Call Now ! 7905582725
Email Now Help@makerspacekanpur.com

ESP32-Based Autonomous Fire Extinguisher Bot

17-06-2025

🔥 FIRE BOT – Bluetooth Controlled Fire Extinguisher Robot

Welcome to the FIRE BOT project! This robot is designed to detect and extinguish small fires using a flame sensor and a water pump. It is fully controllable via Bluetooth, making it ideal for educational or experimental firefighting applications.

🧠 Features

🔥 Flame detection
💧 Water pump activation
🎮 Bluetooth remote control (with mobile app)
🛞 Motor movement: Forward, Reverse, Left, Right
🔁 Servo motor to aim the water spray
🧪 Manual + Automatic mode supported

📦 Hardware Used

Arduino Uno (or compatible board)
L298N Dual H-Bridge Motor Driver
2 DC Motors (for movement)
Bluetooth module (HC-05/HC-06)
Flame sensor
Water pump
Servo motor (SG90 recommended)
Power source (Li-ion battery pack or similar)
Jumper wires and chassis

📜 Arduino Code Breakdown

Servo.h: Controls the servo motor.
L298NX2.h: Custom library to control two motors via L298N.
LED_BUILTIN: Unused, default Arduino LED.

🧩 Pin Definitions

Component	Arduino Pin	Description
Motor A	2, 3	L298N IN1 & IN2
Motor B	4, 5	L298N IN3 & IN4
Pump Relay	6	Controls water pump
Servo Motor	9	Spray aiming
Flame Sensor	10	Input from flame sensor

🚀 Setup Function

Initializes serial, servo, motors, and flame sensor.
Performs a full functional test at startup.

🔄 Main Loop

Flame Detection (Optional Auto Mode)

Optional logic for auto mode:

Uncomment for automatic spraying based on flame sensor.

🔗 Bluetooth Command Handling

📱 Bluetooth Commands

Command	Action	Description
`F`	Move Forward	Both motors move forward
`B`	Move Backward	Both motors move backward
`L`	Turn Left	Left spin using motor logic
`R`	Turn Right	Right spin using motor logic
`S`	Stop	Stops all motors
`V`	Pump ON	Activates pump to spray water
`v`	Pump OFF	Turns off the pump
`W`	Servo Move Right	Servo rotates from 0 to 90
`w`	Servo Move Left	Servo rotates back from 90 to 0

🖼️ How It Works

Use a Bluetooth app (like "Bluetooth RC Controller") to send commands.
The robot responds with motor control, pump activation, and servo aiming.
Optionally, the flame sensor detects fire and triggers the pump automatically.

HOW TO OPERATE

#include <Servo.h>

#include <L298NX2.h>

#define LED_BUILTIN 2

//-------------L298---------------------------------------------------

// Motor 1 settings

#define IN_1 2 //rx2

#define IN_2 3 //tx2

// Motor 2 settings

#define IN_3 4 //d4

#define IN_4 5 //d5

#define F1 10

L298NX2 mybot(IN_1, IN_2, IN_3, IN_4); // for full speed

//---------Bluetooth RC Controller Define----

#define PUMP 6 //D6

#define SERVO 9 //D9

char bdata; // for bluetooth command store

Servo myservo;

int f1;

void setup() {

myservo.attach(SERVO);

Serial.begin(9600);

pinMode(PUMP, OUTPUT);

pinMode(F1, INPUT);

// Testing

mybot.forward();

delay(5000);

mybot.stop();

mybot.backward();

delay(5000);

mybot.stop();

myservo.write(90);

delay(1000);

myservo.write(180);

digitalWrite(PUMP, HIGH);

// Test done

}

void loop() {

f1 = digitalRead(F1);

Serial.print(f1);

Serial.print("\t");

// if automatic then remove comment

// if (f1 == 1)

// digitalWrite(PUMP, HIGH);

// else

// digitalWrite(PUMP, LOW);

while (Serial.available() > 0) {

bdata = Serial.read();

Serial.println(bdata);

// Make condition based on BLE data

switch (bdata) {

case 'F':

Serial.println("Forward");

mybot.forward();

break;

case 'B':

Serial.println("Reverse");

mybot.backward();

break;

case 'L':

Serial.println("Left");

mybot.forwardA();

mybot.backwardB();

break;

case 'R':

Serial.println("Right");

mybot.forwardB();

mybot.backwardA();

break;

case 'S':

Serial.println("Stop");

mybot.stop();

break;

case 'V':

Serial.println("PUMP ON");

digitalWrite(PUMP, HIGH);

break;

case 'v':

Serial.println("PUMP LOW");

digitalWrite(PUMP, LOW);

break;

case 'W':

Serial.println("SERVO MOVE");

for (int pos = 0; pos < 90; pos++)

myservo.write(pos);

break;

case 'w':

Serial.println("SERVO BACK");

for (int pos = 90; pos >= 0; pos--)

myservo.write(pos);

break;

}

}

}

ESP32-Based Autonomous Fire Extinguisher Bot

Related Post