Fire Detection and Rescuing Robot using IoT

ABSTRACT
Robots are the machine developed by humans to guard human live, because the accidents
happening during the fire extinguishing process is uncountable. This robot main function is to
detect fire and move towards the fire automatically to extinguish it from a safe distance using
water. This robot’s movement and behavior will be fully controlled by a programmable raspberry
pi. This robot which will be in a form of vehicle will move right, left, front and back to detect
and extinguish the fire. It also has an infrared camera mounted over it and also a pick and place
arm. By designing and implementing an autonomous robot capable of detecting and
extinguishing flames, disasters can be avoided with minimal risk to human life.

INRODUCTION
A robot for fire detecting and/or search and rescue needs to move fast while searching
wide area. To detect fire and flame, there were several methods. The basic and simple methods
utilize flame detectors based on the measurement of the range of flame radiation. There are also
smoke detectors as well as gas detectors. These are usually cheap and stationary solution for fire
detection. Now a day, with the advance in IT, the distributed fiber optic temperature sensor is
widely used to detect fire. However, these techniques require the preinstalled sensors and it costs
too much to cover large area.

However, it is not only inefficient in practical scenarios, but in some cases, it is possible
to further inflame the fire. The use of water or other flame retardant liquid to extinguish the fire
is used in real life scenario and have also been used in this work. The water spray firefighting
robot will require precise localization of the fire and placement of robotic arm. In order to
compensate for the positioning error caused by tracking and stopping, this work incorporates the
arm above the smart car, winding the arm around the pipe, and installing the nozzle at the arm
end, so as to expand the work area by swinging the arm during the firefighting operation.
 The development and conduct of this robot is completely controlled by the programmable
raspberry pi. All types of flag gotten by the raspberry pi will be prepared and executed to achieve
the mission of the robot. Robot will screen the work zone by performing arbitrary developments;
it as an elective medium utilized by people, particularly the fire fighter to battle fire. The vehicle
comprises of a water tank alongside a siphon which can toss water when required. The raspberry
pi in the wake of accepting info directions, works the engines through a driver IC for vehicle
developments. This robot body as an infrared camera mounted over it to provide night vision
imaging which can do live recording of the extinguishing and also a pick and place arm for
removal of an object in front of it for making the path clear for the robot moment and helping
others in the fire place. This is on the grounds that whatever zone that will be caught by this
camera can be seen in the PC for reference which gives a sign in framework too.

There were 3 problems that was identified, first problem is high risk life of firemen which
is vulnerable to death because of their daily routine job. The second problem is that, the time
factor of how long does a manual firemen system works and how draggy the incident take place.
The last problem is temperature level of fire which is past the limit of human senses temperature.
In this we are discussing the respective objectives for the problem stated above the first objective
is to make utilization of robots is one of the elective routes for decreasing fire fighter’s hazardous
life and upgrading fire fighter’s abilities. The second objective is to caution through the
generation of firefighting robot, the time can be diminished putting the robot in a high-hazard
region of flame. The last objective is to decide the robot is fit doing its activity in the zone that
hazardous which is high at temperature.

LITERATURE SURVEY
The current situation statics based on paper about the review products, journal, website
and etc are Firefighting and save action are viewed as unsafe mission. They are a perfect focus
for robot innovation to ward off flame warriors from risk. Besides, it makes conceivable to save
significantly more unfortunate casualties. Some fire offices have effectively created and
conveyed firefighting and save robots. In any case, the execution of the robots isn't sufficient.
They consider and analyzes them from two points of view: "size and weight" and "cost and
execution" Firefighting is an important job but it is very dangerous occupation. Because of that,
Robots are intended to discover a fire, before it seethes crazy. It could be utilized to work with
flame contenders to decrease the danger of damage to exploited people.

Robotics motion control can be divided into two categories sensor based system and
vision based system. The Sensor-based system will be controlled by the feedback from the
different sensors such as obstacle sensor, IR sensors, flame sensor etc., while vision based
system uses the cameras and the image processing techniques to find the target position.
Firefighting robot is designed to be an unnamed ground vehicle, implemented for finding and
fighting the fire. Few types of robot’s vehicles are fighting the home fire and fighting forest fires.
The fire event may involve more dangerous in life. One of the most important systems in the fire
detection function system is an intelligent home. The system can have designed an intelligent
multisensory based security that contains a firefighting robot in our daily life. Security and
Firefighting advanced robot which is used in the UK is very low in cost and have high
performance of detecting fire and extinguishing them. For the novel fire around the surroundings
using image processing and device controlling algorithms to detecting fire fatly and accurately.
In present days’ problem of safety on road and railways tunnels considered to more risk
connected to fires, this robotic system can be installed on the existing tunnels without requiring
significant modifications of the existing infrastructures. The designing of an autonomous mobile
robot that navigates through a maze searching for a fire in a room (burning candle), it detects the
candle's flame through sensors, and then extinguishes the flame, and returns to a starting location
of the maze. This fire-fighting design interdisciplinary design in colleges. Using Fire
extinguisher with gas such as CO2 and N2 has advantages compared ones with water. For
example, they provide electrical insulation, they avoid water damages to constructions, electrical
equipment’s, paper materials, etc., it may useful in spaces hidden from extinguishers. In this
robotic system, obstacle avoidance and detection using ultrasonic sensors in large fire fields
under large smoke at higher temperature situations, the transducer, anti-jamming processing is
designed. In, authors proposed a PID controller based on back-propagation (BP) neural networks
which are used only in PID controller. To reduce the error rate parameters of PID controller are
adjusted concurrently in real time. In an intellectual PID control, which determines system
dynamics and states using error and error rate information as an input of the controller, of the
robotic system. The ‘size and weight’ and ‘cost and performance’ of firefighting robots are
problems in present conditions. In this paper, we are designing a firefighting robot with obstacle
avoidance and detecting the fire flame and extinguishing the flame.

PROBLEM STATEMENT
Identifying the presence of fire in the surrounding and Extinguishing the fire with the
means of water or by a fire extinguisher, this would be the primary measure taken whenever their
would be an accidental fire. In our proposed project along with this feature we are adding up Co2
sensor for the prior detection for occurrence of fire and also integrating a pick and place arm for
picking up an obstacle blocking the way or any other useful purpose. After detection of the fire at
place it would send a message to the local fire substation alerting of fire at that particular
location. We are also integrating IR camera for the model.

METHODLOGY

Block diagram

Power Supply

Fire sensor DC motor

Water pump
Smoke/Gas motor
sensor

RaspberryPi
Ultrasonic Robotic arm
sensor

IR camera
HARDWARE AND SOFTWARE REQUIREMENT
Software:
 Python
 Blynk

Hardware:
 Raspberry Pi
 Gas sensor
 Flame/Fire sensor
 Ultrasonic sensor
 Pump motor
 Robotic Arm
 DC motors
 IR Camera

REFERENCES
[1] Yin-tang NI, Di-yang LV,Zhen-hao WANG. Summary and Prospect of Research Status of
Fire Fighting Robots[J]. Automated Application,2017,2:28-29.

[2] Wen-liang PEI, Wen-tao LU,Yin-yan GUO, et al. Development and Application of
Explosion-proof Fire Special robot[J]. Manufacturing Automation,2017,39(7):58-60.

[3] Lian-wei XU,Chong-yu WEI. Design and Implementation of Fire Robot Walking Control
System[J]. Computer Measurement and Control, 2017,25(1):66-69.

[4] J. Suresh, "Fire-fighting robot," 2017 International Conference on Computational Intelligence

[5] Chen MengYuan, “The SLAM Algorithm for Multiple Robots based on Parameter
estimation," Intelligent Automation and Soft Computing, vol. 24,no.3, pp. 593-602, 2018.

[6] Sherstjuk V, Zharikova M, Sokol I. “Forest Fire Monitoring System Based on UAV team,
Remote Sensing, and Image Processing, " 2nd IEEE International Conference on Data Stream
Mining and Processing (DSMP), pp. 590-594, 2018