Firefighter Robot Using Two Deshbot Shield

Objective

The objective of this project is to build an automatic firefighter robot using two Arduino Nano boards. The first Nano controls the robot's movement, ultrasonic obstacle detection, and flame detection. The second Nano controls the water pump according to the signal received from the first Nano.

Components Required

1. Arduino Nano × 2
2. Motor driver × 2
3. DC gear motors × 2
4. Ultrasonic sensor HC-SR04
5. Flame sensor
6. Water pump
7. Robot chassis
8. BatteryJumper
9. wires

Nano 1 — Robot Controller

Nano 1 controls:

1. Motor 1
2. Motor 2
3. Ultrasonic sensor
4. Flame sensor
5. Communication with Nano 2

Pin Connections

ComponentNano 1

Motor 1 A - D7

Motor 1 B - D6

Motor 2 A - D8

Motor 2 B - D9

Ultrasonic TRIG - A1

Ultrasonic ECHO - A2

Flame Sensor - D11

TX D0

RX - D1

Nano 2 — Pump Controller

Nano 2 receives the signal from Nano 1 and controls the water pump.

ComponentNano 2

Pump A - D6

Pump B - D7

RX - D2

TX - D3

Communication Between the Two Nanos

The two Arduino Nano boards communicate using SoftwareSerial.

Nano 1 sends:

when a flame is detected.

Nano 1 sends:

when no flame is detected.

The robot starts moving forward while continuously checking the distance using the ultrasonic sensor.

If an obstacle is detected at a distance of less than 10 cm, the robot:

1. Stops.
2. Waits for 5 seconds.
3. Turns right.
4. Continues moving.

The flame sensor continuously checks for a flame.

When the flame sensor detects a flame:

1. Nano 1 detects the flame.
2. Nano 1 stops the robot.
3. Nano 1 sends ON to Nano 2.
4. Nano 2 receives the signal.
5. Nano 2 turns the water pump ON.
6. Water is sprayed toward the flame.

When the flame is no longer detected:

1. Nano 1 sends OFF.
2. Nano 2 turns the pump OFF.
3. The robot can continue its movement.

Block Diagram

Main Features

1. Automatic obstacle detection
2. Automatic flame detection
3. Two Arduino Nano controllers
4. Wireless-style serial communication through TX/RX
5. Automatic pump control
6. Automatic robot movement
7. 5-second obstacle stop
8. Right-turn obstacle avoidance

This project demonstrates how two Arduino Nano boards can work together to create an automatic firefighter robot. Nano 1 handles sensing and movement, while Nano 2 handles the water pump. The two boards communicate using serial signals, allowing the robot to detect a flame and automatically activate the water pump.