://www.researchgate.net/publication/269406029_Fire_Fighting_
Robot
2) https://www.slideshare.net/vibs1893/fire-fighting-robot-using-8051-
microcontroller
3) https://www.ijettc.org/Volume2Issue4/JETTCS-2013-08-13-084.pdf
4) www.slideshare.net/ranjithamudhiraj/fire-fighting-robot
5) http://www.slideshare.net/maastech/robotics-projects-
abstractfirefighting-robot-with
6) https://en.wikipedia.org/wiki/Arduino

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