Table of Contents

1. Introduction: • Power Supply

• Background
7. Power Consumption
• Objectives
8. Motor Speed and Torque
9. Water Pump Flow Rate
2. Literature Review:
10. Testing & Challenges Faced
• Overview of Fire
11. Results:
Fighting Robot
• Throw of Water
• Previous Work
Pump
• Research
• Response Time
• Time to extinguish
3. System Architecture:
Flame.
• Block Diagram

12. Cost Breakdown

4. Sensor Integration:
13. Areas of Improvement
• IR Flame Sensor
14. Conclusion
• Gas Sensor
15. References
16. Appendices
5. Coding Concepts:
• Servo
• Bluetooth
transmission
• Use of Functions
• Live Video Footage
Transmission
• Sensors
• Serial Monitor

6. Hardware Concepts:
• Acrylic base
• DC Motors
• Motor Driver
LM2596
• 5W DC Pump
• Servo
• ESP32 Camera

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 1. Introduction:
Background:
Fire accidents are a recurring and potentially
devastating threat, necessitating efficient
and technologically advanced methods for
fire control and prevention. In response to
this, the development of Fire Fighting Robots
has gained prominence. These autonomous
robots leverage cutting-edge technologies to
detect and extinguish fires swiftly,
minimizing human intervention and
enhancing safety in hazardous
environments. The utilization of robotics in
firefighting not only accelerates response
times but also ensures a proactive and
systematic approach to fire management.
Objectives and Goals:
The primary objective of this project is to
design, implement, and demonstrate the
functionality of a Fire Fighting Robot. This
robot incorporates a diverse range of sensors
and actuators, including IR flame sensors, a
water pump with a servo-controlled nozzle,
a gas sensor, and an ESP32 camera unit. The
core aim is to create a versatile and efficient
system capable of autonomously detecting
fires, suppressing them with targeted water
deployment, and alerting users of potential
gas leaks. The integration of wireless
communication allows for real-time
monitoring through a mobile application,
while the camera unit provides live video
footage for remote surveillance. Through
this project, we aim to showcase a
comprehensive and innovative solution for
fire prevention and management, combining
hardware, software, and control engineering
principles.
2. Literature Review:
Overview of our Fire Fighting Bot:
Details of the project are as follows; It is a
Fire Fighting Robot that is built on an acrylic
base with 4 dc motors. It utilizes 3 IR Flame
sensors that sense fire flames and
autonomously drives the car to the fire and
the 5-watt dc water pump turns on to
extinguish the fire, a servo is attached at the
end of water pipe to rotate the pipe end 60
degrees to completely put the fire out. An
MQ2 gas sensor senses gas leaks and uses
Bluetooth to send an alert to a mobile phone
that gas is detected. AN EP32 Camera unit
sends live video footage to an online web
server. Power to the whole unit is delivered
using a power bank and an LM2596 Motor
Driver drives a pair of 2 motors. I have used
an Arduino Uno to control this whole unit
and the coding is done on Arduino’s IDE
Software.
3. Previous Work:
Several research and development efforts
have been undertaken in the field of fire-
fighting robots. While the landscape is
continually evolving, here are some notable
examples of previous work on fire-fighting
robots:
• SAFFiR (Shipboard Autonomous
Firefighting Robot):
Developed by the U.S. Navy in
collaboration with researchers at
Virginia Tech, SAFFiR is a humanoid
robot designed to navigate through
the narrow passageways and ladders
of naval vessels. It can autonomously
detect and extinguish fires, making it
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 suitable for deployment in high-risk
environments.
• FiFi (Fire Fighting Robot by Thermite):
Developed by Thermite, FiFi is a
compact and agile robot equipped
with a high-pressure water cannon. It
is designed for use in industrial
settings and hazardous environments
where human access is limited or
dangerous.
• Many DIY projects can be found
online such as for example one done
by Nevon Projects. Their one was 3
wheeled and had no function to alert
the user using Bluetooth.
Additionally, studies have focused on
human-robot interaction to ensure seamless
collaboration between autonomous robots
and human responders during emergency
situations. Advances in artificial intelligence
and machine learning have been leveraged
to enable robots to adapt to dynamic fire
scenarios, making real-time decisions for
optimal firefighting outcomes. Moreover,
research has extended into the exploration
of firefighting robots in unconventional
settings, including space exploration,
showcasing the versatility of this technology.
4. System Architecture:
Block Diagrams:

Research on this Autonomous Fire

Fighting:
Research in the domain of fire-fighting
robots has witnessed significant strides,
driven by the imperative to enhance
firefighting capabilities, particularly in
complex and hazardous environments. A
multitude of studies has explored various
facets of this concept, ranging from the
integration of advanced sensors for precise
fire detection to the development of
autonomous navigation systems for effective
maneuverability in confined spaces.

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 5. Sensor Integration:
We have used 2 sensors in this project to
sense the physical parameters:
1. IR Sensor (Flame Detector):
Description:
A sensor which is most sensitive to
normal light is known as a flame
sensor. That’s why this sensor
module is used in flame alarms. This
sensor detects flames otherwise
wavelength within the range of 760
nm – 1100 nm from the light source.
This sensor can be easily damaged to
high temperature. So, this sensor can
be placed at a certain distance from
the flame. The flame detection can
be done from a 100cm distance, and
the detection angle will be 600. The
output of this sensor is an analog
signal or digital signal. These sensors
are used in firefighting robots as a
flame alarm.
Calibration:
There are 4 main steps in calibration
that we used to calibrate the sensor
according to our usage:
• Baseline Measurement:
Record the baseline readings when
there is no flame present. This
reading represents the sensor's
response in the absence of fire.
• Flame Application:
Introduce a controlled flame (e.g., a
small candle) at a known distance
from the sensor.
Record the sensor readings during
the presence of the flame.
• Adjust Sensitivity:
Use the potentiometer (variable
resistor) on the flame sensor module
to adjust sensitivity.
Increase sensitivity if the sensor is
not responding to the flame or
decrease sensitivity if false positives
are occurring.
• Repeat Calibration:
Repeat the process of introducing the
flame and adjusting sensitivity until
the desired level of accuracy is
achieved.
2. MQ-2 (Gas Sensor):
The MQ2 Gas Sensor is commonly
used to detect various gases,
including methane, propane, carbon
monoxide, and smoke. Here's an
overview of its working principle and
the steps for calibration:
Working Principle:
The MQ2 Gas Sensor operates on the
principle of conductivity changes in a
metal oxide semiconductor when
exposed to different gases. The
sensor has a ceramic element coated
with a metal oxide sensitive layer.
When a gas encounters the sensitive
layer, the conductivity of the sensor
changes, leading to variations in
resistance. The resistance changes
are then converted into voltage or
current signals, which can be
processed to determine the presence
and concentration of the target gas.
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 6. Coding Concepts:
In this section we will be discussing the
complexities of our code. The complete code
will be attached as Appendix-A.

1. Servo Motor:

2. Bluetooth:

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3. Send Gas Alert Function:

4. Use of Functions:

• Put of Fire Function:

• Make Call Function:

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5. ESP32 Camera Implementation

Using our own Wi-Fi Hotspot

Connection:

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 7. Hardware Concepts:
• Acrylic Base
• 5W DC Water Pump:
We used a generic acrylic chassis as the base
for our project as it was cheap and readily
available.
• DC Motor + Wheel Setup (x4):
• 180* Degrees Servo:
This DC Motor runs on 5V DC supply. It is
cheap, readily available, and perfect for high
rpm applications such as ours. It can spin
upto 125RPM.
• LM 2596 Motor Driver
The motor driver was used to control
dc motors with proper current and
divided voltage.
5V submersible pump that has the
suitable power rating for water
throw.
SG-90 Servo Motor for 180 degrees
rotation. We had problems in
calibrating the servo. We used trial
and error to figure out the verticals
and rotation parameter of the servo
and applied that to the code.
Operating Voltage is +5V typically and
Torque: 2.5kg/cm.
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 • ESP32 Web Camera act as a bridge between the low-
voltage control circuit and the high-
voltage power circuit of the water
pump.

• Power Unit (Power Bank +

Cell):

We needed a camera module for the live

footage of the whole operation. The ESP32
Cam unit was our choice as it was easy to
use. We used an example code available on
Arduino IDE to transmit the video footage to
a web server. The link to the web server is
attached as Appendix-B.
We have divided the power of the
while robot so that one cell does not
get overburdened.
• Relay:
1 rechargeable Battery to power the
Pump. (3.7V)
2 Batteries in Series to power the
motor driver and motors, roughly
provides 5V.

• Fasteners:
We have mainly used zip-ties, double
sided tape, and nut-bolts to fasten
components.
We have used a single channel relay,
low triggered relay to control our
pump.
Relays provide electrical isolation
between the control circuit (low-
voltage side) and the load circuit
(high-voltage side).
Water pumps often require higher
voltages and currents than
microcontrollers or low-power
devices can handle directly. Relays

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8. Power Consumption:
Gas Sensor: 5VoLts 10. Water Pump Flow
Pump: 4-5 Volts rate:
Relay: 5 Volts • DC Voltage: 2.5-6V
Flame Sensor: 5 Volts
• Working Current: 130-220mA
Bluetooth module: 5 volts
• Power: 0.4-1.5W
Motors + Motor Driver: 5-10 Volts
• Maximum lift: 40-110cm / 15.75″-
Arduino: 5 volts from Motor Drver
43.4″
Camera: 5 volts
• Flow rate: 70-120L/H
Servo: 5 Volts

9. Max RPM and Speed of DC 11. Testing & Challenges

motors: faced:
We tested all the components before
DC motor reducer, single axis, with
fixing them in the project to check if
DC 3V operating voltage and an RPM
they were faulty or not.
of 15R / minute.
• Our single channel relay was
Reduction Ratio: 1:48.
low triggered which found
Calculations:
out by testing it with positive
and negative signals to NO
and NC terminals.
• Our MQ-2 Gas Sensor was not
triggering properly so we
adjusted it in the coding to
give a HIGH Digital value at an
Analogue reading of 360(out
of 1024).
• We used the Potentiometer
Screw at the back of each
senor to change its sensitivity.

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• We faced power issues as our
batteries were not enough to
power the whole setup. Our
Water pump was draining the
2 cells not being able to run
the motors we connected the
pump and its relay to a
standalone single Lippo cell.
• Syphon Effect:
Due to the difference in
height of water tank and pipe
nozzle opening the water
would continue dripping even
after the pump was off. this
was because of the syphon
effect tha is caused by the
difference of heights between
two water containers.
To counter this issue, we
increased the height of our
nozzle and servo by raising it
using acrylic sheets. This
solved our problem of water
dripping.
• Proper electrical
connections:
• We faced a lot of issues due to
lose electrical connections. Its
solution was to push the
electricals pins tightly and
check to see any loose wires.
• We tested the MQ-2 gas
sensor using as from a lighter,
that worked perfectly.
• The IR Flame sensor works
better in dark environments.
• Use of DMM: We had to use a
DMM frequently to check
Voltages and Currents in each
single component.
12. Results:
The result of all this calculation and
effort was a properly working Fire
Fighting Robot that can sense and
extinguish fire and alerts its user in
case of gas leakage.
• Throw of Water Pump:
The water pump is capable of
throwing a water jet a
approximately 10-15 cm
distance from it’s nozzle. This
jet can extinguish bulk of the
fire and the wetness helps in
finishing the flame.
• Response Time:
Upon three testing phases
the bot gave us an average
response time of roughly 2-3
seconds. Remember this is
the time the car takes to
reach the destination after
the sensor detects a flame in
its vicinity, it is a very
surprising figure given the
fact that the whole Robot
weighs roughly 4-5 kgs.
• Time to Extinguish Fire:
After it has reached the
destination, it can take close
to 4 seconds to extinguish the
fire usimg it’s water jet. This
number totally depends on
the size of the fire and the
amount of water in the tank.
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 13. Cost: would give low signal when
water was low. We can
This project ended up costing us roughly improve on this in the next
5000rs. iteration of the project.

14. Work Division:

16. Conclusion:
We divided all the work done on this In conclusion, the Fire Fighting Robot
project between ourselves in a fair 50-50 project has successfully merged
manner. control engineering, robotics, and
sensor technologies to create a
Suleman Bakht Sheikh Taha
(367388) Nadeem (366304) versatile and autonomous system for
Initial Code Bluetooth Addition fire detection and suppression. The
in Code acrylic-based robot, driven by four
ESP Camera Hardware Assembly DC motors, integrates IR Flame
Integration sensors, an MQ2 Gas sensor, a servo-
Wiring Servo Assembly and controlled water pump, and an ESP32
Calibration w Code Camera unit. The project
Cell & Voltages Water Pump demonstrated the robot's ability to
Issue Solution Assembly and Tank autonomously detect and suppress
fires, detect gas leaks, and transmit
Project report Hardware Finishig live video footage to an online server.
and Beautification The meticulous hardware design,
sensor calibration, and coding logic
We bought the parts together from the on the Arduino Uno showcased a
market and since we are both hostilities, we comprehensive understanding of
worked on the project together at one single engineering principles. While
time so that we stay on the same page. acknowledging limitations and
challenges, the project stands as a
commendable achievement,
15.Areas of Improvement: contributing to the advancement of
We felt that we could have improved robotics in firefighting. Future
on: improvements may focus on
• Our packaging/Appearance enhancing power efficiency,
• Our cost could have been response time, and adaptability to
reduced if we had shared real-world scenarios. Overall, the Fire
parts with other groups from Fighting Robot project represents a
the hostel. noteworthy intersection of
• We could have added a water technology and safety systems,
level sensor in the tank that

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 setting the stage for further explosion-proof-fire-fighting-
innovations in the field. robot/

Finished Product:
18. Appendices:
Appendix-A (Complete Code):

Appendix-B (Video Footage Server Link):

http://192.168.62.176

17. References:
• https://mekatroniks.com/pro
duct/dc-gear-motor-6v/
• https://electrobes.com/prod
uct/sg-90-tower-pro-servo-
motor-360-degree/#tab-
specification
• https://nevonprojects.com/fire-
fighter-robot-project/
• https://www.scientificamerican.
com/article/firefighting-robots-
go-
autonomous/https://universalfi
reprotection.com.pk/weistech-

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