Introduction: Fire Bot

Picture of Fire Bot

In 2013, there were a reported 369,500 fires with over 15,000 deaths and injuries and $6.8 billion in damage in the United States. In order to minimize the damage caused by fires, we have constructed a small robot to help aid firefighters in their fight to contain a fire. The robot has a variety of features that make it useful in suppressing fires. The robot has a Bluetooth sensor that would allow someone to control the robot remotely from a mobile device. The Fire Bot houses an Arduino microcontroller that controls all the electronic modules. In addition, the Fire Bot has a camera so that the user would be able to navigate the rugged terrain of a building on fire and detect anyone that is trapped in the fire. It also has a PVC pipe water container with an installed sprinkler system to create a membrane of water to protect the robot from overexposure to the fire. In order to protect the robot from the sprayed water, all the electronic components are waterproof. The ultimate goal of the Fire Bot would be to navigate the building to inform firefighters of the situation which would ensure a safe and efficient mission.

Step 1: Materials

2 3/32” x 1.2” Round End Key

2 3/32” x 0.60” Round End Key

16 5/16” Diameter x 2” long x #10-32

Aluminum Standoffs

12 3/8” I.D. Flanged Bearings

4 3/8” Shaft Collars with Set Screws

1 Loctite™ 680

2 16 Tooth, 25 Pitch Steel Sprockets with 0.250” Bore and 2 Set Screws

6 20 Tooth, 25 Pitch Steel Sprockets with 0.375” Bore and 2 Set Screws

12 #8-32 x 1/8” Set Screw (For Sprocket)

8 3/8” “E” Clip

2 25 Pitch, 100 Link Assembled Chain

2 25 Pitch, 42 Link Assembled Chain

4 Bulkhead Plates

4 7” Diameter High Lug Tires

4 Wheel Rims

1 10-1/2” x 3/8” Diameter Axle

4 5” x 3/8” Diameter Steel Axle

4 5/16” Bore Threaded Hex Adapter

80 #10-32 x 3/8" Phillip Machine Screws

24 #10-32 Nylon Lock nuts

24 #10 Flat Washers

56 #10 Lock Washers

4 #10-24 x 1/8” Set Screw

4 M12 Flat Washer

4 M12 Jamb Nut

30 3/8” Bore x 5/8” OD x 0.125” Nylon Spacer Washers

8 3/8” Bore x 5/8” OD x 0.0625” Nylon Spacer Washers

4 3/8” Bore x 5/8” OD x 0.625” Nylon Spacer Washer

2 4” PVC End Caps

4” PVC Female Tee

4" PVC Reducing Adaptor

4 9V Batteries

Sheet metal

Bluetooth camera with compatible glasses

Bluetooth module

Arduino Uno microcontroller

Military Grade Backpack Frame

Bilge Pump

Sprinkler Head

Two H-Bridges

Plastic cover (for the Bluetooth sensor)

Switches

2 4x4x4" gray boxes

1 7.5x2.25x4.5" black box

Sheet of foam

Zip ties

32 sheet metal screws

Step 2: Construction of the Chassis

Picture of Construction of the Chassis

Refer to the following link on how to construct the chassis of the Fire Bot: http://www.gearseds.com/files/HMC_articulatr_const...

Step 3: Customization- Superstructure Frame

Picture of Customization- Superstructure Frame

1. Find aluminum scrap metal, 2” wide, 70” in length, and 1” edge sides.

2. Cut the aluminum with a hacksaw into two 35” pieces of scrap metal. Sand down the aluminum ends that were cut with a file.

3. For both 35” pieces: Measure 12”, cut the edge sides with the hacksaw, attach the metal to a vice, and bend the aluminum plate to a 90° angle. Drill and Screw the edges where they intersect with sheet metal screws, 2 for each bend, one on each side. Measure 5.5”, cut the edge sides with the hacksaw, attach the metal to a vice, and bend the aluminum plate to a 90° angle. Screw the edges that intersect with sheet metal screws, 2 for each bend, one on each side. Measure 12”, cut the edge sides with the hacksaw, attach the metal to a vice, and bend the aluminum plate to a 90° angle. Screw the edges that intersect with sheet metal screws, 2 for each bend, one on each side

4. Optional: You can spray paint the frame.

5. Secure the Frame, with the 12” side of the superstructure frame touching the metal chassis frame, by screwing sheet metal screws through the holes of the chassis frame.

6. Construct three boxes: one big one and two small ones to be placed in the superstructure frame to store the electronics. The bigger box will contain the Arduino motherboard, and the two small boxes will either contain batteries or the connections to get the camera working.

Step 4: Customization- PVC Pipe Water Container

Picture of Customization- PVC Pipe Water Container

1. Zip tie the 4” White PVC Pipe Unequal Tree SanTee to the metal frame plate. Then, connect the 2 4” PVC End Caps to the two sides of the SanTee PVC Pipe.

2. Connect a PVC 4” checking hole pipe to the top of the 4” White PVC Pipe Unequal Tree SanTee. Place a bilge pump inside the water container. Lastly, connect the bilge pump to the motherboard.

Step 5: Customization- Sprinkler Support System

Picture of Customization- Sprinkler Support System

1. Attach a sprinkler to the top of the PVC Pipe container. This will allow the water to be sprinkled out over the robot to cool it down.

2. Attach a plastic tube with a thin opening with one end into the bilge pump and the other end into the sprinkler.

Step 6: Customization- Steel Support Plates

Picture of Customization- Steel Support Plates

1. In order to prevent sagging, take two measured strips of thick steel the width of the robot.

2. Flip the robot so that the bottom is facing up, and bolt the two strips of metal onto the robot, equidistant from the ends of the robot.

Step 7: Customization- Military Grade Backpack Frame

Picture of Customization- Military Grade Backpack Frame

1. Acquire a military grade backpack frame

2. Secure two pieces of sturdy scrap metal with a vice and bend them with a mallet to a 45 degree angle to create hooks.

3. Attach the hooks to the middle horizontal bar on the backpack frame. These hooks will also attach to the support steel plates that we created earlier in order to increase the mobility of the firefighter that would carry the Fire Bot to the fire.

Step 8: Electronics

Picture of Electronics

1. Download the Arduino Code attached to the Instructable and upload it to the Arduino Uno.

2. Open up a Pre-Drilled Project Box that has a cover. Place the Arduino Uno Motherboard as well as all of its connections into the box. To ensure that the motherboard stays in place inside the box, place two double-sided foam strips underneath the Arduino Uno Motherboard. Afterwards, stick the assembly inside the box.

3. Cover the box. Using four screws, secure the lid back on.

4. Attach the camera to the robot and connect it to one of the pre-built boxes that are attached to the superstructure frame.

5. Connect the wires in one of the small boxes and hook it up to a 9V battery.

6. Next, hot glue a Bluetooth sensor to the top of one of the superstructure frame with the Arduino. Connect the wires between both. Place a plastic cover over the sensor and use epoxy to seal the cover to make it waterproof.

7. For convenience, you can also place switches on the side of the boxes to activate certain components.
There would be five switches: one to turn on the Arduino, one to turn on the bilge pump, one to turn on the Bluetooth sensor, one to turn on the camera, and one to turn on the motors.

8. In order to test run the robot, download the app: Bluetooth Control. Connect your phone with the Bluetooth sensor once turned on. The ID is HC06 with the password being 1234.

9. Connect batteries to the robot to power the motors. After this is done, use the arrows to move the robot back and forth. Push down on the switches to activate the camera and bilge pump as well.

10. The robot is now complete!

Step 9: Arduino Code

1. Below is the Arduino code that was used in the Fire Bot:

#include
Servo leftmotor;

Servo canon;

Servo rightmotor;

String readString;

void setup() {

Serial.begin(9600);

leftmotor.attach(9);

rightmotor.attach(10);

canon.attach(11);

}

void loop() {

char c = Serial.read();

readString = c;

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

//*********************FORWARD BOTH MOTORS*****************

if(readString.length() > 0){

Serial.println(readString);

if (readString == "U") {

leftmotor.write (900);

rightmotor.write(900);

}

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

}

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

//*********************BACKWARDS BOTH MOTORS***************

if(readString.length() >0){

Serial.println(readString);

if (readString == "D") {

leftmotor.write (2100);

rightmotor.write(2100);

}

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

}

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

//*********************LEFT MOTOR MOTORS***************

if(readString.length() >0){

Serial.println(readString);

if (readString == "L") {

leftmotor.write (1800);

rightmotor.write(1100);

}

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

}

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

//*********************RIGHT MOTOR MOTORS***************

if(readString.length() >0){

Serial.println(readString);

if (readString == "R") {

rightmotor.write (1800);

leftmotor.write(1100);

}

//******************STOP MOTORS*********************************** }

if(readString.length() >0){

Serial.println(readString);

if (readString == "C") {

leftmotor.write(100);

rightmotor.write(100);

canon.write(94);

}

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

}

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

//*********************Water Deployment on***************

if(readString.length() >0){

Serial.println(readString);

if (readString == "a") {

canon.write (135);

}

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

}

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

//*********************Water Deployment off***************

if(readString.length() >0){

Serial.println(readString);

if (readString == "b") {

canon.write (0);

}

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

delay(20);

}

}

This code controls the two motors and the sprinkler system within the robot. A copy of this code has been attached to this Instructables as an Arduino file.

Comments

Swansong (author)2017-10-31

That could be fun to use for watering plants too :)

About This Instructable

881views

16favorites

License:

Bio: The BCAMRL is a Mechatronics Research Lab, found on the campus of Bergen County Academies a magnet high school within the Bergen County Technical School ... More »
More by bcamrl:IR Communication in Swarming Robotics for Search and RescueElderly Sleep Safe (E.S.S.)Sudden Infant Death Syndrome Crib
Add instructable to: