Design of Electrical Sensors and Instruments on

Fire Extinguishing Robots

Hendi Purnata

, Sugeng Dwi Riyanto

, Muhamad Yusuf

and Saepul Rahmat

Department of Electronics Engineering, State Polytechnic of Cilacap, Indonesia

Keywords: Sensors, Uvtron, IMU, Robots, Fire Extinguishing.

Abstract: Development technology in the digital era is developing very rapidly and provides many benefit various aspect

not except in the field robotics. Robots are tool mechanic as well as electronics that can To do Duty physical

made with intelligence artificial for make it easy profession human. The Indonesian Robot Contest (KRI) is

event competition design build and engineering in field robotics. The Indonesian SAR Robot Contest

(KRSRI) is one of the KRI transformation divisions from KRPAI which emphasizes mission on search and

rescue disaster every fire year there is change competition rules but permanent maintain existence mission

blackout fire. With existence change that, then required sensor and instrumentation design electricity for the

Fire Extinguishing Robots for maximizing blackout fire or targets that have been set. Destination study this

for designing electronic systems in the form of sensors and instrumentation used in the Fire Extinguishing

Robots. Design this use microcontroller in the form of Arduino Nano, Arduino Mega, and STM32 which

work process using Ultrasonic sensors, TPA64, UVTRON, IMU GY-25 and Proximity. Blackout fire

conducted when the UVTRON sensor detects existence fire and TPA64 sensors found point fire, then the data

will processed by Arduino Nano which Arduino Nano sends signal to servo for open CO2 valve and spray

CO2 so that fire dead. System electricity used already in accordance with the target you want achieved that is

extinguish fire. Robots can walk with good seen that the UVTron sensor at a distance of 5 - 150 cm the sensor

can detect. Tested distance TPA64 sensor from 10 – 60 cm and the angle by -30° to 30°. At a distance of 10

cm visible temperature reading 50

C so read existence fire and more far distance so the more shrink read

temperature.

1 INTRODUCTION

Development technology in the digital era is

developing very rapidly and provides many benefit

various aspect not except in the field robotics. Robots

are tool mechanic as well as electronics that can To

do Duty physical mad with intelligence artificial for

make it easy profession human. The Indonesian

Robot Contest (KRI) is event competition design

build and engineering in field robotics (Kurnia et al.,

2019). The divisions contained in the KRI are the

Indonesian Fire Robot Contest, the Indonesian Search

and Rescue Robot Contest, the Indonesian Wheeled

Football Robot Contest, KRSBI Humanoid, the

Indonesian Dance Robot Contest, and the Thematic

https://orcid.org/0000-0003-2047-816X

https://orcid.org/0000-0002-1582-9597

https://orcid.org/0000-0002-8241-1000

Robot Contest Indonesia. The Indonesian SAR Robot

Contest is transformation from KRPAI which

emphasizes mission on search and rescue disaster

frequent fires happened in Indonesia. On every year

competition rules always changed but permanent

maintain existence mission blackout fire, because that

need existence design changes to the KRSRI robot for

maximizing blackout fire with more fast (Rifai et al.,

2021).

Robot problems are very complex, some study

based on maximizing robotic motion at Fire

Extinguishing Robots or also utilizing sensor

instruments and devices electronic set (Mutolib et al.,

2020). On research the movement of the autonomous

robot adjusts from the function of the robot, such as

the KRSRI robot, is a fire robot that moves and

Purnata, H., Riyanto, S., Yusuf, M. and Rahmat, S.

Design of Electrical Sensors and Instruments on Fire Extinguishing Robots.

DOI: 10.5220/0011709300003575

In Proceedings of the 5th International Conference on Applied Science and Technology on Engineering Science (iCAST-ES 2022), pages 5-10

ISBN: 978-989-758-619-4; ISSN: 2975-8246

detects fire. Accuracy in controlling this robot is very

important so that it can become useful rescue robots

(Fuad et al., 2020; Sang et al., 2021). Research

(Adriansyah et al., 2019; Iqbal & Aji, 2021)

Developing a wall-following robot using PID

algorithm with MATLAB help. Study this stages next

after designing the Fire Extinguishing Robots.

Stages for planning system robotics that is

planning, then knowing system that will developed

and stages final that is give system control. Research

(Rout et al., 2019; Su et al., 2019, 2021) system model

in robotics defined on the system developed

electronics and mechanics. Research (Agustinah et

al., 2010; Pambudi et al., 2019; Sahal et al., 2019;

Widanis et al., 2020) linear model resurrected system

no in accordance with state actually because system

robotics is very complex and requires a linearity

process that looks for eigenvalues that really truly

stable. design system is very important for can give

system control on the robot then research (Juang et

al., 2018) design with use appropriate instruments and

algorithms on wall-following robots.

Designed robots study this is a firefighting robot

fire. For can adjust the system from the rules and can

designing with good so need changes to the robot

design and electricity made To use support blackout

fire as well as make it easy in troubleshooting robots

and summarizing the previous wiring messy.

Summary electrical wiring this could make it easy

robot movement for more flexible. Besides Changes

to electricity were also made changes to the

microcontroller, the microcontroller used namely

Arduino Mega, Arduino Nano, and STM32. Because

there is change microcontroller so need conducted the

application of the sensors used in the Fire

Extinguishing robot with microcontroller new. With

existence change this it is hoped that the robot can

more fast in find and extinguish fire with movement

flexible and effective.

2 RESEARCH METHODS

For reach destination from study this need it some

stages method carried out. Method first determine the

system flow shown in the block diagram of input

process up to system outside. With know the block

diagram of the input to output system, then

explanation component from block diagram and

continued with system flowcharts and for reach

destination this. Method final for can reach

destination this that is with the electrical system on

this Fire Extinguishing Robots. Block diagram can

seen in figure 1 below this.

Figure 1: Block Diagram.

Table 1: Proposed System.

Input Process Output

Design Sensors

and Instruments

for Extinguishing

Robots Fire

Sensors : Extinguishi

ng Robot

Sensor and

Instrument

System Fire

ultrasonic

TPA64

UVTron

Flame

MPU6050

TCS3200

Microcontroller

ESP32

STM32

Actuator

Servo

DC Moto

Rela

How it works of this robot i.e. Ultrasonic, TPA64,

and UVTRON sensors are read by ESP32 Slave then

the sensor reading sent to ESP32 Master. MPU6050

and TCS3200 sensors are read by STM32 then sent to

ESP32 Master. The pushbutton and flame sensor are

read by the ESP32 master. After all sensors are

received by the ESP32 master, the ESP32 Master will

display sensor data on LCD then accumulate for

determine the output in the form of point fire and for

leg movement. If result accumulation gives output in

the form of spraying water, the ESP32 Master will

send signal to the relay so that the relay turns on. After

the relay is on, the DC motor turns on and sprays

water. Components Used in the robot:

Microcontroller. On research this use 3 types

microcontroller namely STM32F4, Arduino uno and

Arduino nano. Arduino Mega 2560 is board

development based microcontroller Arduino with

using the ATmega2560 chip. On the fire, Arduino

mega used as a slave that processes data from the

sensor. Arduino Nano is module based ATmega328

microcontroller in form a small, complete, easy series

mounted on breadboard. On the fire robot Arduino

nano is used as a slave that processes data from servo

on gripper.

Sensor. Some of the sensors used in research this

namely TPA64 sensor, UVTron sensor, Ultrasonic

Sensor, IMU sensor and Proximity Sensor. The

TPA64 sensor uses a core sensor, namely AMG8833.

Process

Input

Output

iCAST-ES 2022 - International Conference on Applied Science and Technology on Engineering Science

AMG8833 8x8 Infrared Thermal Temperature Sensor

Array is an infrared temperature sensor that has level

precision tall based state-of-the- art MEMS

technology. On this robot the TPA64 sensor works for

look for point fire with could determine point x, point

y, and point z fire against robots. Figure 2. Below is

TPA64 sensor display.

Figure 2: TPA64 sensor.

Figure 3: UVTron sensor.

Hamamatsu UVTron Flame Detector can detect

fire in 5 meters distance. This sensor used as tool for

detection source flames operating at a spectral length

of 185 nm to 160 nm. On the fire robot fire, UVtron

sensor working as detector ultraviolet lighton fire so

that could extinguished by robots. Figure 3. Is display

on UVTron sensor.

Figure 4: UVTron sensor range.

Ultrasonic sensor is a working sensor for change

quantity physical (sound) becomes quantity

electricity and vice versa. This sensor working for

knowing distance wall so that the robot can avoid

object that.

On the SRF04 sensor has range corner not enough

from 45 degree but optimal angle of reading is at

angle not enough of 15 degrees. Following is Figure

6 SRF04 sensor range:

Figure 5: Ultrasonic Sensor.

Figure 6: Ultrasonic sensor range.

The IMU GY 25 sensor is censor the balance in it

there are accelero sensors (acceleration), gyroscope,

and compass fire, GY 25 IMU sensor is used as

balancer motion robot path to stay straight.

The proximity sensor is a proximity sensor that

uses sensitive element to light (infrared) for detect

object. On the fire robot fire, this sensor used for

detect distance the wall on the sound damper obstacle

because no allow using ultrasonic sensors.

Robots will always move the place because the

work of the robot that runs, therefore that required

supply portable power or can moved anywhere. On

this robot use Li-Po battery because small size, large

voltage and current in accordance with needs system

electricity to robots. Li-Po battery used in this robot

is Li -Po 3 sell batteries, namely with 3 x 3.7v or

11.1v capacity.

Servo, Sensor and STM32 use voltage work of

5vdc. supply the power available by the Li-Po battery

is have voltage 11.1v, therefore that required reducer

voltage.

First thing in blackout fire is check, whether there

is fire or no, for detect existence fire so using UVtron

sensor and tpa64 sensor. UVtron sensor could detect

point fire small like fire on candles with range up to 2

meters. However, the UVtron sensor no could detect

Design of Electrical Sensors and Instruments on Fire Extinguishing Robots

Figure 7: Design electrical sensor and microcontroller on

the Fire Extinguishing Robots.

where location fire. For detect location fire , then

robot Fire Extinguishing Robots using the tpa64

sensor. The tpa64 sensor has view by 60 degrees on

the x- axis and 60 degrees on the y- axis. Reach corner

from the sensor shared Becomes 8x8 matrix. That is

8 points to y- axis, and 8 points to x axis. With matrix

the so obtained that each point have range 7.5 degree

angle.

After knowing location fire, then the robot will

shift to front location point fire. If the robot has is at

appropriate in front of position fire, then the robot

will check more formerly is distance between robot

and fire already close. Checking the with using

ultrasonic sensor or with infrared or with temperature

the fire that has been detected. Use algorithm the use

OR gate, so that if one condition fulfilled, then the

robot will spraying CO2 that has been facing fire. For

avoid robot stuck or Keep going To do blackout fire

by Keep going continuously because no extinguished

fire, then if the robot has To do spraying CO2 3 times,

then the robot will carry on to Duty next that is save

the victim. And for avoiding the stuck robot, also

done existence calculation time, if the robot up to 30

seconds no could extinguish fire, then the robot will

carry on to Duty next too.

Figure 8. Above is a firefighting robot system

flowchart Working fire with method that is after the

robot is turned on then the robot will initialize

sensors. Then the sensor data will be checked by the

ESP32 microcontroller, if UVTRON detects Fire,

then then the flame sensor will detect point fire in 360

degrees. Then the robot will turn toward point fire. If

the robot has facing, then TPA64 with more accuracy

tall detect point fire based on score x, y, and z. After

finding point, then the robot will adapt return point

fire so that appropriate facing fire. If you have

appropriate facing fire, then pump will light up then

extinguish fire.

Figure 8: Flowchart System.

Figure 9: Layout of the Fire Extinguishing Robots.

START

STOP

Inisialisation

Reading All

sensors

does UVTRON detect

fire?

Sensor

TPA64

detection

robot looking

for hotspots

fire found

robot looking

for hotspots

robot spraying

liquid co2

did the fire go

out?

iCAST-ES 2022 - International Conference on Applied Science and Technology on Engineering Science

3 RESULTS AND DISCUSSION

Testing from multiple sensors so that it can determine

possible goals _ achieved . Figure 9 below this is

appearance merging Among microcontroller and

some sensors.

For can get results from electricity so conducted

testing of the sensors used in the robot. Test first with

knowing how much UVtron sensor remote could

detect fire on candle

Table 2: UVTron Sensor Test.

No Distan

(cm)

Amount

test

Success failure

1. 5 5 5 0

2. 50 5 5 0

3. 100 5 5 0

4. 150 5 5 0

5. 200 5 4 1

6. 250 5 2 3

In table 2 above seen that with 5 trials and known

different distance then at a distance of 5 - 150 cm the

sensor can detect and not has a trial error but moment

a distance of 200 cm has an error 1 time and a distance

of 250 cm gets an error 3 times compared to 5 times

or an error of 60% on the experiment with 250cm

distance.

Test next namely the working TPA64 sensor for

knowing how much remote TPA64 sensor can detect

point fire, and for knowing how much precision fire

could detected with coordinate 8x8 matrix.

Table 3: TPA64 . Sensor Testing.

o Dis

ance

(cm)

Corner

Fire

Point

Temperatu

re (

C )

1. 10 0 0 50

2. 20 -15 -2 43

3. 30 -30 -4 38

4. 40 15 2 32

5. 50 30 3 29

6. 60 15 0 28

In table 3 above showing that tested distance _

from 10 – 60 cm and the angle by -30° to 30°. Reading

from the sensor if intensity temperature around 28

- 32

C so no read existence fire because read at

temperature normal room. At a distance of 10 cm

visible temperature reading 50

C so read existence

fire and more far distance so the more shrink read

temperature.

Test final that is with testing blackout Fire for

knowing all systems that have designed. Collected

data for know the system is running with breed with

knowing distance, angle fire, robot movement and

spraying . Table 3 below this show the data obtained

of the proposed system.

Table 4: Robot movement and spraying data.

o Distan

ce (cm)

Corner

Fire

Robot

Movemen

Sprayin

1. 10 0 Stop Spray

2. 20 -15 Swipe

Lef

3. 30 0 Sliding

Spray

4. 40 15 Up

5. 50 30 Turn

6. 60 15 Turn

Table 4 above showing that for can spray ensure

corner spraying. Robot movement is also known from

distance and angle fire, when distance is known to be

40 cm and has angle 15

then the robot moves Up or

customize with angle on the robot so that the robot

moves with method play rbody robots. For can spray

so robot algorithm adjust with possible distance and

angle set that is with angle 0° then can spray CO2 to

fire or extinguish fire.

4 CONCLUSION

Fire Extinguishing Robots robot is a robot that has

destination for extinguish fire. On this robot use

various kinds of sensors for To do blackout fire.

blackout fire with use CO2 liquid assisted with a

number of sensor and actuator components. Robots

can walk with good seen that the UVTron sensor at a

distance of 5 - 150 cm the sensor can detect and not

have errors. While the distance TPA64 sensor tested

from 10 – 60 cm and the angle by -30° to 30°. At a

distance of 10 cm visible temperature reading 50

so read existence fire and more far distance so the

more shrink read temperature. Whereas results from

whole for blackout fire seen from developed

algorithm that at an angle of 0 degrees so spraying

new CO2 liquid can sprayed.

Design of Electrical Sensors and Instruments on Fire Extinguishing Robots

ACKNOWLEDGEMENTS

The author acknowledgements State Polytechnic of

Cilacap for supporting the author’s internal research

with the DIPA funding. The author thanks colleagues

who support and assist research directly.

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iCAST-ES 2022 - International Conference on Applied Science and Technology on Engineering Science