2019 2nd International Conference on Intelligent Communication and Computational Techniques (ICCT)

Manipal University Jaipur, Sep 28-29, 2019

Autonomous Fire Detecting and Extinguishing

Robot
Mukul Diwanji [1] Saurabh Hisvankar [2] Chhaya Khandelwal [3]
Student, Third Year B.Tech., Student, Third Year B.Tech., Assistant Professor,
Department of Electronics and Department of Electronics and Department of Electronics and
Telecommunication Telecommunication Telecommunication
MGM’s Jawaharlal Nehru Engineering MGM’s Jawaharlal Nehru Engineering MGM’s Jawaharlal Nehru Engineering
College College College
Aurangabad, Maharashtra, India Aurangabad, Maharashtra, India Aurangabad, Maharashtra, India
mukul3140@gmail.com hisvankars@gmail.com chhaya.khandelwal@rediffmail.com

Abstract— This paper examines and leverages the potential of
automation in hazardous but important occupation as
firefighting. Robots are designed to find the location of fire,
before it goes out of control. It could be used to work with fire
fighters to reduce the risk of injury to victims. This paper
presents the Fire Fighting Robot. The development of robot is
divided into three elements which is the hardware, electronic,
and programming. The robot has two DC motors for driving
system and castor wheel for giving direction. A 12 Volt DC
pump for suction and spraying of water. Servo Motor (SG90)
for axial spraying of water.(0 degrees to 60 degrees)Various
sensors are also interfaced with Arduino Uno Board. For the
programming part, Arduino IDE language was used to
determine the robot movement from the sensors input.
Keywords—Arduino, Robot, Flame Sensor
I. INTRODUCTION
Autonomous Fire Detecting and Extinguishing Robot is
developed to be a human intervention-less assistance to the
work of searching and extinguishing fire [4]. There are
several fire fighting systems available for firefighting at
residential areas and extinguishing forest blazes. Our
proposed system is a small robot which can be used to
control the fire from spreading the initial stage of an
incident of fire. By using such robots the work of fire
detection and extinguishing missions can be carried out
without placing the life of fire fighters at a stake and
dangerous conditions. In addition to this, small size and
autonomous control enables the robot to be used when fire
occurs in small and narrow spaces with hazardous
environment which are difficult to be accessed by humans.
Moreover, this robot can increase the capacity, security,
workability, effectiveness and quality of the task of
firefighting.
A. Literature Survey
Fire is defined as the possibility of an unwanted hazard
which can cause potential loss of life and property [9]. This
project is an Autonomous Fire Detecting and Extinguishing
Robot without user intervention and it is designed and
implemented using ATMEGA 16 Microcontroller (MCU)
[10]. Under the mighty ruler of Rome Augustus the first
formal firefighting began. Since then it has continuously
evolved. Earliest recorded are the usage of the fire
extinguisher pump. Then came the German invention of first
force and suction pump. Since then we have moved a lot.
Now a days trucks and vans are used to extinguish fire along
with CO2 cylinders. Automatic Firefighting system is also
in place in modern day architecture comprising of smoke
detectors, sprinklers and sensors. The role of the firefighter
is to control fire and safely douse the fire, obstructing
further damage and rescue victims to a safer location from
the hazard. Technology has made it possible to design
simple and efficient fire fighting systems. Modern
firefighting systems use inert gases such as Nitrogen with
water mist to extinguish fire [8]. Robots were designed to
locate a fire, before it creates havocs. [5]. Robots have
attained immense popularity due to progress in the fields of
computing and nano technologies [10]. The robots have
potential to prevent human loss of life. After studying the
existing fire fighting systems, this system is proposed to
control the fire at the earliest before the help arrives and the
fire rages out of control.
B. Materials Used
1. Arduino Uno board
2. IR based Flame Sensors (Three units)
3. (SG90)Servo Motor
4. Motor Driver L293D
5. Robot Chasis of Metal
6. Breadboard
7. DC Motors (Two units)
8. Wheels (Two units)
9. Castor Wheel
10. 12V DC Pump
11. 5V Relay
12. 4V 1.5Ah Lead Acid Battery
13. Switch and Connecting wires
14. Container for keeping Water
15. Silicon pipe for water delivery
II. METHODOLOGY USED
The methodology can be divided into three parts namely
mechanical structure, hardware and programming [3].
A. Mechanical Structure
For giving a strong base to the robot, a metallic robot
chasis is preferred. There are two wheels on the rear side of
the robot and a castor wheel on the front side. The castor
wheel enables 360 degrees of mobility to the robot. The
body of the robot can be made of acrylic sheets which can

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be resistant to high temperatures. This body is used to
protect the internal electronic circuitry from the external
factors such as heat, and mechanical jerks [7].
The flame sensors are installed on the front side of the
robot for detecting of fire. The water container is placed on
the middle of the chasis to maintain the centre of gravity in
the centre and hence prevent the robot from toppling.
B. Hardware
The hardware used is Arduino UNO board, L293D
Motor Driver Module, DC geared motors, 12V DC pump,
5V Relay Module, Servo Motor SG90, IR based Flame
Sensors, 5V DC Jack, 9V battery, 4V 1.4 Ah Lead Acid
battery.
C. Programming
For programming the control of the robot for mobility
and fire detection and extinguishing, Arduino IDE is used.
The Algorithm for the source code is given below
III. BLOCK DIAGRAM AND EXPLANATION
Fig. 1. Block Diagram
The above shown is the block diagram for the
Autonomous Fire Detecting and Extinguishing Robot. Three
flame sensors namely left flame sensor, right flame sensor
and centre flame sensor are interfaced with the Arduino Uno
board as the input components [1]. L293D motor driver
module is used for driving the two geared DC motors
namely the Left DC Motor and the Right DC Motor. These
motors are used to give direction to the robot according to
the fire i.e. the input received from the flame sensors. The
12V DC Pump driven by an external battery through a 5V
Relay Module is used to extinguish fire. A servo motor
(SG90) is used to give axial direction to spray the water on
fire.
The Arduino Uno board is powered by a 5V DC jack or
6V battery. The Motor Driver Module is powered by 4V,
1.5 Ah Lead Acid battery. The 12v DC water pump is
powered by a 9V battery through a 5V Relay Module. The
servo motor SG90 is powered by the Arduino UNO board.
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A. Circuit Description
Fig. 2. Circuit Description
All the three flame sensors namely the left flame sensor,
right flame sensor and centre flame sensor and the servo
motor are given Vcc and Gnd commonly through a small
breadboard. The input pins of the all the three flame sensors
are connected to the Digital Pins of the arduino uno board
(any pins from 0 to 13). The PWM pin of the Servo Motor
SG90 is also connected to one of the digital pins. The pins
IN1, IN2, IN3 and IN4 respectively of the L293D Motor
Driver Module are also connected to the digital pins. The
OUT1, OUT2, OUT3 and OUT4 pins of the Motor Driver
Module are connected to the Left and the Right DC motor
respectively.
The 4V 1.5Ah Lead Acid is connected to the power
terminals of the Motor Driver Module. The coil terminals of
the 5V Relay Module are connected to a 9V battery. The
12V DC Pump is connected to the Normally Open (NO)
terminal of the relay. The common terminal of the relay is
connected to the digital pin of the arduino UNO board to
give excitation to the relay.
IV. ALGORITHM
Following steps are followed for the programming of the
robot to detect and extinguish fire.
1. Start
2. Read the Inputs from the Flame Sensors
3. If no flame is detected, proceed forward (both the
motors on)
4. If flame is detected by the right sensor, the move
right and stop at a certain distance and start DC
Pump and Servo motor. (right motor off, left motor
on)
5. If flame is detected by the left sensor, the move left
and stop at a certain distance and start DC Pump
and Servo motor. (left motor off, right motor on)
6. If flame is detected by the central sensor, the move
forward and stop at a certain distance and start DC
Pump and Servo motor. (both the motors on)
7. Stop
V. WORKING CONCEPT
The vital component of this robot is the Arduino Uno
board, but for sensing the fire we use the Fire sensor
module (flame sensor) that is shown below.

Fig. 3. Fire Sensor Module
As seen these sensors have an IR Receiver
(Photodiode) which is used to detect the fire. The fire emits
some Infrared light rays, this light rays are absorbed by the
IR receiver on the module. Op-Amp is used to check for
variation in voltage across the IR Receiver, so that if a fire
is detected the output pin will give 0V(LOW) and if no fire
then output pin will be 5V(HIGH).
For better detection of fire and better mobility of the
robot, three flame sensors are placed on the robot chasis.
A. Working
When the robot is switched on, it starts moving in the
forward direction with both the motors in ON condition. In
this case, no fire is detected by the flame sensors. Hence the
water pump and the servo motor both remains OFF.
When the fire is detected by the central flame sensor, the
robot slows down, moves a certain distance forward with
both the motors ON and then stops at a certain distance.
Then the water pump is switched ON and the servo motor is
also switched ON. Thus the water is uniformly sprayed onto
the flames until the flame is extinguished. Once the flame is
extinguished, both the water pump and the servo motor are
switched OFF and the robot again starts to proceed forward.
When the fire is detected by the left flame sensor, the
robot slows down, moves a certain distance towards left
with the right motor ON and the left motor OFF and then
stops at a certain distance. Then the water pump is switched
ON and the servo motor is also switched ON. Thus the
water is uniformly sprayed onto the flames until the flame is
extinguished. Once the flame is extinguished, both the water
pump and the servo motor are switched OFF and the robot
again starts to proceed forward.
When the fire is detected by the right flame sensor, the
robot slows down, moves a certain distance towards left
with the right motor OFF and the left motor ON and then
stops at a certain distance. Then the water pump is switched
ON and the servo motor is also switched ON. Thus the
water is uniformly sprayed onto the flames until the flame is
extinguished. Once the flame is extinguished, both the water
pump and the servo motor are switched OFF and the robot
again starts to proceed forward.
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VI. ANALYSIS
The main purpose was to create a prototype robot. We
have made some slight changes in the design and
improvised the code as and when necessary to have the
output as determined by us. Based on the distance, trials
were conducted in the robot. As the distance increases, the
ability of the sensors to detect the fire dims. Thus it is best
suitable for a plain terrain. Upon further improvisation, this
very robot can operate in its capacity in difficult and rough
terrain too.
VII. SCOPE AND LIMITATIONS
This study focuses on creating prototype fire detecting
and extinguishing robot. There exists large scope of
improvisation by interfacing GSM modules with the G.P.S
to the Arduino UNO board. G.S.M. module will alert the
nearest fire station by sending the text through the location
traced by the G.P.S. The capabilities of flame sensors are
limited. The distance limited for water delivery action is up
to 50 to 60 cms. Another limitation is the terrain and
topograpghy. This prototype is more suitable for residential
purposes due to its structure and design [6].
VIII. CONCLUSION
Based on the prototype the objectives were successfully
achieved. However the robot has its own limitations as
mentioned above. But in the suitable conditions it operates
well without any glitch and snag. After the further
improvisations like adding the ultrasonic sensor, gas sensor,
led display, smoke sensor, it is possible to use this robot in
practical real time situations [7].
REFERENCES
[1] Aswinth Raj, “Arduino Based Fire Fighting Robot” , Circuit Digest
[2] Kirti Kadam, Ayush Bidkar, Vaishnavi Pimpale, Dhanashri Doke,
Rachana Patil, “Fire Fighting Robot”, International Journal of
Engineering and Computer Science , 6 January 2018
[3] Vynzarali Amenodin, Margie Rose, Hussein P Lawanza, Mojahid
Maradia, D Apig, Dianne B. Falceso ,Norhana Dimakuta, Chris
Sagarino,”F2R:An Arduino Based firefighting robot”,Researchgate
[4] Luis Merino,Anibal Ollero,J. Ramiro Martinez –Dios, “Cooperative
Unmanned Aerial Systems for Fire Detection, Monitoring, and
Extinguishing” ,Researchgate
[5] Kuo L. Su ,”Automatic Fire Detection system using Adaptive Fusion
Algorithm for Fire Fighting Robot”, – IEEE
[6] Jayanth Suresh,”Fire Fighting Robot”,IEEE, 2017 International
Conference on Computational Intelligence in Data Science(ICCIDS),
2-3 June 2017.
[7] Sachin S. Shah, Vaibhav K. Shah, Prithvish Mamtora, Mohit Hapani,
“Fire Fighting Robot”, International Journal of Emerging Trends &
Technology in Computer Science (IJETTCS), Volume 2, July-August
2013
[8] Michael John Gollner, “Literature Riview on Hybrid
FireSuspensionSystems”
[9] G. V. Hadjisophocleous and Z. Fu, “Literature Review of Fire
Risk Assessment Technologies.”
[10] V. Mangayarkarasi, “Remote Controlled Fire Fighting Robot.”,
International Journal of Trend in Scientific Research and
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