Ilkogretim Online - Elementary Education Online, 2021; Vol 20 (Issue 3): pp.

4078-4084
http://ilkogretim-online.org
doi: 10.17051/ilkonline.2021.03.419

Python Program-Based Mobile Robot For Firefighting

Application
Vikas Tripathi Department of Computer Science & Engineering, Graphic Era Deemed
to be University, Dehradun, Uttarakhand India, 248002 vikashtripathi@geu.ac.in

Dibyahash Bordoloi Head of the Department, Department of Computer Science &

Engineering, Graphic Era Hill University, Dehradun, Uttarakhand India, 248002
dibyahashbordoloi@geu.ac.in

ABSTRACT

The most common and uncontrollable heavy loss that occurs in industries and many
places is the accident due to fire. In some cases, the latest technologies prevent most fire
accidents, like automatic fire extinguishers and water sprinklers. But still, there is no
direct source of fighting the fire when it emerges. Also, most fire accidents can be
prevented if a firefighter can extinguish the fire in the middle of the accidental areas. In
this research, a robot is designed which runs on the python program. The robot can
penetrate the fire and release the carbon-di-oxide, which can extinguish the fire. It detects
fire accidents at the early stage and avoids accidents. With the help of this robot, the
firefighting officer can fight against the fire and perform better to get rid of the fire. This
robot will help prevent fire at factories that occurs due to accidents.

Keywords: Robot, Python, Sensor, fire extinguishing.

1. Introduction

Prevention of fire accidents is a major important concern in recent days. The accidents
like fire in the industry can cost the lives of many living beings [1]. Also, the certificate of
International safety standards is ensured by following proper safety considerations in the
industry [2]. Fire accidents in the industry not only affect the industry but also damages
the entire surroundings of a few kilometres [3].

Recently, automation has played a major role in providing the proper safety aspects
in the industry [4]. Automatic temperature monitoring and taking the necessary actions
for controlling the temperature play a key role in the safety aspects of automation [5].
This sophisticated monitoring is achieved with the blessing of the Internet of Things
through the sensor [6]. With the sensors, the Robots are made to learn about the
environment and can take preventive action without a human interface [7]. The obstacle
in the robot's path is detected using the proximity sensor, and the program helps the
robot move in a collision-free path. In industry, mobile robots save the idle time of the
machinery and increase production time and cost [8]. Also, it reduces the workforce
needed for performing complex operations. Recently, these autonomous robots are
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employed to extingusish fire and improve the environment's safety [9]. In one research,
a robot is developed to create an alarm and move around the various sections in the
industry to communicate the fire accident.

In one research, a robot is operated using Bluetooth communication to reach the fire
location [10]. The drawback of the system is the limited operation of Bluetooth coverage.
The device effectively works within a 5-meter distance and is suitable for small
applications, but the system may fail to provide the service in a larger area [11].

Recently, the internet of things has been developed, which can help the robot move
automatically with the environment inputs about the environment. The surrounding
details are provided by using the sensors placed on the robot[1], [12], [13]. In one
research, an IOT-based fire signal is designed to notify the nearby police station and fire
service office about the details of the fire. The robot functions without human
involvement and is the achievement of the Internet of Things. In one research, fire
accidents are predicted to avoid huge losses by detecting the harmful gas present in the
environment. In this research, a robot is designed for fire extinguishing in industry. The
robot is programmed using python to vary the speed of rotation of the robot's wheels
[12]. The proposed robot has five characteristics: hardware layer, network
communication layer, sensor layer, application and infrastructural layer [14]. The major
objective of the robot is further represented in a bulletin below.

• Design and testing of an autonomous robot.

• Fire extinguishing uses the release of carbon dioxide gas into the atmosphere
• Helping the people at fire accidents.

The various sensors like gas, temperature and flame sensor, proximity, and Speed sensors
are embedded within the robot to make the robot function autonomous. The proposed
system works by input from the flame sensor. The information is sent to the Arduino
board when the flame sensor and temperature sensor detects the fire and raises the
temperature. The Arduino board sends the signal to the Raspberry Pi 4, and the python
command operates the robot from the computer. After reaching the spot, the motor
pumps the water and carbon dioxide gas is released to extinguish the fire.

2. System Architecture

The various temperature and flame sensors are placed at the various corners of the room
to detect the fire and the temperature rise. When the flame sensor detects the input, that
is when the fire is detected, the sensor communicates to the Ardunio processor using the
Wifi module. After receiving the signal, the Arduino board is communicated to the
Raspberry pi 4. The robot motor then activates the Raspberry pi. The Python program
establishes the signal to reach the particular location. During the robot's movement, if
there are any obstacles, it is detected by the IR sensor, and the robot moves in a way to
avoid collision. After reaching the location, the robot releases the water from the pump
and the carbon dioxide gas on the fire. In this way, the fire is eradicated. The working of
the entire proposed system is shown in figure 1 as a block diagram. During the robot, the
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instruction about the location and the temperature and flame intensity of the room is
monitored from the local computer. Also, the obstacles to reaching the location are
continuously monitored using the sensor on the computer.

Figure 1 working of the fire robot

3. Implementation and testing

The temperature and flame sensor nodes are placed at different locations inside the
room. The sensor transmits the signal to the Raspberry Pi 4 processor using the wifi
module. When the fire has been detected, the signal from the sensor is transmitted to the
Raspberry Pi. The robot is activated immediately to extinguish the fire within the signal
received.

3.1 Various hardware and software requirements are needed for the system

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Firefighting Application
 The hardware and sensor components used in the system are temperature and gas
sensors, an Arduino board, a Wifi module, Raspberry Pi 4, an IR sensor, a Servo motor for
the robot movement and cables. The Arduino controller's main function is transmitting
the sensor signal to the Raspberry Pi operating system. Figure 2 shows the fabricated
prototype of the mobile robot with the inbuilt processor. The power source of a 5V
rechargeable battery is attached to the robot. Figure 3 shows the sample python program
used to run the servo motor of the mobile robot.

Figure 2 Fabricated robot with the various components

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Firefighting Application
Figure 3 Python program for the operation of servo motor

The nodes of 10 temperature and flame sensors are placed in a room of 20*20 feet. The
signal from each sensor is transmitted continuously to the Arduino processor using the
Wifi module. After receiving the signal, Ardunio communicates to the Raspberry Pi 4 to
operate the servo motor using the python program (sample code shown in figure 3).

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Firefighting Application
The robot is directed to the particular location where the fire accident occurred using the
IR sensor as an input to detect the obstacle. After reaching the location, the high-
pressured carbon monoxide gas is delivered to the fire to extinguish. Along with the gas,
higher pressure water is transmitted to the accidental area to extinguish the fire. The
proposed robot is tested with the fire scenario and operates with higher efficiency.

CONCLUSION

In the present research, the fire accidental prevention robot is designed with a simple
circuit with higher efficiency. The various components used for the research are
temperature and gas sensors, an Arduino board, a Wifi module, Raspberry Pi 4, an IR
sensor, a Servo motor for the robot movement and cables. The robot is built and tested
with the components in the fire operating condition. The robot immediately responds to
the sensor input and reaches the location more accurately. This kind of simple robot is
useful in industries to avoid fire accidents. Integration of certain machine learning and
computational intelligence frameworks, as well as additional sensors, may be included in
future work to improve the system's performance accuracy. The use of machine learning
techniques to forecast fire accidents will greatly improve the effectiveness of this IoRT
system.

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