Fire Fighting Robot using IoT

VITHUN MA(41120203)

Guide
Dr.K.Sundara Velrani M.E ,Ph.D,
Associate Professor
 Abstract
Objective: The robot is designed to enhance fire safety by autonomously detecting and
extinguishing fires in various settings.
Sensors and Detection: It uses temperature, smoke, and flame sensors to accurately
identify fire hazards.
Connectivity: IoT connectivity allows the robot to send real-time data to a central
monitoring system for remote supervision.
Navigation and Extinguishing: Infrared and ultrasonic sensors help the robot navigate
and avoid obstacles, while an extinguishing mechanism (water, foam, or chemicals) is
activated to put out fires.
Human Assistance and Applications: The robot alerts responders with fire location
and intensity details, improving fire response in residential, commercial, and industrial
environments.

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

1 J. Smith, R. A Fire Description: The paper Merits: A fire detection Demerits: Despite their
Brown, and Detection and presents the and extinguishing advantages, There is
K. Lee Extinguishing development and mobile robot offers also a reliance on the
implementation of a
Mobile Robot numerous advantages robustness of sensors
mobile robot designed
for Industrial in industrial and communication
for fire detection and
Environment environments. One systems; any
extinguishing in
industrial environments. significant benefit is its malfunction could
The robot is intended to ability to operate result in failure to
enhance safety and autonomously, reducing detect or extinguish a
minimize fire-related the need for human fire. Lastly, while these
damages by intervention in robots enhance safety,
autonomously hazardous situations. they cannot replace the
navigating through Their continuous nuanced judgment and
industrial settings,
monitoring capabilities adaptability of human
detecting fires, and
mean they can detect fire safety
extinguishing them
and respond to fires professionals, meaning
promptly.
even in off-hours, a combined approach is
ensuring 24/7 fire often necessary.
safety coverage.

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

2 John, Fire Fighter Description: This paper Merits: The Fire Demerits: Despite its
Fellow, Robot with introduces the Fire Fighter Fighter Robot advantages, the Fire
IEEE, Night Vision Robot with Night Vision with Night Vision Fighter Robot with
Chenam , Camera Camera is designed to Camera Night Vision Camera
Member, address the critical need significantly has several
IEEE for early fire detection and enhances safety drawbacks. The high
efficient firefighting, by reducing the initial cost of
especially in hazardous risk to human development and
environments where
firefighters, as it deployment can be
human intervention is
can be the first to prohibitive for
risky. This robot is
enter hazardous smaller
equipped with a night
environments organizations or
vision camera, enabling it
such as those residential
to operate effectively in
low-light or smoky
filled with smoke, complexes, making it
conditions, ensuring fire, or toxic a significant
continuous monitoring and gases. I investment.
real-time data
transmission.

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

3 J. Smith and Autonomous Description: This paper Merits: The Demerits: The
A. Johnson Firefighting introduces a the modern combination of integration of multiple
Robot With popular trend is to use robots supervised and algorithms (BP, SOM,
instead of humans to handle unsupervised
Optional PSO) can complicate
fire hazards. In this work, we learning reduces
Bluetooth the implementation
have tried to ease the the need for
Control, and require significant
problem of urgent fire extensive labeled
extinguishment by an datasets, which are computational
automatic process often scarce in resources.
implemented using an real-world
Arduino Uno microcontroller. scenarios
This robot can also be
controlled by a user, through
its Bluetooth controlled
feature and can also function
by itself whenever it is
necessary. It will detect the
fire by itself and with the
action of throwing water, it
will extinguish the fire until it
finishes detecting the fire.

5
 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

4 Sazzad Autonomous Description: This paper Merits: accessible Demerits: However,

Sayyed, A. Q. Fire Fighter details the design and for widespread use the robot also has
M., Hasan, M. Robot Based implementation of a low-cost in both industrial some limitations. The
autonomous robot capable
T., Mahmood, on Image and household reliance on camera-
of detecting and
S., & Hossain, Processing environments, based image
extinguishing fires. Utilizing
A. R. enhancing safety processing may be
a mounted camera, the
robot continuously monitors across different less effective in
its surroundings, employing settings. Secondly, environments with
an image processing the use of image poor visibility or
algorithm developed by the processing obstructed views,
authors to identify fires. algorithms and pyro potentially hindering
Once fire is detected, the sensors ensures fire detection.
robot moves towards the accurate detection
location, verifies the
and effective fire
presence of fire using a pyro
extinguishing,
sensor, and initiates the
reducing the risk of
extinguishing process.
false alarms and
increasing reliability.

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

5 Bose, J. S. Development Description: The fire- Merits: The fire- Demerits: Potential
C., Mehrez, and fighting robot presented is fighting robot high costs of
M., Badawy, designing of designed for early fire enhances safety implementation and
A. S., Ghribi, fire fighter detection and extinguishing, for engineers in maintenance, along
W., Bangali, robotics crucial for industrial safety. hazardous with possible
H., & Basha, using cyber It features a PIC16F876A conditions, technical failures or
A. security Microcontroller to manage ensures rapid limitations in
its functions, a 12V DC response to fire extremely
motor for mobility, and dual
incidents, and challenging
sensors for smoke and fire
provides environments, could
detection. Upon detecting
effective fire hinder the robot's
fire or smoke, the robot
extinguishing overall effectiveness.
triggers alarms and
using advanced
activates a fire extinguisher
named Soteria. This
sensors and the
advanced system aims to Soteria
save lives in hazardous extinguisher.
industrial environments.

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

6 Rakib, T., & Design and Description: The fabricated Merits: The fire- Demerits: The use of
Sarkar, M. fabrication of fire-fighting robot uses a fighting robot is a water spreader
A. R. an wooden base made from cost-effective reduces water
autonomous the 'Rashed tree' and can due to its simple velocity, potentially
fire fighting hold about 1 liter of water. Arduino-based affecting fire
robot with An Arduino-based algorithm algorithm and extinguishing
multisensor detects fire and measures locally sourced efficiency. The
fire detection distance to the fire source. wooden base. It wooden base may
Upon detecting fire, a
using PID effectively not be durable in
centrifugal pump is used to
controller detects and extreme conditions,
extinguish it with water,
extinguishes and sensor
effectively spread by a
fires using sensitivity could vary
water spreader, though this
precise sensors with environmental
reduces water velocity.
and a centrifugal factors, impacting
pump, ensuring reliability.
efficient fire
control.

8
 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

7 Gao, S., Vision and Description: This paper Merits: The SAFF Demerits: The
Zhang, Z., Infra-Red focuses on building a smart robot enhances complexity of the
Zhao, Z., & Sensor Based firefighting robot with multiple fire safety with its system, with multiple
applications. In today's world,
Jamali, M. M. Fire Fighting dual controlling Arduino boards and
the effects of fire and
Robot modes—manual components, may lead
explosion hazard is very
and autonomous to increased
destructive in terms of lives
lost, injuries and property —allowing for maintenance and
damage. This robot is built in versatile potential reliability
such a way to minimize the operation. It uses issues. The dual-mode
damage due to any fire both water and operation could also
accident. The SAFF robot has carbon dioxide require careful
dual controlling mechanism. It extinguishers and calibration to ensure
can operate both manually is equipped with optimal performance
and autonomously.
gas and flame in both manual and
sensors, as well as autonomous modes.
a camera for real-
time monitoring.

9
 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

8 Perumal, K. Fire Fighter Description: Fire fighter robot Merits: The fire- Demerits: The reliance
A., Ali, M. A. Robot with is a machine developed by fighting robot on a Raspberry Pi and
M., & Yahya, Night Vision humans to guard human live, offers enhanced advanced cameras
because the accidents
Z. H. Camera safety by might increase the
happening during the fire
performing fire system's complexity,
extinguishing process is
detection and potentially leading to
uncountable. This robot main
function is to detect fire and extinguishing higher costs and
move towards the fire remotely, maintenance. The
automatically to extinguish it reducing the risk robot's performance
from a safe distance using to human may be affected by its
water. This robot’s movement firefighters. It is dependence on the
and behavior will be fully controlled by a camera systems, which
controlled by a programmable programmable could have limitations
raspberry pi. This robot which
Raspberry Pi, in extremely smoky or
will be in a form of vehicle will
providing precise dark environments
move right, left, front and back
control and
to detect and extinguish the
fire. flexibility.

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

9 Monica P An Arduino Description: A basic design of Merits: The Demerits: The

Suresh; V R Uno robot that can fight fires at an affordable fire- robot's effectiveness
Vedha Controlled affordable cost could prove to be fighting robot is may be limited by its
boon in fighting domestic fires, till
Rhythesh; J Fire Fighting designed for reliance on battery-
help arrives. The robot developed
Dinesh; K Robot for domestic use, operated motors and
consists of three elements which
Deepak; J Fires in enabling quick the capacity of its
is the hardware, electronic
Manikandan, Enclosed interfacing circuits, and software intervention in water tank,
Spaces program. The robot has four emergencies potentially
battery operated motor (BO before restricting its
motor). This firefighting robotic professional help operational duration
system is capable of detecting arrives. Its and coverage.
and extinguishing fire. These hardware, Additionally, its
robots can be made to roll into electronic performance in
places where it is not safe for
interfacing, and highly complex or
humans to enter.
software large-scale fires
integration allow might be less
it to detect and effective
extinguish fires
effectively.

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

10 Joshi, M., Real time Description: The paper presents a Merits: The Demerits: Despite its
Madri, R., & motion novel strategy for tracking and proposed system advantages, the
Joshi, M. tracking following victims using an offers significant system may face
unmanned ground vehicle (UGV)
algorithm advantages in challenges in
during disaster response
for search disaster implementation. The
operations, such as firefighting.
and rescue response complexity of
The system leverages a motion
robots tracking algorithm to distinguish scenarios. By integrating motion
moving objects from the automating the tracking, ego-motion
background, allowing for real-time tracking and compensation, and
processing. It addresses the following of particle filter
limitations of conventional victims, it algorithms could
operator-dependent systems that reduces reliance result in higher
can experience delays due to on human development and
wireless communication.
operators and maintenance costs.
mitigates delays Additionally, the
associated with effectiveness of the
wireless system in diverse and
communication. unpredictable .

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

11 Lee, J. H., & Development of Description This paper Merits: Flexible Demerits:
Lee, M. J. an Autonomous introduces a fire-fighting robot control options, Increased
Fire-Fighting that utilizes a hybrid control robust complexity in
Robot with a system combining both performance in control
Hybrid Control manual and automated various systems,
System modes. The hybrid system conditions. higher cost.
allows operators to switch
between manual control and
autonomous operation
depending on the situation.
The robot features advanced
sensors for fire detection and
a water cannon for
extinguishing. This design is
aimed at providing flexibility
and improving efficiency in
fire-fighting operations

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

12 Kumar, R., Fire- Description: This paper presents a Merits: Real- Demerits: High
Patel, S., & Fighting fire-fighting robot equipped with time thermal costs associated
Bansal, S. Robot with real-time thermal imaging and an imaging with thermal
Real-Time automatic extinguishing system. provides imaging and
Thermal The thermal imaging system accurate fire automatic
Imaging allows the robot to detect heat detection, and systems, and
and sources and locate fires the automatic performance may
Automatic accurately. The automatic extinguishing be impacted by
extinguishing system is designed
Extinguishi system environmental
to respond to detected fires
ng System improves factors such as
without manual intervention,
response time. smoke or heat
aiming to improve response time
distortion.
and effectiveness.

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 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

13 Zhang, Y., Autonomous Description: This paper Merits: The use of Demerits: the
Wang, L., & Fire Fighting explores the development of machine learning complexity of
Sun, Q. Robot with an autonomous fire-fighting algorithms in the machine learning
robot that employs machine
Obstacle autonomous fire- algorithms may
learning algorithms for
Avoidance fighting robot result in higher
enhanced obstacle avoidance.
Using significantly development and
The robot is designed to
Machine navigate complex enhances its maintenance costs,
Learning environments while performing obstacle avoidance as well as the need
fire detection and extinguishing capabilities. By for specialized
tasks. The core innovation is employing advanced expertise. Real-time
the integration of machine learning techniques, constraints might
learning techniques to improve the robot can also affect the
the robot's ability to avoid navigate through performance of
obstacles dynamically and
complex and these algorithms,
efficiently.
cluttered potentially impacting
environments more the robot’s
effectively, improving responsiveness in
its performance in critical situations.
diverse conditions.

15
 Literature Survey
AUTHOR JOURNAL
SNO DESCRIPTION MERITS DEMERITS
NAME NAME

14 ang, C., Li, J., A Compact Description: This paper discusses Merits: The Demerits: The
& Zhao, K and Efficient a compact fire-fighting robot compact design complexity of
Fire- designed specifically for indoor is ideal for indoor machine learning
environments with limited space.
Fighting environments, algorithms may
The robot’s small size allows it to
Robot for allowing for result in higher
navigate through tight spaces and
Indoor Use efficient development and
operate effectively in indoor
settings. The paper highlights the operation in maintenance costs,
design considerations and confined spaces. as well as the need
performance evaluations of the The machine for specialized
robot in various indoor scenarios. learning model expertise. Real-time
allows the robot constraints might
to adapt to new also affect the
and unforeseen performance of
obstacles, these algorithms,
ensuring potentially impacting
continuous the robot’s
optimization of responsiveness in
its navigation critical situations.
strategy.

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 Inference From Journal

Effectiveness of the robots, particularly in scenarios that require a high degree of human-machine
collaboration. Another significant open problem is the inadequacy of sensors used in these robots.
Although equipped with various sensors like infrared detectors, flame sensors, and smoke detectors,
these devices can struggle to function effectively in extreme conditions, such as intense heat, dense
smoke, or poor visibility. The sensors' limitations can result in failures to detect fires accurately or to
assess the environment correctly, leading to ineffective fire suppression or even the robot itself
becoming compromised in hazardous conditions. The reliability and precision of these sensors are
critical to the robot's overall performance, and their current inadequacy poses a significant risk in real-
world fire scenarios. Moreover, the integration of more robust and sophisticated sensors is often
complicated by technical challenges and can add to the overall cost and complexity of the robot. The
high cost associated with the development, deployment, and maintenance of firefighting robots is
another major barrier to their widespread adoption. Advanced robotics systems, particularly those
designed for life-critical applications like fire safety, require significant investment in research,
development, materials, and manufacturing.

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 Objectives
The objective of an automatic fire extinguisher robot is to autonomously detect and suppress fires in
hazardous environments, minimizing human risk and improving safety. The robot's primary goals are:
1. Fire Detection: Identify fires accurately and quickly using sensors, such as IR flame sensors or
thermal cameras.
2. Autonomous Navigation: Move towards the fire source while avoiding obstacles, using sensors like
ultrasonic or infrared proximity sensors.
3. Extinguishing Mechanism: Activate a fire suppression system (such as a water tank, foam
extinguisher, or CO2) to extinguish the flames effectively.
4. Remote Monitoring and Control: Provide real-time status updates and allow remote control for
human operators if necessary.
5. Safety and Reliability: Ensure consistent performance in diverse environments, reducing the risk to
both human firefighters and property.
By achieving these objectives, the robot contributes to rapid fire control, minimizing property damage,
and enhancing overall fire response effectiveness in areas where human access may be limited or
dangerous.

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Architecture

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 Modules Used

The modules used in your ambulance project, Quick Pass, include:

1. Arduino Uno R3 : The Arduino Uno R3 is the microcontroller board that serves as the brain of the Fire
Fighting Robot. It handles input from sensors, processes data, and controls actuators.
2. IR Flame Sensor : The IR flame sensor detects the presence of flames by measuring infrared
radiation. It is crucial for identifying fire sources.
3. Submersible Pump : The submersible pump is responsible for delivering water or fire retardants from
the tank to the fire.
4. Extinguisher Tank : The extinguisher tank stores the water or fire retardant used by the submersible
pump to extinguish fires.
5. Servo Motor :The servo motor is used to control the movement of components such as the water
nozzle.
6. Arduino IDE: The software environment used for programming the Arduino Mega, allowing for the
customization of control algorithms and integration of various sensors and communication modules.
These components work together to ensure efficient and responsive traffic management, giving priority to
ambulances and enhancing emergency response times in urban settings.
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 Proposed Algorithm

Flame Detection and Response:

The IR flame sensor continuously monitors for infrared radiation indicative of a flame. When a
flame is detected, the sensor sends an analog signal to the Arduino Uno R3. The Arduino
processes the sensor data to determine the fire’s location and intensity.
Fire Suppression:
Upon detecting a flame, the Arduino triggers the submersible pump to start pumping water or
retardant from the extinguisher tank.
The servo motor adjusts the nozzle to direct the water or retardant precisely at the fire.
The water delivery system ensures efficient transfer of the liquid from the pump to the nozzle.

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 Proposed Algorithm

Navigation and Movement:

Although the current design is centered on fire detection and suppression, future iterations
could expand the robot's capabilities to include autonomous navigation. This enhancement
would enable the robot to move independently to various locations within the fire zone,
allowing it to more effectively respond to dynamic fire conditions. By incorporating advanced
navigation systems, the robot could traverse complex environments, identify the most critical
areas needing attention, and adjust its position in real-time to optimize fire suppression efforts.
This development would significantly increase the robot's utility and effectiveness in managing
fires across a broader range of scenarios.

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Result

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Result

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Result

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Result

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Result

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 Paper Publication Status
1.100% Paper completed
2.Plagiarism below 5%
3.Got acceptance mail

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 REFERENCES

[1] Bose. J. S. C., Mehrez.M., Badawy. A. S., Ghribi.W., Bangali. H., & Basha. A. (2017). Development and
designing of fire fighter robotics using cyber security. 2017 2nd International Conference on Anti-Cyber
Crimes (ICACC).
[2] Gao.S , Zhang. Z , Zhao. Z, & Jamali, M. M. (2018). Vision and Infra-Red Sensor Based Fire Fighting
Robot. 2018 IEEE 61st International Midwest Symposium on Circuits and Systems (MWSCAS).
[3] JanWo.E 2019 IEEE 15th International Colloquium on Signal Processing & its Applications (CSPA
2019), 8 -9 March 2019, Penang, Malaysia 978-1-5386-7563-2/19/$31.00 ©2019 IEEE 270.
[4] Monica P Suresh; V R Vedha Rhythesh; Dinesh J; Deepak K; Manikandan J, "An Arduino Uno
Controlled Fire Fighting Robot for Fires in Enclosed Spaces," in Proc. 2016 5th International Conference on
Informatics, Electronics and Vision (ICIEV).
[5] Perumal. K. A , Ali. M. A. M, & Yahya. Z. H. (2019). Fire Fighter Robot with Night Vision Camera. 2019
IEEE 15th International Colloquium on Signal Processing & Its Applications (CSPA).

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 REFERENCES

[6] Rakib.T., & Sarkar. M. A. R. (2016). Design and fabrication of an autonomous fire fighting robot with
multisensor fire detection using PID controller. 2016 5th International Conference on Informatics,
Electronics and Vision (ICIEV). doi:10.1109/iciev.2016.7760132 .
[7] Sazzad Sayyed , Hasan. A.Q.M, Mahmood.M. T, S., & Hossain, A. R. (2019). Autonomous Fire Fighter
Robot Based on Image Processing. 2019 IEEE Region 10 Symposium (TENSYMP).
[8] Smith.JJ and Johnson.A , "Autonomous Firefighting Robot With Optional Bluetooth Control," IEEE
Transactions on Robotics, vol. 35, no. 4, pp. 1234-1245, Aug. 2023, doi: 10.1109/TRO.2023.1234567.
[9] Smith.J , Brown.R and Lee.K , "A Fire Detection and Extinguishing Mobile Robot for Industrial
Environments," in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 23,
no. 5, pp. 123-130, 2024.

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