2021 International Conference on Automation, Control and Mechatronics for Industry 4.

0 (ACMI), 8-9 July 2021, Rajshahi, Bangladesh

Design And Development Of A Fire Fighting

Mobile Surveillance Robot With Autonomous
Collision Avoidance
2021 International Conference on Automation, Control and Mechatronics for Industry 4.0 (ACMI) | 978-1-6654-3843-8/21/$31.00 ©2021 IEEE | DOI: 10.1109/ACMI53878.2021.9528300

Mehedi Hasan Rafiul Islam Sonet Apu Sen

Dept. of Electrical and Electronic Dept. of Electrical and Electronic Dept. of Electrical and Electronic
Engineering Engineering Engineering
American International University - American International University - American International University -
Bangladesh Bangladesh Bangladesh
Dhaka 1229, Bangladesh Dhaka 1229, Bangladesh Dhaka 1229, Bangladesh
hasanmehedi1734@gmail.com rafiulislamsonet2627@gmail.com senapu12@gmail.com

Ritu Parna Das Joel Ahmed

Dept. of Electrical and Electronic Dept. of Electrical and Electronic
Engineering Engineering
American International University - American International University -
Bangladesh Bangladesh
Dhaka 1229, Bangladesh Dhaka 1229, Bangladesh
rd74107@gmail.com jjrz4103@gmail.com

Abstract— Fire security has become a significant worry with
the headway of human development. Fire risks can be fatal and
maligning for modern security systems. Nowadays, fire
incidents are regular and challenging for firefighters to ensure
people's lives. Because of this reason, this paper identified the
necessity of firefighting robots for helping firefighters. The main
goal is to identify the fire incidents and help the firefighter when
firefighting. The robot will detect fire with a temperature
sensor's help and go to the exact place, not making any collision
because of the ultrasonic sensor. When it catches fire, it will send
the feedback to the microcontroller and a camera sensor. It will
send a real-time image to understand the situation
appropriately. For making the proper surveillance robot, some
commands and codes in Arduino and MATLAB are developed.
They are using fuzzy logic as input so that after detecting any
obstacle, the robot can easily take turns and move from there.
By doing simulations and practical observations, the robotics
system was successfully run. This paper gives a better safety
measurement at the fire incidents time and helps the firefighter
fight fire accidents.
Keywords— Fire security, Firefighting robots, Fire detect,
Sensors, Real-time image, MATLAB, Fuzzy logic.
I. INTRODUCTION
The world of Robotics is one of the most energizing zones
that has experienced steady advancement and development.
Advanced mechanics are interdisciplinary and have become
increasingly more an aspect of our lives.
It is noticeable that robotics is all over the place, and over
the long haul, they will be present and increasing. Most
importantly, mobile robots are helping people to fight
disasters and accidents like fire [1]. As of late, there was a
great deal of danger on the workers in firefighting. The
firefighting robots can be utilized to secure a firefighting
workforce from the threat of ignition and inward breath of
poisonous gases and hazardous materials, and these robots are
prompting the upkeep of the life of workers in the field of
firefighting. Robot designing is an electromechanical tool
utilized in science or industry to supplant a human work or do
the capacities relegated to him.
Technologies are changing in our life in every possible way.
People are trying to invent more and more new things every
day. Even when it comes about the fact of surveillance then
also it makes our life easier. We can use a robot as a substitute
for humans. When it also comes about the fact of security the
surveillance robot plays a vital role here. This robot can reach
all those places where humans can’t reach. From national
security to household security we find surveillance robots.
Here we are making a fire fighting surveillance robot with
collision avoidance which can help people at the time of fire
spreading and can help to save lives and also can help for
facing any financial losses.
Mobile Robot is a system fit for moving their bodies from
one spot to another in its condition. Mobile robots come in two
assortments: fastened and self-ruling [2]. Surveillance means
monitoring any situation, behavior, or activity. These days, the
vast majority of the system utilizes a mobile robot with a
camera for surveillance. The camera mounted on the robot can
move to various areas. These sorts of robots are more
adaptable than fixed cameras. In it is given that generally
utilized surveillance robots are wheel robots. These days, fire
accidents are probable, and now and then, it turns out to be
extremely difficult for a firefighter to ensure individuals' lives.
It is beyond the realm of imagination to expect to choose an
individual to consistently watch coincidental fire has begun
where a robot can do that. The robot will detect fire distantly.
In this paper, a firefighting robot with the necessary
temperature checking sensors, obstacle avoidance is
presented. And also, Arduino Uno as a microcontroller and
Bluetooth module to connect with the robot and DC motors
for wheels are used. This proposed robot is intended to have
the option to take a shot on its own or be controlled remotely.
By operating such robots, fire detecting and rescue
exercises can be performed with higher security without
putting firefighters at high hazard and hazardous conditions.

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 Robots can decrease the requirement for firefighters to get into
dangerous circumstances. Also, having a reduced size and
programmed control permits the robot to be utilized when a
fire happens in any little or tinny spaces with risky conditions,
such as burrows or atomic power plants. This research aims to
detect the fire with the help of a temperature sensor and go
after avoiding the obstacles with the help of an ultrasonic
sensor and send us the accurate information from the location
with the image processing using a camera sensor.
Furthermore, the primary purpose of this paper is to help
people at the time of the fire incident.
II. LITERATURE REVIEW
The robot shows the quality of the past robot that has been
comparative with this robotic project. In the current period,
firefighting is a problematic issue. Some researchers and
authors are taking a look at different strategies for firefighting,
misfortune happens frequently because of fire.
Creator Ratnesh Malik built up a methodology for a
firefighting robot in March 2012 . This robot is planned and
built and senses the same and quenches there. The robot is
entirely autonomous. It executes the idea of natural detecting
and consciousness of corresponding engine control. The
robots own data from its sensors and equipment components.
He presented Ultraviolet, Infrared, and noticeable light to
recognize the segments present in the earth. The robot is
equipped for smothering passage fire, modern fire [3].
In the paper "Self-sufficient Fire Fighting Mobile stage",
Author Teh Nam Khoon proposed a novel plan of an
autonomous robot [4]. This robot, called AFFMP, has a flame
sensor and an obstacle avoidance system. The working of this
robot is completely founded on programming. The AFFMP
finishes a preset way a structure and uses a guide rail or
markers, for example, dark painted line or tape to explore
through the earth until it recognizes a raised .probability of a
fire. In any case, when it detects any re movement inside its
range, by then, it will leave its track and follow the Fire. Its
scope to distinguish Fire is doing 30cm from it.
In the project “The Fire Fighting Robot” the researchers
built an autonomous firefighting robot [5]. It could perform
wall following action such as moving forward, reverse, turn
left and turn proper function flawlessly. This robot also able
to pick up the table tennis ball and stop the fire, count the maze
junction and make its own decision based on the counted
junction as well. The robot has been able to distinguish the
game field color different either red and green or red and blue.
With this ability, the robot can change the current strategy to
a new strategy. It also capable to avoid its structure from
touching the fire source that can cause point deduction.
Tawfiqur Rakib, M. A. Rashid Sarkar Proposed a mobile
robot comprises of sensors like LM35and Arduino Fire
Sensors are utilized to distinguish the fire and separations on
its route towards the fire.[6]. In this for the versatility of the
Robot, two wheels made of Nylon and a caster ball is utilized.
This is fundamentally a back wheel drive sort of vehicle. The
water compartment can contain in any event 1L water. It is
made of solid cardboard that has water safe property. Fuzzy
logic is utilized to control a deterrent shirking of Vehicles.
Snehal Adsu, Ujjwala Lokhande, Snehal Motghare, Pranita
Dagale, Prof. M. D. Sale Proposed design is intended to
manufacture an android application which can control
activities of the putting out fires robot [7]. A firefighter can
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send orders to the robot through the Bluetooth module which
is mounted on the robot itself. Advanced mobile phones have
an office of Bluetooth, through that Bluetooth firefighter, can
control the development of firefighting robots.
Since the first invention, a lot of researches and works have
been done in the fire sector. But not everything we found on
the market so easily. In Bangladesh, the firefighting Robot is
a pretty much new thing.
III. METHODOLOGY
Modern surveillance robots are generally connected to a
motor driver which a hub that connects all the sensors to
control the robot. These types of robots are controlled by user
interference. And this interference is connected to the user's
smartphone or computer. To give detecting various occasions,
for example, a passageway of unapproved individuals, the
design detects it by giving the picture and separation of the
interloper up to the beneficiary. In this way, various sorts of
electronic sensors can give detecting of a few kinds of security
dangers. To move the robot, fuzzy logic is used with the
MATLAB.
Fig. 1. Block Diagram of Fire Fighting Mobile Surveillance
Robot
In this robotic system, Microcontroller, Ultrasonic sensor,
Bluetooth module, Gas sensor, Temperature sensor, Camera
sensor are installed. And also, the motor driver is connected
with a microcontroller which is working as a bridge between
the microcontroller and DC motors. When the power supply
is connected and also gives the algorithm as input it starts to
work. As the microcontroller is the heart of this project it gets
all the feedback from the sensors and through it, finally, the
actual feedback is obtained.
IV. IMPLEMENTATION
A surveillance robot contains many electric devices and
sensors. Modern surveillance robots are generally connected
to a motor driver which a hub that connects all the sensors to
control the robot. These types of robots are controlled by user
interference. And this interference is connected to the user’s
smartphones or computers. It is most significant to clarify
every particular model of each segment for getting the wanted
outcome. These components likewise determine the purpose
behind choosing the particular switching control plot. The
step-by-step procedure for actualizing the undertaking is
additionally described here.
 a. Software (Proteus) implementation:
For performing simulations, DC motors are used as wheels.
When, it give the input codes the robot started to move and
with the help of a servo motor. These motors are connected
with Arduino Uno.

Fig. 5. Connection Diagram of the temperature sensor

b. Fuzzy logic implementation

Fig. 2. Connection Diagram of all sensor
Because of the motors, it can move the robot here to there.
And with the help of these motors the wheels rotate and can
reach there where Fire catches with the help of other sensors.
For controlling the Surveillance robot fuzzy logic algorithms
in MATLAB are used. By applying the fuzzy inference
system Mamdani which can show the result for one input an
come with the two outputs. Here, for our robot, distance are
given as input and got the angle and velocity as the outputs.

Fig. 6. Fuzzy logic interference system

Fig. 3. Connection Diagram of the Motor

In this research, with detecting the Fire one of the most

important things is to avoid the collision. And for this, an
ultra-sonic sensor connected it with Arduino with the help of
a servo motor. Servomotor helps ultrasonic sensors for
rotating so that It can find out the obstacle properly. Below
figure - 4 showing an image of that ultrasonic is the distance
between the obstacles and the robot and also detecting the
obstacles and how it has been implemented with the Arduino.

Fig. 7. Graphical present for distance (input)

Fig. 4. Connection Diagram of the ultrasonic sensor

Here also uses a temperature sensor that helps us to know
about the rising temperature and it can help the robot to
identify the exact location and where to where the Fire is
Fig. 8. Graphical present for velocity (output)
spreading.

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 TABLE I: ULTRASONIC SENSOR MEASURING DISTANCE
Distance Object Detection
1000 cm No
800 cm No
600 cm No
500 cm No
400 cm Object detected
300 cm Object detected
100 cm Object detected
Fig. 9. Graphical present for Angle (output) When we gave the distance as input than found angle and
velocity as output for the wheels from implementation fuzzy
c. Mechanical Implementation: logic. For this we need to follow some rules:
Implementing the mechanical part was one of the hardest
processes of the project. To impletemt, few sensors and
Bluetooth modules and dc motors with Arduino were
connected. Below, the picture had shown of the hardware
implementation:

Fig. 11. Graph for rule viewer

The angle vs distance graph for our project has been shown
below. Here the range for the angle is minimum -90 degree
to maximum +180 degree. And the range of the distance is a
minimum of 3 cm to 1008 cm. From the graph the distance
between obstacles was minimum 3 cm to 200 cm then the
robot moved backward. When the range was minimum
200cm to maximum 400cm then it had been moved right and
Fig 10 (a). Motor driver and Bluetooth module connection made a turned of 90 degrees. And when the range was
with Arduino Uno
minimum 400 cm to maximum 60 cm then it made a turned
of -90 and moved to the left. And finally when the obstacles
couldn't be found in 1008 m then the robot had been move
forward.

Wheel
Ultrasonic Servo DC Motor
Sensor Motor Fig. 12. Graphical presentation between angle and distance

Fig. 10(b). Hardware implementation
V. RESULTS
A set of data was recorded by us as per the distance when
the ultrasonic sensor detects any hurdle from the proteus. And
sent the feedback to the microcontroller.
The velocity vs distance graph of our project has been
shown below. Here the range of velocity is a minimum of
10cm to a maximum of 50 cm. And the range of distance is
minimum 3cm to a maximum of 1008 cm. The main concept
of the graph was when the distance increased between the
obstacle and the robot then the velocity of the robot had been

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 increased. And on the other hand, when the distance between
the robot and the obstacle decreased then the velocity of the
robot had been decreased.
Fig. 13. Graphical presentation between velocity and distance
If the temperature rises in any nearby area it will sense it
and send the data to the microcontroller. The robot will
continuously check the temperature where that robot will be
available with the assistance of the temperature sensor
interfaced with the regulator and send these boundaries on the
web from Android telephone through the Bluetooth module
interfaced with the regulator.
Fig. 14. Fire detecting by hardware implementation
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VI. CONCLUSION
The demand for firefighting robots is increasing day by
day. Especially, it is in the field of fire services. Already
many industries started working on it. Once the field of
firefighting was so risky and firefighters always put their life
at risk so that they can save other people’s life. So, if the
robotics system proposed and tried to accomplished it, then it
can be a great help in this field. Now, as many companies are
taking these initiatives and trying to save people's living with
more features, it is a revolution for humankind.
Furthermore, the other companies offering much more
price which is most of the time can’t be affordable for people
or developing countries alike. That's why we want to make
our project more comprehensible and cost-effective for the
future and the people. In our project, we tried to prototype a
firefighting robot with some sensors, and the Arduino code
and fuzzy inference system’s code gave input to run the robot
control the robot in the proper way. T0he robot successfully
able to detect the obstacles and also collect the temperature
reading. And the Bluetooth module was successfully installed
and working properly with the robot. We also gave some
basic ideas with the price chart for every part of the robot. So,
we can say that our project is cost-effective and can be
available to people so easily.
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