p–ISSN: 2723 - 6609 e-ISSN: 2745-5254

Vol. 4, No. 8, August 2023 http://jist.publikasiindonesia.id/

Doi: 10.59141/jist.v4i8.689 1110

PROTOTYPE SMART CAR MECANUM WHEEL FIRE EXTINGUISHER

BASED ON ESP 32 CAM WITH BLUETOOTH COMBINATION

Bambang Dwinanto

, Abdurrazaq Afiif Lubis

, Mochammad Karjadi

, Bambang

Yulianto

, Bambang Harianto

Gunadarma University Depok, Indonesia

Email: [email protected]

*Correspondence

ARTICLE INFO

ABSTRACT

Accepted

: 01-08-2023

Revised

: 15-08-2023

Approved

The development of microcontroller technology has been implemented

in the robotics industry, particularly in performing tasks that are risky

for living beings, especially humans. In this context, a wheeled smart

car robot can automatically extinguish fires. The fire extinguishing

system is taken over by the robot's system when fire or heat is detected,

and the robot's controller activates the extinguishing system, spraying

water at the fire point. The ESP 32 CAM microcontroller serves as the

processing and controlling unit, handling data and displaying real-time

camera images to ensure accurate fire extinguishing. Additionally, a

mecanum wheel drive mechanism is added to enhance the robot's

movement flexibility.

Keywords: Inverter; Pulse

Width Modulation (PWM);

THD; Pure Sinusoida.

Attribution-ShareAlike 4.0 International

Introduction

Fires are often caused by small things, it can be from a short circuit or from a fire

that was originally small there is a saying that says small fire, friends, but big fire is the

opposite (Fortna, 2018). The method used to extinguish the fire can be done manually

by humans which we usually see done by professionals or firefighting jobs if the fire is

large or if the fire is only small and medium can be overcome by APAR (light fire

extinguisher). In addition, there is a safer way can reduce the risk of injury, namely by

extinguishing fires automatically in other words, humans can control and monitor from

a safe distance, one of the most popular is done with robotics in the form of smart cars,

robots although not yet fully able to replace the role of anointed humans with large

blazes in skyscrapers (Supriyanto, Sufiyanto, & Kusnadi, 2018).

Today's technology is growing over time, one of which is the Internet of Things

(IoT) which can optimize several tools and devices for the better. The Internet of Things

or better known as (IoT) is a concept that aims to expand the benefits of continuously

connected internet connectivity (Lee & Lee, 2015). As for capabilities such as data

sharing, remote control, and so on, including objects in the real world (Afriansyah,

2022).

Essentially the Internet of Things refers to objects that can be uniquely identified

as virtual representations in an Internet-based structure (Atzori, Iera, & Morabito,

2017). Many benefits are obtained from the Internet of Things the work we do becomes

fast, easy, and efficient. We can also detect and control it as long as it is still connected

Prototype Smart Car Mecanum Wheel Fire Extinguisher Based On Esp 32 Cam With Bluetooth

Combination

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1111

to the network. The Internet of Things refers to the identification of an object that is

represented virtually in cyberspace or the Internet (Akbar, 2019). So it can be said that

the Internet of Things is how a real object in this world is described in cyberspace

(Internet). The Internet of Things has the potential to change the world as the Internet

once did, maybe even better (Suari, 2017)

Therefore, research was made which is a development of previous scientific

writing based on Arduino Uno entitled "4WD automatic fire extinguishing robot system

based on Arduino Uno". In the study, the movement of the robot to reach the fire spot

was fully taken by three ultrasonic sensors and it turned out that after the trial was

obtained, the time obtained was quite slow from the start of the active system to detect

the fire spot (Yoski & Mukhaiyar, 2020). Then extinguishing it is certainly a problem if

it is not overcome, therefore the development of scientific writing is expected to be

optimal and efficient, especially when robots look for fire spots because in testing

previous objects the longer the fire gets bigger (Fathoni, 2017).

For this development, the microcontroller base that used to use Arduino Uno was

replaced with ESP 32 CAM which has been equipped with built-in WiFi and a camera

module with a capacity of 2MP, of course, as the name implies, the Internet of Things

(IoT) must be monitored through a WiFi connection emitted by a microcontroller (Azis,

Pribadi, & Nurcahya, 2020). And the camera module is equipped with an adjustable

flash that can be very helpful in dark conditions. All of the above is displayed on a

smartphone complete with a remote control that has become a system, of course, it can

speed up the robot in reaching the fire point because it can be directly directed without

relying on the navigation system that previously used the HC SR04 ultrasonic sensor

(Hilal & Manan, 2015). Then in this development, the control is entirely on the operator

via a smartphone, remote control, and the last part, namely the extinguishing

component, in this case, the jet of water is now more flexible because it can be directed

with pan and tilt movements assisted by two servo motors.

Research Methods

Currently, robots are developed with various designs with certain purposes, one of

which is a fire extinguishing robot. Fire extinguishing robots are a development of tools

that can help to trace, detect, and of course, as the name implies, it is certainly able to

extinguish fires which are usually in the form of various kinds of wheeled and legged

such as smart cars, hexapods, and various others, of course, this tool can help humans.

Fire extinguishing robots can be made using hardware and software controlled by

various kinds of microcontrollers, both those that already support the Internet of Things

or commonly called (IoT) or those that do not yet exist also in some cases, control is

done using Bluetooth applied to smartphones with the Android operating system.

ESP 32 CAM

ESP 32 CAM is one of the microcontrollers that has additional facilities in the

form of Bluetooth, Wi-Fi, cameras, and even to a microSD slot. ESP 32 CAM is

usually used for IoT (Internet of Things) projects that require camera features. The ESP

Bambang Dwinanto, Abdurrazaq Afiif Lubis, Mochammad Karjadi, Bambang Yulianto,

Bambang Harianto

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1112

32 CAM module has fewer I/O pins than the previous ESP 32 Wroom module, ESP 32

Wroom. This is because there are already many pins used internally for camera

functions and microSD card slot functions. In addition, the ESP 32 CAM module also

does not have a dedicated USB port (sending programs from the USB port of the

computer). So to program this module you have to use USB TTL or we can add a

module in the form of a special downloader for ESP 32 CAM.

Arduino Nano

Arduino Nano is a small board open-source microcontroller board and single

board based on ATmega328P Microchip technology released in 2008. It offers the

same connectivity and specifications as the Arduino Uno board in a smaller form

factor.

The Arduino Nano is equipped with 30 male I/O headers, in a DIP-30-like

configuration, which can be programmed using the Arduino Software integrated

development environment (IDE), which is common to all Arduino boards and runs both

online and offline. The board can be powered via a USB type B mini cable or from 9 V

batteries. In 2019, Arduino released the Arduino Nano Every, the pin-equivalent

evolution of the Nano. It features a more powerful ATmega4809 processor and twice

the RAM.

Driver Shield L298N

It is a motor regulating module using the H Bridge range. The shape of this

module is already in the form of a shield so it is suitable for use directly to various kinds

of microcontrollers. Today, DC motors are used in the manufacture of many tools and

fixtures. So, the speed and direction control of this motor is very common. The half-

bridge circuit is one of the simplest methods of controlling a DC motor. This method

not only controls the direction of the motor but can also be used to control the speed.

Results and Discussion

The fire extinguishing system with a distance from the fire spot can be said to be

extinguishing the fire using the help of tools in this case in the form of a smart car robot.

And full control on the operator for control the smart car for process blocks as can be

depicted in the block diagram shown in Figure 1.

Prototype Smart Car Mecanum Wheel Fire Extinguisher Based On Esp 32 Cam With Bluetooth

Combination

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1113

Figure 11. Block diagram system

In the block diagram above, ESP 32 CAM functions as the main processor of the

controller with an activator in the form of a DC battery that outputs an output of 5V DC.

Then input to run all commands based on the remote control smartphone displayed on

the web server. There is a real-time camera captured by the camera module on the ESP

32 CAM then at the output, there are two servo motors and a drive, namely four DC

motors controlled by the L298N driver based on the ESP 32 CAM command.

The components of the "Prototype Smart Car Fire Extinguisher Mecanum Wheel

Based on ESP 32 CAM with Bluetooth Combination" have components, namely the

ESP-32 CAM microcontroller, L298N shield motor, pan and tilt servo, DC water pump

whose functions and explanations can be seen in Table 1.

Table 1

Component

Function

Information

Microcontroller

ESP-32 CAM +

Driver

Shield L298N

System control

center

Controlling the movement

of the robot

With DC motor input

( direct current ) and as a

controller of the entire

system.

Pan servo

Moving and

transmitting the

camera module on the

ESP-32 CAM.

Move and march the camera

module on the ESP-32

CAM to the left and right

Tilt servo

Moving and

transmitting the

camera module on the

ESP-32 CAM.

Move and march the camera

module on the ESP-32

CAM up and down

DC water pump

Spraying water

The system works based on

user commands in the

robot's control center.

In Table 1 there are components used in the tool made for this writing including

an ESP 32 CAM microcontroller, two servo motors, and a dc water pump. The table

also describes the functions and descriptions of each component used.

The system process when it will be run or started will first connect to the WiFi

emitted by the microcontroller in this case using ESP-32 CAM then if the connection is

Bambang Dwinanto, Abdurrazaq Afiif Lubis, Mochammad Karjadi, Bambang Yulianto,

Bambang Harianto

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1114

connected, the robot system will enter idle mode or be ready to use, otherwise the

system will try to reconnect to the WiFi signal emitted earlier. In system idle mode,

which means the connection is connected to a smartphone device, the system will wait

for user commands or controlled users using a web server from the ESP-32 CAM

microcontroller itself, which includes controlling the robot with the process as seen in

the system process flow diagram Figure 2

Figure 2. System flowchart

1. Network Schematic

The schematics needed for this "ESP 32 CAM Based Fire Extinguisher Smart Car

Prototype with Bluetooth Combination" are as follows.

Figure 3 . Overall schematic

The schematic of the system circuit on the ESP-32 CAM and L298N Driver

"Prototype Smart Car Fire Extinguisher Mecanum Wheel Based on ESP 32 CAM with

Bluetooth Combination" looks like in Figure 13 with an explanation of the connection

in Table 2 and the process on each pin and the connection to the microcontroller that has

been adjusted to the commands as in Table 2.

Table 2

Koneksi ESP 32 CAM pada L298N Driver

Prototype Smart Car Mecanum Wheel Fire Extinguisher Based On Esp 32 Cam With Bluetooth

Combination

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1115

ESP-32

CAM

L298N

Driver

IO 2

ENA

IO 2

END

IO 12

IN 1

IO 13

IN 2

VOT

IN 3

VOR

IN 4

GND

Table 2 explains that there is a connection between ESP 32 CAM on the L298N

driver which is a connection for rotation and motion control of four DC motors by

utilizing the H Bridge is a circuit that can adjust the voltage at the output with the

reference to the PWM input given (Amanatiadis et al., 2020).

The servo motor used is the SG 90 type, a total of two pieces consisting of upper

and lower servos mounted on pan and tilt brackets and the two servo motors can move

the maximum bracket at 180 degrees in the left, right, up, and bottom directions in front

of which is pinned with an ESP 32 CAM microcontroller so that when displaying a real-

time camera on the web server, it can be controlled to look around by only moving the

bracket assisted by two servo motors like a scheme in Figure 14. It has a 3-pin interface

to the microcontroller with connections which can be seen in Table 3.

Figure 4. Bracket drive scheme

In Figure 14 there are two servo motors so that when installed on the bracket it

will produce up and sideways movements.

Table 3

Koneksi ESP 32 CAM Pada Motor Servo

ESP 32

CAM

Motor Servo

IO 14

PWM pan

servo

IO 15

PWM tilt servo

VCC

GND

Bambang Dwinanto, Abdurrazaq Afiif Lubis, Mochammad Karjadi, Bambang Yulianto,

Bambang Harianto

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1116

There are two connections between the servo motors on the ESP 32 CAM

microcontroller.

1. Magnum Wheel Drive

Due to its unique shape, the mecanum wheel allows omnidirectional movement

(forward, backward, sideways, diagonal, rotating, etc.). This wheel works by applying

force at a 45-degree angle to the rotation of the wheel. The combination of these forces

allows the robot to move in different directions. Due to the mecanum shape of the

wheel, turning the wheel causes it to apply force at a 45-degree angle to its rotation. The

direction of rotation determines the direction of the force. The Mecanum wheel system

is a wheel drive system used to drive this smart car. The design of the mecanum wheel

system is done by making modifications to the wheel drive system or chain that was

originally used in urban robots (Yeo, Balakrishnan, Selvaperumal, & Nor, 2022). The

limitation of wheel or chain drive systems is the difficulty of changing the direction of

movement of vehicles with a narrow bend radius. This greatly limits the flexibility of

urban combat robot vehicles because routes for urban areas, especially dense

settlements, have narrow and twisting road conditions.

2. Blackout with Bluetooth

Figure 5 Block Blackout System Diagram

The Water Pump schematic uses a water pump that works at a voltage of 3-6 V

DC because the microcontroller temperature is hot when given a voltage of 5V, then the

inlet voltage is lowered to 3.7 V, but this makes the performance of the water pump

used not optimal because the output voltage on each pin of the ESP 32 CAM

microcontroller drops by the amount of voltage entering the VIN making the strength of

the burst weaken because it will be maximum at a voltage of 5-6V so that the water

spraying circuit is made separately but still controlled and integrated as a whole and can

be controlled via smartphone with process and flow diagram blocks as in Figure 6.

Table 4

Komponen sistem pemadaman

Component

Function

Information

Arduino Nano

System control

Control the

Prototype Smart Car Mecanum Wheel Fire Extinguisher Based On Esp 32 Cam With Bluetooth

Combination

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1117

Microcontroller

center

entire system.

Relay Channel

As a

connecting

switch and

breaker

Forward

Bluetooth

commands to

turn on and off

the water

pump.

Bluetooth

Module HC 05

Bluetooth

communication

The command

turns the water

pump on and

off.

DC Water

Pump

Spraying water

from the water

storage tank.

Figure 6 Schematic of the blackout system

Table 5

Koneksi sistem pemadaman

Arduino Nano

HC SR 05

VCC

GND

Arduino Nano

Relay Channel

D 10

IN 1

VCC

GND

Pompa Air

Relay Channel

VCC

Normally close

VCC voltage source

COM

GND

Bambang Dwinanto, Abdurrazaq Afiif Lubis, Mochammad Karjadi, Bambang Yulianto,

Bambang Harianto

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1118

1. Web Server Design Robot Fire Extinguishing Car

Robot control includes control of movement, limits on the rotational speed of DC

motors, servo motors, and lights on microcontrollers controlled using a simple HTML

web with the initial design as seen in Figure 7

Figure 7 Web Server Design

In Figure 17, the initial design of the control includes the direction of rotation of

the DC motor with movement controlled by the symbol of four arrows in the direction

up, down, left, and right then there is speed, which aims to give a limit or limit on the

rotation of the DC motor after that the control of the lights in the last light word control

on two servo motors named pan and tilt. Pan itself is an upper servo motor that moves

the bracket up and down while tilt is a servo motor that moves the bracket left and right.

The control display includes the direction of rotation of the DC motor with

movement controlled by the symbol of four arrows with directions up, down, left, and

right then there is speed, which aims to give a limit or limit on the rotation of the DC

motor after that controlling the lights on the last light word control on two servo motors

named pan and tilt. Pan itself is an upper servo motor that moves the bracket up and

down while tilt is a servo motor that moves the bracket left and right.

1. Testing

Testing on this tool aims to test the circuit used and the work of the tool as a

whole to know whether the tool that has been made can work as desired or not (Esario

& Yuhendri, 2020). The test covers the performance of the components used including

DC converter modules, servo motors, network coverage distances on ESP 32 CAM

microcontrollers, DC motors, and DC water pumps.

ESP 32 CAM Network and Range Testing

The best and worst network range tests using this test distance parameter were

conducted because almost all performance features depend on the WiFi network emitted

by the ESP 32 CAM microcontroller. The test was carried out with two scenarios,

namely with a barrier and without a barrier the barrier mentioned, which can be in the

form of walls or partitions in the room, obtained test results as seen in Table 6.

Table 6

Pengujian Jarak WiFi Pada ESP 32 CAM

Prototype Smart Car Mecanum Wheel Fire Extinguisher Based On Esp 32 Cam With Bluetooth

Combination

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1119

distance

No Barriers

Information

With Barrier

Information

1 M

- 46 dBm

Excellent

- 51 dBm

Good enough

5 M

- 47 dBm

Excellent

- 55 dBm

Good enough

10 M

- 51 dBm

Good

enough

- 59 dBm

Bad enough

15 M

- 55 dBm

Good

enough

- 61 dBm

Bad enough

20 M

- 60 dBm

Bad enough

- 65 dBm

Bad

25 M

- 75 dBm

Bad

- 83 dBm

Very bad

In Table 6 experiments were conducted six times with distances ranging from 1, 5,

10, 15, 20, and 25 meters with two scenarios namely without obstruction and with

obstruction obtained the best results at a distance of 1, and 5 meters with unobstructed

conditions obtained signals with strengths of -46, and -47 dBm (milliwatt decibels).

While the worst signal is obtained at the farthest distance of 25 meters with a barrier

obtained with a strength of -83 dBm (milliwatt decibels).

DC Motor Testing

Testing the condition of the DC motor is divided into two, namely the low

condition (0) when the DC motor is not moving and the high condition (1) when the DC

motor is active or moving (Bahari & Sugiharto, 2019). The voltage is measured on the

output and ground lines, the results of the DC motor test data are carried out four times

because the DC motor used is four pieces of DC motor capacity, the DC motor itself

works at a minimum voltage of 3V, while if you want to get the maximum rotation, the

DC motor must get an input voltage of 6V.

Pump and relay testing

Testing DC water pumps and relays aims to determine the performance condition

of the relay and whether it is working normally or not. The test is carried out by giving

commands on input signal 1 and off input signal 0 to turn on and off the relay so that it

can be seen whether the relay can work properly according to its function obtained test

results as seen in Table 7.

Table 7

Pump and Relay Testing

No.

Indicator

Input

Signal

Relay

Conditions

Water

Pump

Condition

Information

Bambang Dwinanto, Abdurrazaq Afiif Lubis, Mochammad Karjadi, Bambang Yulianto,

Bambang Harianto

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1120

Experiment

LOW

OFF

According

Conditions

HIGH

According

Conditions

Percobaan

LOW

OFF

According

Conditions

HIGH

According

Conditions

Percobaan

LOW

OFF

According

Conditions

HIGH

According

Conditions

In Table 7, after three experiments were carried out by adjusting the conditions of

the input signal on the relay, quite good results were obtained, namely, all experiments

got results that were by the conditions.

Conclusion

The results of system design testing show that after development with the addition

of the Internet of Things (IoT) system, the system becomes better and more accurate

compared to the previous version which relied on navigation from three ultrasonic

sensors. The WiFi connection distance emitted by ESP 32 CAM shows the best signal at

a distance of 1 meter without obstructions, with a signal strength of -46 dBm (Very

Good), while the worst signal occurs at a distance of 25 meters with obstructions, with a

signal strength of -75 dBm (Very Poor). Despite this, the robot can still be controlled

well at a distance of 15-20 meters with even barriers.

Prototype Smart Car Mecanum Wheel Fire Extinguisher Based On Esp 32 Cam With Bluetooth

Combination

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1121

Bibliography

Afriansyah, Aidil. (2022). Alat Pemantau Keamanan Rumah Berbasis Esp32-Cam.

Jurnal Teknologi Dan Sistem Tertanam, 3(2).

https://doi.org/10.33365/jtst.v3i2.2197

AKBAR, DANU. (2019). Pengaturan Kecepatan Pada Motor Brushless Dc (Bldc)

Menggunakan Pulse Width Modulation (Pwm). Unika Soegijapranata Semarang.

Amanatiadis, A. A., Georgiou, K., Doitsidis, L., Zinonos, Zinon, Chatzichristofis,

Savvas A., & Evripidou, S. (2020). Educational Robotics: Platforms,

Competitions and Expected Learning Outcomes.

Atzori, Luigi, Iera, Antonio, & Morabito, Giacomo. (2017). Understanding the Internet

of Things: definition, potentials, and societal role of a fast evolving paradigm. Ad

Hoc Networks, 56, 122–140. https://doi.org/10.1016/j.adhoc.2016.12.004

Azis, Nur, Pribadi, Gali, & Nurcahya, Manda Savitrie. (2020). Analisa dan Perancangan

Aplikasi Pembelajaran Bahasa Inggris Dasar Berbasis Android. IKRA-ITH

INFORMATIKA: Jurnal Komputer Dan Informatika, 4(3), 1–5.

Bahari, Widyatmoko Putra, & Sugiharto, Ari. (2019). Rancang Bangun Alat Pendeteksi

Kebakaran Berbasis Internet of Things (IoT). University of Technology

Yogyakarta.

Esario, Muhamad Ilham, & Yuhendri, Muldi. (2020). Kendali Kecepatan Motor DC

Menggunakan DC Chopper Satu Kuadran Berbasis Kontroller PI. JTEV (Jurnal

Teknik Elektro Dan Vokasional), 6(1), 296–305.

https://doi.org/10.24036/jtev.v6i1.108005

Fathoni, Fathoni. (2017). Rancangan Rangkaian H-Bridge Untuk Motor DC 12 V 5 A.

JURNAL ELTEK, 14(1), 67–79.

Fortna, Virginia Page. (2018). Peace time: Cease-fire agreements and the durability of

peace. Princeton University Press.

Hilal, Ahmad, & Manan, Saiful. (2015). Pemanfaatan Motor Servo Sebagai Penggerak

Cctv Untuk Melihat Alat-Alat Monitor Dan Kondisi Pasien Di Ruang Icu. Gema

Teknologi, 17(2).

Lee, In, & Lee, Kyoochun. (2015). The Internet of Things (IoT): Applications,

investments, and challenges for enterprises. Business Horizons, 58(4), 431–440.

https://doi.org/10.1016/j.bushor.2015.03.008

Suari, Muharmen. (2017). Pemanfatan arduino nano dalam perancangan media

pembelajaran fisika. Natural Science, 3(2), 474–480.

https://doi.org/10.15548/nsc.v3i2.443

Supriyanto, Yunus, Sufiyanto, Sufiyanto, & Kusnadi, Kusnadi. (2018). Desain

Bambang Dwinanto, Abdurrazaq Afiif Lubis, Mochammad Karjadi, Bambang Yulianto,

Bambang Harianto

Jurnal Indonesia Sosial Teknologi, Vol. 4, No. 8, August 2023 1122

Mecanum Wheel System Pada Kendaraan Robot Tempur Kota. Jurnal Teknik

Mesin Transmisi, 14(2), 306–313.

Yeo, Yee Jin, Balakrishnan, Arun Seeralan, Selvaperumal, Sathish Kumar, & Nor,

Illanur Muhaini Binti Mohd. (2022). Android Controlled Fire Fighter Robot Using

IoT. 2022 Sixth International Conference on I-SMAC (IoT in Social, Mobile,

Analytics and Cloud)(I-SMAC), 32–42. IEEE.

Yoski, Milfiga Septa, & Mukhaiyar, Riki. (2020). Prototipe Robot Pembersih Lantai

Berbasis Mikrokontroller dengan Sensor Ultrasonik. JTEIN: Jurnal Teknik

Elektro Indonesia, 1(2), 158–161. https://doi.org/10.24036/jtein.v1i2.67