Arduino Firefighting Robot with Obstacle Detection

Project Overview

This project is an Arduino-based firefighting robot designed to detect and respond to flames, navigate around obstacles, and follow a path. The robot uses various sensors to detect fires, measure distances, and determine the presence of obstacles. When a flame is detected, it activates a water pump and nozzle system to extinguish the fire. The robot is equipped with servo motors to scan surroundings and make movement decisions based on sensor input.

Features

• Flame Detection: Uses a flame sensor to detect the presence of fire. Upon detection, the robot stops moving and activates the water pump and nozzle to attempt to extinguish the fire.
• Obstacle Avoidance: Utilizes an ultrasonic sensor to measure distances and avoid obstacles in the surroundings. The robot can move forward, turn left, turn right, or reverse based on obstacle detection.
• Line Following: Includes line-following sensors to help the robot stay on a designated path, allowing it to move along a pre-defined route.
• Servo Motor Scanning: Uses a servo motor to scan the surroundings (0°, 90°, and 180°) for obstacles, enabling intelligent navigation decisions.

Components Used

• Arduino: The core controller for managing sensor data, motor movements, and decision-making.
• Servo Motor: Used to rotate the ultrasonic sensor to scan the surroundings.
• Ultrasonic Sensor: Measures distance to obstacles to avoid collisions and choose the correct path.
• Flame Sensor: Detects the presence of a flame.
• Line Following Sensors: Guides the robot along a specified path.
• DC Motors: Controls movement of the robot for forward, backward, left, and right navigation.
• Water Pump and Nozzle: Activated when a flame is detected to extinguish the fire.

Code Structure

• Setup: Initializes all components and sensors, setting up pins and starting serial communication for debugging.
• Loop: Continuously scans the surroundings, checks for fire, and controls the robot's movements based on sensor input.
• Functions:
  • ScanSurrounding(): Uses the servo to move the ultrasonic sensor to different angles (0°, 90°, 180°) and measures distances.
  • Read_Ultrasonic_sensor_Value(): Reads the ultrasonic sensor to measure distance to obstacles.
  • Forward(), Reverse(), Right(), Left(): Controls the robot’s movement in respective directions.
  • Enable_Motor(), Disable_Motor(): Controls the DC motors for movement.
  • Read_Flame_Sensor_Value(): Reads the flame sensor and triggers the fire suppression system if a flame is detected.

How It Works

1. Initialization: The robot initializes its components and positions the servo motor at a 90° angle.
2. Scanning and Obstacle Detection: The robot continuously scans its surroundings at three angles (0°, 90°, 180°) using the ultrasonic sensor to detect obstacles.
3. Flame Detection and Suppression: If a flame is detected, the robot stops, activates the water pump, and sprays water to extinguish the fire.
4. Navigation: Based on the distance readings from the ultrasonic sensor, the robot makes navigation decisions to avoid obstacles, choosing the most open path.
5. Line Following: Line-following sensors keep the robot on a designated path, guiding it to follow a pre-defined route if needed.

Circuit Diagram

Installation

1. Arduino IDE: Download and install the Arduino IDE if you haven't already.
2. Download the Code: Download or clone this repository to your local machine.
3. Open the Project: Open the .ino file (preferably named Firefighting_Robot.ino) in the Arduino IDE.
4. Library Setup: This project requires the Servo.h library, which comes pre-installed with the Arduino IDE. Ensure it is available under Sketch > Include Library.

Usage

1. Upload the Code: Connect your Arduino board to your computer via USB, select the correct Port and Board in the Arduino IDE, and upload the code.
2. Connect Components: Assemble the robot by connecting each component to the Arduino as specified in the code's pin definitions:
   • Motors, ultrasonic sensor, flame sensor, line sensors, pump, and nozzle as per the pinMode() definitions.
3. Power On: Power on the robot. It should start initializing and then begin scanning its surroundings, detecting obstacles, and searching for flames.
4. Operation: Place the robot in an environment with potential obstacles and/or flames (simulated with a lighter or small flame, under safe supervision). The robot will avoid obstacles, detect fire, and attempt to extinguish it by spraying water.

Troubleshooting

• Servo Motor Not Scanning:

  • Check if the servo motor is correctly connected to the defined pin (Pin 2 by default). Ensure power and ground connections are secure.
  • Make sure the servo is not obstructed physically and has enough voltage.

• No Flame Detection:

  • Ensure that the flame sensor is connected correctly and operational.
  • Test the flame sensor separately to confirm that it can detect flames. Adjust its sensitivity if possible.

• Obstacle Detection Not Working:

  • Verify the ultrasonic sensor connections. Ensure the echo and trigger pins match those in the code.
  • Test the ultrasonic sensor separately to ensure it’s reading distances accurately.

• Motors Not Moving:

  • Check motor driver connections and ensure the enable pins have sufficient voltage.
  • Test the motors separately to confirm they are operational.
  • Verify that the battery or power source has enough power to drive the motors.

Code

The code for this project is provided in the main.ino file.

License

This project is open-source and available for modification and reuse under the MIT License.