Volume 6, Issue 5, May – 2021 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Fire Fighting Robot

S. Kavitha 1, Krishnarajendra sagar 2 , Mohamed Tousif 3 , Nishanth C.R 4, Likith. V 5
1
Professor, Department of Electronics and Communication Motorering, Atria Institute of Technology, Bangalore, India
2,3,4,5
Student, Department of Electronics and Communication Motorering, Atria Institute of Technology, Bangalore, India

Abstract:- It's necessary and very dangerous work to fight placed on the robot’s head .
against flames. The implementation of this project is
automatized as well as manualized. This project uses The water is sprayed to the flames in order to eliminate
ARM7. In sectors such as nuclear power plants, the fire. This paper also shows us how a robot is voice
petroleum refineries, gas tanks, chemical plants and other controlled. The robot is operated through the speech system.
large-scale industries, the majority of fire incidents The commands are given to the robot in order to make them
occurs, which results to complex situations. More number operated. The advantage of this type of robot is , hand free
of people have lost their lives because of such incidents. operation and fast data input. Disadvantage is the robot is
We are mounting a Wi-fi module (Node MCU) for mobile affected by the environmental or external noise.
communication and many other sensors to detect the fire
and smoke. We use the BLYNK/TCP terminal program B. Paper [2] –“Intelligent fire fighting tank robot.”
for mobile control of the robot. The size of the robot is
around 20 cm long and 10 cm tall, capable of carrying an Author - E. Merry Sartika , Kristi Kosasih, Dan Muliady, M.
extinguisher (gas). 12V 1.3Ampere hours of battery power. Jimmy Hasugian.
Keil M Vision 4, Flash Magic and Embedded C are the The tank robot is made of a mixture of acrylic, plastic,
applications used for this project. aluminum and iron. There are two servo motors for each
wheel, two DC motors for two flame extinguishing fans, there
Keywords:- Fire Fighter Robot, Extinguisher, Control, are many other sensors like ultrasonic, compass, flame
Sensors , Alert , Communication. thermal array and many other. The robot is switched on by
the sound and a sound activator circuit is mounted on it. The
I. INTRODUCTION audio activation circuit consists of a Dual Tone Multi
Frequency receiver and transmitter. Microcontroller AVR
The Fire Fighting Robots are most popularly searched ATMega16 receives data from a sound activation circuit, an
to prevent the fire injuries and to improve the effectiveness of infrared and photodiode circuit as a white detector, a micro
the robot. In order to determine the lead of the fire to the switch sensor as a furniture detector, UVTRON and TPA81
robot , smoke and fire (thermal) reflections can be clued. The as flame detectors and thermal detectors, CMPS03 as
project aims to design a robotic fire extinguishing vehicle that navigation detectors, SRF04 as ultrasonic sensors.
can be operated both wirelessly and manually. The main Microcontroller processes signal inputs and delivers signal
objective of the project is to automatically or manually design outputs to the servo motor (GWS S03 4.8V) on the front-left
and implement a fire fighter robot to extinguish fire. The wheel and the front-right wheel, and the DC motor to spin the
robot is equipped with sensors that help us detect fire, smoke fan to extinguish the flame.
or any obstacles in its path. The proposed vehicle has a gas
spray which, compared to water, is able to extinguish fire at a C. Paper [3] –“Design and Implementation of Remote
faster rate. The robot control system presented here can be Controllers for Rescue Robots Used at Fire Sites.”
used for various robotic applications.
Author - Ho Kang, Young-Duk Kim, Duk-Han Sun, Young-
II. LITERATURE SURVEY Sun Ryuh , Jeon-Il , Jinung An .
There are 2 types of remote controllers in this project
A. Paper [1] - “Implementation methods of fire fighting namely ultramobile personal computer and the other is
robot” Joystick personal platform. Though these are 2 different
platforms their architectures are identical. The entire remote
Author - Mrs. Bhavna K. Pancholi, Miss. Kena Patel control system and the rescue robot is installed at the fire
The robot presented here is an embedded device in real station. The communication between the controller and the
time. C language is the software used to implement this type robot starts with the use of fire station. Since fast data
of robots. During automatic mode the robot tracks the transmission is required , separate wireless channels are used.
environment to detect fire accidents. This robot uses IR These separate wireless channels also offers low signal
sensors and output of this electrical sensors is fed to amplifier interference. This robot is mainly mounted with a camera for
transistor. This signal is later fed into the micrcontroller’s IN- visual display , a LED to guide the evacuation path and
pin. When a fire is observed, the microcontroller drives the different other sensors to measure the intensity of gases
motors and triggers the actuators. A water reservoir is which are poisonous in the atmosphere. The informations are
mounted on the frame which has 10rpm DC pump motor. The gathered and will be sent to the user using channels which are
water reservoir is attached to the hose and the end of which is wireless. This robot plays a very important role in performing

IJISRT21MAY784 www.ijisrt.com 1150

Volume 6, Issue 5, May – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
rescue operations. For easy transportation and portable size present in the system, after detecting the fire, the robot will
UMPC type is used and joystick type is used for stable automatically turn on the pump to extinguish the fire. For the
manipulations. obstracle detection IR sensor is used in the path of the robot,
hence data from the robot is sent to the android phone
D. Paper [4] –“ Advance Virtual RISC based Fire Fighting through bluetooth module to the controller and sent to the
Robot” web server.

Author - Miss. Shraddha K. Dubal, Miss. Supriya S. Kadam, G. Paper [7]:” CeaseFire: The Fire Fighting Robot”
Miss Pratima S. Mane, Miss. Dipali A. Mali.
This paper deals with the AVR-based firefighting robot. Author - Shiva Mittal, Meenakshi Mataray , Mayank
Infrared waves are not apparent to human eyes. So an infrared Bhardwaj Manish Kumar Rana.
sensor is used. This is a tiny circuit which is used to send or The robot is extinguishing the fire using water and
receive the radio signals on range of the carrier frequencies. carbon dioxide(CO2) sprays, where water tank is filled with a
GSM is a data communication device for sending and high pressure pump, the direction of the water pipes were
receiving Radio Frequency signals wirelessly, which requires controlled via the metal geared servos. It is switchable using
a wireless carrier sim card for its operation. The GSM solenoid valves. The CO2 emission from the cylinder that can
requires a supply of DC voltage which is of 5V. The radio be controlled through another gas valve i.e. switchable
frequency transmitter takes the help of antennae and wirelessly. In this camera is used over the top of the survey
transforms electrical signal to electromagnetic signal. The real fire situation, it also contain night vision camera to serve
antenna which are used here are wired loop antenna. A in dark to the hazard sight. It also contain a motors which is
decoder is used to separate the address and also to convert it capable of providing much torque to carry the weight of the
serial to parallel. The main of this project is ,it will detect the robot and also extinguish the fire equipment while moving its
location’s address where the incident got occurred. Since a maximum speed.
buzzer is mounted on it , it alerts the people who are
surrounded in that particular place. The robot basically H. Paper [8]–“Development and Implementation of Arduino
displays the location and it sends the message to the fire Microcontroller Based Dual Mode Fire Extinguishing
brigade. Robot”

E. Paper [5]- “Fire Locator, Detector and Extinguisher Author - Dinanath S. Nair, Sheik Mohammed S, Joyal Raju,
Robot with SMS Capability” Johaan Varkey Paul , Georgy Abel John .
In fire fighting mode has both automated and manual
Author - Arabiran, M.P., J.R. Mazo, J Frades, Undug, J. mode. In automated mode, the robot is completely automated
In this prototype we are used here is fire alarm system to search for the presence of possible flames and obstacle’s.
and smoke detector with sms capability. When we get an This robot moves around and search for the signs of flames.
trigger from the smoke detector the robot will activate and it In case the presence of an obstracle is in the path of robot, it
will undergo to the find mode. In the central unit is also will deviate until it clear the obstracle. When the fire is
embedded with an GSM module, so when it detect any thing detected in the long range the flame sensor which is placed
it automatically contact to the owner and fire station about the either side of the robot, it will detected and move forward
incident. when the robot is activated the infrared proximity until the short range flame sensor is lower than the cut off
sensor used to maintain the distance between the wall and value. In manual mode, a Bluetooth module is used. The
robot and also used as navigator which robot itself guide and system is connected to smart phone by using a Bluetooth
moves parallel to the walls. The photo elective sensor is used mode. The device can be configured to receive corresponding
to move the robot forward direction, when the robot finds the serial data controlling the robot which is transmitted from the
wall it turns left automatically and robot finds the fire it smart phone.
rotates 360 degree clockwise and anticlock wise depending
upon the room to move towards the fire. I. Paper [9] –“Automatic fire extinguisher robot”

F. Paper [6] –“Fire fighting robot” Author - B.Swetha Sampath

The robot has been designed to shift in the direction
Author - Mr. Adhav Gitanjali Subhash , Mr. Borse Karan with regard to the intensity of the fire. It uses ATmega
Dipak, Miss. Shelke Amruta Ashok, Mr.Bansode Vishal microcontroller. To withstand high temperatures, robots are
Laxman, Mr. Gadekar Atish Mahadeo. protected with calcium silicate sheets. Using a DC to AC
In this project we are using vedio streaming robot, converter, the amplified DC voltage is converted into AC.
which will continuously capture the images with the help of The AC voltage thus created runs the fire extinguisher's water
camera of an android phone and sent to the web server. This pump. With a high dynamic range camera, the Obstacle
robot will monitor the temperature where that will present Avoider and Motion Sensor were used for human
with the help of temperature sensor, where these will be sent identification and to travel in the direction of the intensity of
through android phone via Bluetooth module. The fire the fire. When it detects a human signal, the robot alarms the
detection will be done with the help of smoke sensor also rescuer by ringing the alarm.

IJISRT21MAY784 www.ijisrt.com
1151
Volume 6, Issue 5, May – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

J. Paper[10]–“Multiple Sensors Based Fire Extinguisher M. Paper [13] – “Fire Fighting Robot”
Robot Based on DTMF, Bluetooth and GSM Technology
with Multiple Mode of Operation” Author - Sapkal Saraswati, Mane Bharat, Prof.V.U.Bansude,
Makhare Sonal.
Author - MD. Fahim Newaz , Iftekhar Uddin Ahmed, Aasim This robot mainly deals with the capturing images,
Ullah , Humayun Rashid. videos, keeping systematic review of temperature, notifing
Using DTMF and Bluetooth remote control, as well as fire, identification of the things that block the way and
GSM and GPS technology, the built fire extinguisher robot maintain internet server from android based mobile which has
can be controlled in multiple modes. Both the DTMF remote been connected wirelesly to this robot. Some of the major
control and the Android smartphone can be used to control devices used here are sensor-IR, temparature, smoke, micro
the robot and can be controlled in three different modes. The controller chip, motors, display screen, signalling buzzer,
first mode allows the robot to function fully autonomously, phone etc...The passive IR based sensor it as an ability to
which, depending on the situation, can be triggered by the observe the presence of human being or else any animals
user or the robot itself. The second mode is a line following within its range and signals the controller. Another sensor
mode in which the robot follows a black line drawn to detect used is centigrade detecting sensor, by using this it will get to
fire, and the third mode uses remote control to complete know the hotness of the surroung area. components used
manual operation. For proper output, a small fire extinguisher hereare cost effective, consumption of low power, no noise
device along with different sensors is connected to a fire ofelectrical parts, light weight, highly sensitive to
extinguisher robot. The project is being implemented using observationand reduction of space consumption. the
the Arduino Mega microcontroller platform from Atmega. important advatage of this robot can controlled automatic or
Due to its compatibility with most sensors and modules, the manual mode.
Mega 2560 board has been specially selected. The MT8870 is
the best option for DTMF remote control development. N. Paper [14] – “Development of Fire Fighting Robot”

With the device for data reception and transmission, the Author - Nor Samsiah Sani, MI Yusof, Mohd Aliff, Azavitra
Bluetooth module HC05 was used. Bluetooth technology Zaina.
makes use of radio waves to interconnect with other The front and back portion of moving object is covered
peripheral data sharing devices. The attached 808 GSM GPS by couple of wheels and it support the robot to balance. The
module provides GPS-based location coordinates. body part can make turn of anti clock and clock wiseabout (0-
360)degree rotation. The outer body is covered with the
K. Paper[11] – “Fire Extinguishing Robot using Arduino” protecting shield or plate manufactered from (acrylic)metal. It
can with stand up to an some extent of 200 kelvins. Major
Author - Abdülkadir ÇAKIR , Nyan Farooq Ezzulddın sensors were placed in front portion of the device, depending
EZZULDDIN. up on there supremancy in the area of work, allocation of the
In this analysis, the aim of the mobile firefighting robot parts are placed. As per this project the important piece of this
application is to search for a fire created in some way with a robot is water-pump .The mixture of saop (foam) or water are
flow chart in the labyrinth, and to extinguish the fire when a used to suppers the fire. when a fire has detected by flame
fire is found with the help of a fan. A number of mechanical sensor the motor automatically stops at some parrallel
and electronic components were provided for this purpose, distance and sprinkles the water. the camera which has been
and a mobile robot was assembled. In order to perform the mounted can also notice the fire ,intern video can be seen in
intended functions, the constructed robot was eventually smart phone.
programmed. Touch video is being used (such as a camera,
etc.). O. Paper [15] – “FIRE FIGHTING ROBOT”

L. Paper[12] – “Fire Extinguishing Robot using IoT” Author - Sahil S.Shah, Vaibhav K.Shah, Prithvish Mamtora
and Mohit Hapani.
Author - Prof. Sankalp Mehta , Sujata Tupale , Shilpa The objective of this device is to decerease the cause of
Kappalguddi, Sangharsha Madvanna , Rakshanda Patil . air pollution and also subconsciously notice and supress fire.
The fire extinguishing robot that detects fire based on Basically this robot follows the strip line and moves. when a
IoT. The purpose of the system proposed is to control the disturbance is set up a way it can cross the path way and
robot through an android application. The robot will patrol moves forward. Secondly it as lidar and reciever ,depending
the prescribed area. The firefighting robot is wirelessly upon the identification fire these things helps to move the
connected with the Node MCU. If a node senses fire, it will motor towards fire. After the wipe out of fire the robot will
alert the Central Node MCU which will give information to comeback to his native place. We can also make use of CO2
fire safety officers and activate robots to perform firefighting in place of fire suppressing agents like water and detergants.
actions and start the pump to extinguish the fire. The reduction in consumption of fluent use of power in
battery is the boan to this project. The tenacity of this project

IJISRT21MAY784 www.ijisrt.com 1152

Volume 6, Issue 5, May – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
are small rooms, appartments, recording area, factories, 7900
supercomputer rooms, space and military sector where the [10]. K. Young-Duk, K. Jeon-Ho, S. Duk-Han, M. Jeon- Il,
chance of ignition of fire will be high. R. Young- Sun, and A. Jinung, "Design and
implementation of user friendly remote controllers for
III. CONCLUSION rescue robots in fire sites," in SICE Annual Conference
2010, Proceedings of,ed, 2010, pp. 875- 880
As per the sketch of design and enforcement of a [11]. Abdülkadir ÇAKIR , Nyan Farooq Ezzulddın
firefighting device that moves towards the fire and pumps out EZZULDDIN, Fire Extinguishing Robot designed using
gas to extinguish the fire is presented in this project. The Arduino
project explained how to interface ARM7 with different [12]. Shilpa Kappalguddi, Sangharsha Madvanna , Sujata
components. The system may be useful for accompaning fire Tupale , Rakshanda Patil , Prof. Sankalp Mehta, Fire
fighters and preventing an outbreak. This is an one of the Extinguishing Robot using IoT
ample opportunity to automation. It will be used in the [13]. Mohd Aliff , MI Yusof, Nor Samsiah Sani, Azavitra
location or sites where it is impossible to reach or dangerous Zainal, Development of Fire Fighting Robot (QRob)
for humans. (IJACSA) International Journal of Advanced Computer
Science and Applications, 2019
IV. FUTURE SCOPE [14]. Makhare Sonal, Mane Bharat, Sapkal Saraswati,
Prof.V.U.Bansude, Fire Fighting Robot, International
As part of the future scope, it is possible to use the Research Journal of Motorering and Technology
Raspberry pi combination with a camera mounted on it for (IRJET) 2017.
survillance and to know the path of motion as well. [15]. D.J. Pack, A.M. Mankowski, and G.J. Freeman, A Fire-
Fighting Robot and Its Impact on Educational
REFERENCES Outcomes.
[16]. T. AlHaza,A. Alsadoon,Z. Alhusinan,M. Jarwali,K.
[1]. 2015 International Conference on Humanoids, Alsaif. New Concept for Indoor Fire Fighting Robot[J].
Nanotechnology, Information Technology, Elsevier Ltd,2015,195
Communication and Control, Climate and [17]. Jiangping Fang . Research progress of fire fighting
Management[1] Fire Locator, Detector and Extinguisher robot [J]. Fire Fighting today.2020
Robot with SMS Capability (HNICEM) [18]. K. Altaf, A. Akbar and B. Ijaz, "Design and
[2]. Automated robot fire extinguisher-2011 8th Construction of an Autonomous Fire Fighting Robot,"
International Ubiquitous Robots and Ambient 2007 International Conference on Information and
Intelligence Conference (URAI) Emerging Technologies, Karachi, 2007.
[3]. Development and implementation of dual mode fire [19]. J. Suresh, "Fire-fighting robot," 2017 International
extinguishing robot based on arduino microcontrollers: Conference on Computational Intelligence in Data
2017 IEEE International Conference on Intelligent Science(ICCIDS), Chennai, 2017.
Control, Optimization and Signal Processing [20]. J. S. C. Bose, M. Mehrez, A. S. Badawy, W. Ghribi, H.
Techniques (INCOS) (INCOS) (INCOS) Bangali and A. Basha, "Development and designing of
[4]. Cease Fire: The Fire Fighting Robot: 2018 International fire fighter robotics using cyber security," 2017 2nd
Conference on Advances in Computing, International Conference on Anti-Cyber Crimes
Communication Control and Networking (ICACCCN) (ICACC), Abha, 2017.
[5]. Fire extinguisher robot based on multiple sensors based [21]. S. Dearie, K. Fisher, B. Rajala and S. Wasson, "Design
on DTMF, bluetooth and GSM technology with and construction of a fully autonomous fire fighting
multiple modes of operation: 2016 International robot," Proceedings: Electrical Insulation Conference
Computational Intelligence Workshop 2016 (IWCI) and Electrical Manufacturing and Coil Winding
[6]. Intelligent Fire Fighting Robot(2010) Kristi Kosasih, E. Conference (Cat. No.01CH37264), Cincinnati, OH,
Merry Sartika, M. Jimmy Hasugin, dan MulidyElectric USA, 2001.
Motorering Department,Maranatha Christian University [22]. Tushar Nandkishor Satbhai, R.M.K., Anant Vijay Patil,
J1.Prof.Drg. Sumantri Suria. Manish Patil, Fire Fighting Robot. International Journal
[7]. A Fully Automated Fire Fighting Robot, Aman on Recent and Innovation Trends in Computing and
Sharma,1239,sector 9a,Gurgaon, Haryana – 122001 Communication (IJRITCC), 2016.
[8]. "Proceedings of the IRF International Conference, 30 [23]. J. Raju, S. S. Mohammed, J. V. Paul, G. A. John and D.
March-2014, Pune, India,[8] Rohith Punuganti, Anusha S. Nair, Development and implementation of arduino
Srinivas, Lakshmi F Savanoor, Divya Shreer," Pic microcontroller based dual mode fire extinguishing
Based Fire Sensing and Extinguishing Robot. ISBN: robot, IEEE International Conference on Intelligent
978- 93-82702-69-6 Techniques in Control, Optimization and Signal
[9]. Dr.Wael R. Abdulmajeed; Dr.Ali I.Mahdi; Karzan M Processing (INCOS), 2017.
Taqi, “Human Wireless Controlling Fire Fighting Robot [24]. Kim, J.-H., S. Jo, and B.Y. Lattimer, Feature Selection
(Ffr) With 3-Axis Hose.” International Journal of for Intelligent Firefighting Robot Classification of Fire,
Advanced Computer Technology (IJACT) ISSN: 2319- Smoke, and Thermal Reflections Using Thermal

IJISRT21MAY784 www.ijisrt.com
1153
Volume 6, Issue 5, May – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
Infrared Images. Journal of Sensors, 2016. 2016.
[25]. Harik, E.H. and A. Korsaeth, Combining Hector SLAM
and Artificial Potential Field for Autonomous
Navigation Inside a Greenhouse. Robotics, 2018.

IJISRT21MAY784 www.ijisrt.com 1154