1

AUTONOMOUS FIRE BOT

SUBMITTED BY:
UBAID-UR-REHMAN (09-2323)
SYED MUHAMMAD UMAR(0-2360)
MESAM AKHTER(09-2381)

TABLE OF CONTENTS:

Contents
TABLE OF CONTENTS: ................................................................................................................................... 2
PROJECT OVERVIEW...................................................................................................................................... 3
CIRCUIT DIAGRAM ........................................................................................................................................ 4
1)USB Bit Whacker: ............................................................................................................................... 4
2)Fire Detection Circuit: ........................................................................................................................ 5
4)Obstacle Avoider Board: .................................................................................................................... 6
5)Motor Driver Board: .......................................................................................................................... 6
6)Linear Actuator triggers board: ......................................................................................................... 7
Working......................................................................................................................................................... 8
Program......................................................................................................................................................... 9
Future plans: ............................................................................................................................................... 11
Components and cost ................................................................................................................................. 12
References .................................................................................................................................................. 13

PROJECT OVERVIEW
AIM:
The aim of this project is to build a microcontroller interfaced robot that will navigate, detect
fire and extinguish it.
Project Design:
Fire-bot is based on five parts:
(i)
(ii)
(iii)
(iv)
(v)

PIC Development Board

Fire Sensor Board
Motor Driver Board
Obstacle Avoider Board
Linear Actuator Trigger Board

PIC Development Board

The USB Bit Whacker is a spectacular little development board featuring the PIC18F2550.
Based on the work of Brian Schmalz, the UBW is a small board with a command interpreter for
basic input and output control. When attached to a Windows/Max OS X/Linux computer, the
UBW will show up as an RS232 Com port. Individual I/O pins on the PIC can be controlled
through simple serial commands. The 18F2550 also comes pre-programmed with a USB
bootloader. This means you can create HEX files using any compiler or assembler (C18, CC8e,
SDCC) and then load that HEX file onto the PIC without an external programmer - directly over
USB! Power is obtained over USB.
Fire Sensor Board
Three infra-red diodes are used for detecting flame with 1 LDR and 1 LM339 as comparator.
Motor Driver Board
16 pin IC (L293D) is used as motor driving as and 2 DC geared motors are used.
Obstacle Avoider Board
2 infra-red emitters and receivers (TSOP 1738) are used. Besides this 555 timer IC is used to
provide modulated frequency.
Linear Actuator Trigger Board

Opto-Isolator (EL817) is used with Darlington Transistor to switch on trigger circuit.

CIRCUIT DIAGRAM
1)USB Bit Whacker:

2)Fire Detection Circuit:

6
4)Obstacle Avoider Board:

5)Motor Driver Board:

7
6)Linear Actuator triggers board:

Working

LDR

Photo Diode

Obstacle Avioder

Microcontroller

Yes

Obstacle?

Move Away

NO

NO
Search for
Fire

Navigate

Yes

NO

LDR Greater
than
threshold

Yes

Extinguish

Program
#include <p18f2550.h>
#include <delays.h>
#pragma udata
extern void _startup (void);
#pragma code _RESET_INTERRUPT_VECTOR = 0x000800
void _reset (void)
{
_asmgoto _startup _endasm
}
#pragma code
#pragma code _HIGH_INTERRUPT_VECTOR = 0x000808
void _high_ISR (void)
{
;
}
#pragma code _LOW_INTERRUPT_VECTOR = 0x000818
void _low_ISR (void)
{
;
}
#pragma code
#pragma code

/*****************************************************/

void main()
{
#define pd1 PORTAbits.RA0
#define pd2 PORTAbits.RA1
#define pd3 PORTAbits.RA2
#define ldr
PORTAbits.RA3
#define OB1 PORTAbits.RA4
#define OB2 PORTAbits.RA5
TRISB=0x00;
TRISA=0x3f;

10

PORTB=0x00;
ADCON1=0x0f;

while(1)
{
if(ldr==1)
{
if((pd1==1 && pd2==0 && pd3==1) || (pd1==0 && pd2==0 && pd3==0)
|| OB1)
{LATB= 0x09;}
else if (pd1==1 && pd2==1 && pd3==1)
{LATB= 0x05;}
else if ((pd1==0 && pd2==1 && pd3==1)||(pd1==0 && pd2==0 &&
pd3==1) || OB2)
{LATB= 0x08;}
else if ((pd1==1 && pd2==1 && pd3==0)||(pd1==1 && pd2==0 &&
pd3==0))
{LATB= 0x01;}
}
else if ((ldr==0)&&((pd1==1 && pd2==0 && pd3==1) || (pd1==0 && pd2==0 &&
pd3==0)))
{
while(pd1==0 || pd2==0 || pd3==0)
{LATB=
0x10;Delay10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Delay10K
TCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Dela
y10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);LATB=
0x00;Delay10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Delay10K
TCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);Dela
y10KTCYx(200);Delay10KTCYx(200);Delay10KTCYx(200);}
}
else if ((ldr==0)&&((pd1==0 && pd2==1 && pd3==1)||(pd1==0 && pd2==0 &&
pd3==1)))
{LATB= 0x08;}
else if ((ldr==0)&&((pd1==1 && pd2==1 && pd3==0)||(pd1==1 && pd2==0 &&
pd3==0)))
{LATB= 0x01;}
}
}

11

Future plans:
Using better sensors like UV Tron or using image processing to detect
fire. So that we have no interference of sunlight and irrelevant IR
source. So no false alarms.
Using better extinguishing system that can move all axis and
accurately acquire target.

12

Components and cost

Components
Pic18f2550
L293D
Dc Geared Motors x2
Linear Actuator x2
7.5V 2.5A Battery x2
LM339
Ir Photo Diodes x3
LDR
555 Timer
TSOP 1738 x2
7805 Regulator
TIP 122
Total

Price
Rs500.00
Rs100.00
Rs350.00
Rs500.00
Rs360.00
Rs25.00
Rs45.00
Rs20.00
Rs20.00
Rs70.00
Rs45.00
Rs25.00
Rs2,060.00

13

References

PIC18F Programming in C by Ali Mazaidi

Societyofrobot.com