Prototype Of Fire Fighter Robot.

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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

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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

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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

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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.

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ABSTRACT

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ABSTRAK

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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

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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

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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

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VI CONCLUSIONS AND SUGGESTIONS 49

6.1 Conclusions 49

6.2 Suggestions 50

REFERENCES 52

APPENDIX A 54

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LIST OF TABLE

NO TITLE PAGE

4.1 Range detection for sensor 34

5.1 Result for test 1 39

5.5 Condition during initial condition 43

5.6 Condition when detect an obstacle 44

5.7 Condition when detect fire heat 45

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LIST OF FIGURES

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

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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

5.9 Robot in initial condition 43

5.10 Robot detect an obstacle 44

5.11 Robot when detect a heat fire 45

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LIST OF APPENDICES

A Project Planning Gantt Chart 54

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CHAPTER 1

INTRODUCTION

1.1 Overview

1.1.1 Background

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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:-

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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

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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.

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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

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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.

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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.

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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.