i

PROTOTYPE OF FIRE FIGHTER ROBOT

MOHD FARIS BIN MOHD NASIRRUDDIN

This report is submitted in partial fulfillment of the requirements for the award of

Bachelor of Electronic Engineering (Computer Engineering) With Honors

Faculty of Electronic and Computer Engineering

Universiti Teknikal Malaysia Melaka

May 2010

iii

iii

“I hereby declare that this report is the result of my own work except for quotes as cited in

the references.”

Signature :…………………………………………..

Author : Mohd Faris Bin Mohd Nasirruddin

Date :…………………………………………..

iv

“I hereby declare that I have read this report and in my opinion this report is sufficient in

terms of the scope and quality for the award of Bachelor of Electronic Engineering (Industrial

Electronics) With Honours”

Signature :………………………………………

Supervisor‟s Name : Mr. Zul Atfyi Fauzan Bin Mohammed Napiah

Date :………………………………………

v

I dedicate this to both of my beloved parents, friends and

electronic engineering education

vi

ACKNOWLEDGEMENT

First of all, I would like to express my gratitude to Allah s.w.t for his generosity and

merciful allowing me to complete this Final Year Project successfully. Without his help, all

my effort will only in vain, and will never be accomplished.

I am also in deeply indebted to my supervisor, Mr. Zul Atfyi Fauzan Bin Mohammed

Napiah whose help, stimulating suggestions and encouragement to help me completing this

project. Such help was really appreciated and will be remembered for whole my life. Thank

you sir.

Not forgetting to all my friends for giving support especially in knowledge and

motivation during completing the task. And special thanks to Mr Mohd Adil Bin Mokti who

gives a lot of contribution in helping me completing this project successfully.

Lastly, I would like to express my big thanks to my beloved parents and my family

who always giving support in everything that I done.

Thank you very much.

vii

ABSTRACT

Firefighting is an important but dangerous occupation. A firefighter must be able to

get to a fire location quickly and safely to extinguish the fire, preventing further damage and

thus reduce fatalities. Technology has finally bridged the gap between firefighting and

machines allowing for a more efficient and effective method for firefighting types. Robot can

be designed to locate and remove the fire, especially in places that are difficult for human to

reach. Robot also designed to work together with firefighters so as to further reduce number

of casualties. This project is using an autonomous robot which is able to act on its own

depending on the program that was programmed into the PIC microcontroller. This firefighter

robot system is equipped with ultrasonic and analog distance sensor to sense the obstacle

around it beside Passive Infra Red (PIR) sensor to sense the fire heat. The information

fetched from the sensor will be analyzed by a microcontroller (PIC16F877A) in order to

deduce a logical operation on it.

viii

ABSTRAK

Memadam api merupakan salah satu kerja yang sangat penting tetapi amat

merbahaya. Pemadam api perlu pergi ke kawasan api dengan segera untuk memadam api

disamping untuk mengelakkan api dari merebak ke kawasan lain. Teknologi kini telah

merapatkan jurang antara mesin dan manusia di mana kaedah yang lebih sesuai dan efektif

telah dijalankan untuk memadam api. Robot direka untuk mencari dan memadam api

terutama di tempat yang sukar dicapai oleh manusia. Ia juga direka agar dapat bekerjasama

bersama pemadam api untuk mengurangkan kemalangan nyawa. Projek ini menggunakan

robot autonomi dimana robot ini mampu untuk bertindak sendiri bergantung kepada program

yang telah diprogramkan kepadanya. Robot pemadam api ini dilengkapi dengan 2 pengesan

ultrasonik dan satu pengesan jarak analog untuk mengesan halangan sekeliling. Ia juga

dilengkapi dengan pengesan Pasif Infra Red (PIR) iaitu untuk mengesan haba api. Maklumat

yang diperolehi oleh pengesan akan dihantar kepada mikropengawal (PIC16F877A) untuk

diproses berdasarkan operasi logik yang akan dilakukan seterusnya.

ix

CONTENTS

CHAPTER TITLE PAGE

PROJECT TITLE i

APPROVAL FORM ii

PAGE OF ADMISSION iii

SUPERVISOR COMFIRMATION iv

DEDICATION v

ACKNOWLEDGEMENT vi

ABSTRACT vii

ABSTRAK viii

CONTENTS ix

LIST OF TABLE xiii

LIST OF FIGURE xiv

LIST OF APPENDIXES xvi

I INTRODUCTION 1

1.1 Overview 1

1.1.1 Background 1

1.1.2 Introduction 2

1.1.3 Problem Statement 2

1.1.4 Objectives 2

1.1.5 Work Scope 3

1.1.6 Report structure 4

x

II LITERATURE REVIEW 5

2.1 Introduction 5

2.2 Fire Sensor 5

2.2.1 PIR Sensor Module 6

2.2.2 Hamamatsu UVTRON R2868 Sensor 7

2.2.3 LM35 Temperature Sensor 8

2.3 Obstacle Avoider Sensor 9

2.3.1 Analog Distance Sensor 9

2.3.2 Ultrasonic 40kHz Sensor 10

2.4 Motor 11

2.4.1 DC Motor 11

2.4.2 Servo Motor 12

2.5 Fire Extinguisher System 13

2.5.1 DC Fan 13

2.5.2 Water Pump 14

2.6 Microcontroller 15

2.6.1 PIC 16F877A 15

2.7 Driver Circuit 16

2.7.1 Motor Driver (H-bridge) 16

2.7.2 Fire Sensor Driver 17

2.7.3 Ultrasonic Sensor Driver 18

2.7.4 PIC startup-kit (SK40C) 19

2.8 Programming Reader and Burner 20

2.8.1 USB ICSP PIC programmer 20

2.82 UIC00A Socket 21

2.9 Software Involved 22

2.9.1 Proteus 7 Professional 22

2.9.2 PCWH Compiler 23

xi

III METHODOLOGY 24

3.1 Introduction 24

3.2 Flowchart progress of the robot 24

3.3 Flowchart of the overall project 26

3.4 Project Planning 27

IV PROJECT APPROACH 28

4.1 Element of Project 29

4.1.1 The Platform 29

4.1.2 The Controller Section 30

4.1.3 The Motor Driver 32

4.1.4 The Sensor 34

V RESULTS AND DISCUSSION 36

5.1 Project Layout 36

5.2 Dimension 37

5.3 Specification and Labeling 38

5.4 Testing 38

5.4.1 Test 1 39

5.4.2 Test 2 40

5.4.3 Test 3 41

5.4.4 Test 4 42

5.4.5 Full Test 43

5.4.5.1 Initial Condition 43

5.4.5.2 Detecting Obstacle 44

5.4.5.3 Detecting Fire 45

5.4.5.4 Extinguish Fire 46

5.5 Discussions 47

xii

VI CONCLUSIONS AND SUGGESTIONS 49

6.1 Conclusions 49

6.2 Suggestions 50

REFERENCES 52

APPENDIX A 54

APPENDIX B 55

xiii

LIST OF TABLE

NO TITLE PAGE

4.1 Range detection for sensor 34

5.1 Result for test 1 39

5.2 Result for test 2 40

5.3 Result for test 3 41

5.4 Result for test 4 42

5.5 Condition during initial condition 43

5.6 Condition when detect an obstacle 44

5.7 Condition when detect fire heat 45

5.8 Condition when extinguish fire 46

xiv

LIST OF FIGURES

NO TITLE PAGE

2.1 PIR Sensor 6

2.2 Hamamatsu UVTRON R2868 7

2.3 LM35 Temperature Sensor 8

2.4 Analog Distance Sensor 9

2.5 Ultrasonic Sensor 10

2.6 DC Motor 11

2.7 Servo Motor 12

2.8 Fan 13

2.9 DC Water Pump 14

2.10 PIC 16F877A 15

2.11 H-bridge operation 16

2.12 Hamamatsu C3704 17

2.13 Ultrasonic Driver 18

2.14 SK40C PIC Start-up kit 19

2.15 USB ICSP PIC Programmer 20

2.16 UIC00A Socket 21

2.17 Proteus 7 Professional 22

2.18 PCWH Compiler Software 23

3.1 The flowchart of the robot 25

3.2 The flowchart of the whole project 26

4.1 The platform of the robot 29

4.2 Schematic circuit for PIC microcontroller 30

4.3 5 volt voltage regulator schematic circuit 31

4.4 Motor driver schematic circuit 32

4.5 Motor driver PCB layout design 32

xv

4.6 Motor driver PCB layout 33

4.7 Ultrasonic driver schematic circuit 35

4.8 Ultrasonic driver PCB layout design 35

4.9 Ultrasonic driver PCB layout 35

5.1 Robot layout 36

5.2 Front view 37

5.3 Side view 37

5.4 Specification and labeling 38

5.5 Normal line 39

5.6 Measurement for test 2 40

5.7 Measurement for test 3 41

5.8 Measurement for test 4 42

5.9 Robot in initial condition 43

5.10 Robot detect an obstacle 44

5.11 Robot when detect a heat fire 45

5.12 Robot when extinguish the fire 46

xvi

LIST OF APPENDICES

NO TITLE PAGE

A Project Planning Gantt Chart 54

B Software Programming For the Project 55

1

CHAPTER 1

INTRODUCTION

1.1 Overview

1.1.1 Background

Firefighting is an important but dangerous occupation. A firefighter must be

able to get to a fire location quickly and safely to extinguish the fire, preventing

further damage and thus reduce fatalities. Technology has finally bridged the gap

between firefighting and machines allowing for a more efficient and effective

method for firefighting types. Robot can be designed to locate and remove the fire,

especially in places that are difficult for human to reach. Robot also designed to

work together with firefighters so as to further reduce number of casualties. This

project is using an autonomous robot which is able to act on its own depending on

the program that was programmed into the PIC microcontroller. This firefighter

robot system is equipped with ultrasonic and analog distance sensor to sense the

obstacle around it beside Passive Infra Red (PIR) sensor to sense the fire heat. The

information fetched from the sensor will be analyzed by a microcontroller

(PIC16F877A) in order to deduce a logical operation on it.

2

1.1.2 Introduction

Fire Fighter Robot is a robot that able to detect and extinguish fire. It is

invent to detect whereas a heat fire when there is a fire. After finding the fire

location, robot then forced to the fire location. After reach to the fire destination,

robot will use the extinguish system to extinguish the fire until there is no more fire

detected.

1.1.3 Problem Statement

(a) No fire extinguisher medium when the user is not at home.

Many house don‟t have the fire extinguisher medium which could be

dangerous if something such as fire when the user is not at home.

(b) The late time user take to extinguish the fire.

User may take a late time to extinguish fire like finding the water source to

extinguish fire when want to extinguish the fire.

(c) The fire location that is hard to be reach by the user.

Sometimes the fire happen at the hard reach place by the user such as at the

under bed or anywhere that even the sprinkler can not „seen‟.

1.1.4 Objectives

The objectives of this project consists of:-

(a) To design a robot that able to detect where the heat fire located.

(b) To design a robot that able to extinguish fire.

3

1.1.5 Workscope

Includes 2 division that are hardware and software.

Hardware part:-

(a) Passive light sensor circuit to detect where the fire emitted.

(b) Motor driver circuit to move the robot.

(c) Extinguish fire system circuit to extinguish fire

(d) PIC circuit as robot‟s brain

(e) Fire extinguisher system (dc motor fan)

(f) Battery as robot‟s energy

(g) Wheel as robot‟s legs

(h) Passive light sensor as robot‟s eyes

(i) Analog distance sensor as front obstacle avoider

(j) Ultrasonic sensor as right and left obstacle avoider

Software part:-

(a) PIC Compiler as interface for „write‟ and „read‟ operation

(b) Robot movement program

(c) Passive light sensor program

(d) Fire extinguisher program

(e) Obstacle avoider program

4

1.1.6 Report Structure

This report contains of 6 chapters that explain detail about this project. The

first chapter is introduction of the project. This chapter contain of project

introduction, project objectives, project scope, and problem statement.

The second chapter is literature review that is the research and analysis of

component or circuit that suits best to the project.

The third chapter is project methodology. This chapter will give details about

method used in the robot and its way to solve the problem statement.

The fourth chapter is about the project approach where it will describe all the

progress of the project start from the schematic, the design layout and the PCB

layout. This chapter also will describe the sequence that will be used to the project

beside the drivers that will be used in the project.

The fifth chapter is the result chapter where it will explain about the result

gain from the project. From here, there will be a test for each action that the robot

will be doing until the robot finish doing its work that is extinguishing the fire.

There also a discussion section in this chapter where it will describe the overall

situation that happen in the project.

The sixth chapter that is the last chapter was for the conclusion and the

suggestion of the project. This chapter will give complete explanation of the project

beside provide some suggestion for better project in the future.

5

CHAPTER 2

LITERATURE REVIEW

2.1 Introduction

This chapter will explain and discuss the sources or articles that are related to

the project. It consists of the component-component and circuit that suits best with

the robot such as the microcontroller, type of fire sensor, type of motor and the fire

extinguisher system. From literature review, it can help make a decision to choose

the best component and circuit to be used in the robot architecture.

2.2 Fire Sensor

Fire sensor is the main component part for fire fighter robot which it is used

to detect the fire location or detect the heat emitted from the fire location. Choosing

the suitable component can help the fire fighter robot to search fire more effectively

and quickly. Below are 2 components that can sense fire that is Passive Infra Red

(PIR) that is motion detector to detect the heat emitted from the fire (fire is always

move so the sensor able to detect the movement).

6

2.2.1 PIR Sensor Module

Figure 2.1: PIR Sensor

PIR stands for Passive Infra Red. In simple terms, it is a motion detector. This

sensors measure infrared radiation emanating from objects in the field of view. It

only has one output pin and another two pins is connected to 5V and GND

separately. Apparent motion is detected when an infrared emitting source with one

temperature, such as human body, passes in front of source with another temperature,

such as wall.

The unit output is high whenever there is motion detected. If the motion is

continuous, the output remains high. After motion stops, the output remains high for

a few seconds (depend on the variable resistor adjusted). It will remain high for

longer if H from the jumper is selected. For this project, the resistant of variable

resistor is adjusted to as low as possible so that the output of the sensor would not

remain high for long time after motion stops.

7

2.2.2 Hamamatsu UV TRON R2868

Figure 2.2: Hamamatsu UV TRON R2868

Hamamatsu R2868 is a UV TRON ultraviolet detector that makes use of the

photoelectric effect of metal and the gas multiplication effect. It has a narrow

spectral sensitivity of 185 to 260 nm, being completely insensitive to visible light.

Unlike semiconductor detectors, it does not require optical visible-cut filters, thus

making it easy to use.

In spite of its small size, the R2868 has wide angular sensitivity (directivity)

and can reliably and quickly detect weak ultraviolet radiations emitted from flame

due to use of the metal plate cathode (e.g. it can detect the flame of a cigarette lighter

at a distance of more than 5 m.). The R2868 is well suited for use in flame detectors

and fire alarms, and also in detection of invisible discharge phenomena such as

corona discharge of high-voltage transmission lines.

8

2.2.3 LM35 Temperature Sensor

Figure 2.3: LM35 Temperature sensor

The LM35 series are precision integrated-circuit temperature sensors, whose

output voltage is linearly proportional to the Celsius (Centigrade) temperature. The

LM35 does not require any external calibration or trimming to provide typical

accuracies of ±1⁄4°C at room temperature and ±3⁄4°C over a full −55 to +150°C

temperature range. Low cost is assured by trimming and calibration at the wafer

level.

The LM35‟s low output impedance, linear output, and precise inherent

calibration make interfacing to readout or control circuitry especially easy. It can be

used with single power supplies, or with plus and minus supplies. As it draws only

60 μA from its supply, it has very low self-heating, less than 0.1°C in still air. The

LM35 is rated to operate over a −55° to +150°C temperature range, while the

LM35C is rated for a −40° to +110°C range (−10° with improved accuracy).