i prototype of fire fighter robot mohd faris bin mohd...
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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
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“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 :…………………………………………..
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“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 :………………………………………
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I dedicate this to both of my beloved parents, friends and
electronic engineering education
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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.
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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.
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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.
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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
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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
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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
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VI CONCLUSIONS AND SUGGESTIONS 49
6.1 Conclusions 49
6.2 Suggestions 50
REFERENCES 52
APPENDIX A 54
APPENDIX B 55
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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
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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
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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
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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.
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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
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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.
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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).
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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.
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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).