International Journal of Advances in Engineering and Management (IJAEM)

Volume 2, Issue 5, pp: 47-52 www.ijaem.net ISSN: 2395-5252

Monitoring and Controlling of Fire Fighthing Robot using

IOT
Vyshnavi C G.1, Neetha Natesh2
1
Student, M.Tech.,Dr. AIT, Bangalore, KA, India. Email: [email protected]
2
Assistant professor, Dr. AIT, Bangalore, KA, India. Email: [email protected]
Corresponding Author: Vyshnavi CG

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Date of Submission: 05-08-2020 Date of Acceptance: 22-08-2020
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ABSTRACT: There is a lot of likelihood of fire in can be beneficial in medicine [1], rehabilitation [2],
any distant location or in an industry. For example, rescue operation [3] and industry. Over the years,
in products of clothing godowns, cotton factories, robotics has been introduced in various industries.
and fuel stockpiling tanks, electric short circuits The industrial robots are multi-function
may bring out monstrous fire and mischief. In the manipulators designed for more specialized
most noticeably terrible of cases and situations, fire materials, divisions, gadgets or devices through
causes overwhelming misfortunes both monetarily various programmatic movements to perform
and by taking lives. Robotics technology is the most various tasks [4].
ideal approach to monitor human lives, protect With the progression of technological
wealth and preserve environmental health. A Fire- innovations particularly in Robotics, it is considerate
fighting robot is structured and worked with an that man power can be replaced with the robots for
embedded framework. It is equipped for exploring battling the fire. This would improve the proficiency
alone on a displayed place while effectively of firemen and would likewise keep them from
examining the blazes of fire and extinguishes it. The gambling their lives. While a scope of putting out
robot could be utilized as a way to manage as a fires robots have been created and placed in real life
crisis gadget. This robot is structured so that it look around the world, they have not yet contributed
through a fire, and drenches it before the fire could extraordinarily to the battle. Most robots help just in
spread out of range and control. little manners, helping combat fires from a remote
KEYWORDS: Fire-fighting Robot, Embedded place or monitoring outside fire scenes. An indoor
System, Raspberry Pi, Flame Sensor, L298N Motor fire fighter robot is fit for performing salvage tasks
driver. without gambling human life, including fire
extinguishers and helping individuals in case of
I. INTRODUCTION danger.
According to National Crime Records In this paper, we have proposed a Fire
Bureau (NCRB), it is estimated that more than 1.2 Fighting Robot using Raspberry Pi 3B
lakh deaths have been caused because of fire microcontroller board. The main function of this
accidents in India from 2010-2014. Despite the fact robot is to become an unmanned support vehicle,
that there are a great deal of safety measures taken developed to search and extinguish fire. There are
for Fire mishaps, these common/man-caused several existing types of vehicles for fire-fighting at
disasters do happen once in a while. In case of a fire home and extinguish forest fires [5].
breakout, to protect individuals and to extinguish the Our proposed robot is designed to be able
fire we are compelled to utilize manpower which are to work on its own or be controlled remotely. By
undependable. Losses and property harm from fire using such robots, fire identification and rescue
keep on exist in fire catastrophes and new measures activities can be done with higher security without
are consistently presented. Harmful gases and blazes placing fire fighters at high risk and dangerous
keep on undermining calamity casualties and conditions. In other words, robots can reduce the
salvage labourers the same time. need for fire fighters to get into dangerous
A robot is an automated device which situations. Additionally, having a compact size and
performs functions usually attributed to humans or automatic control also allows the robot to be used
machines tasked with repetitive or flexible set of when fire occurs in small and narrow spaces with
actions. Numerous studies have shown that robot hazardous environments such as tunnels or nuclear
power plants [6, 7].
DOI: 10.35629/5252-02054752 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 47
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 5, pp: 47-52 www.ijaem.net ISSN: 2395-5252

II. LITERATURE REVIEW time, the performance of the robot is evaluated by

Fire-fighting robot may be used in performing sensitivity tests on the sensors taking
industrial environment and even in household areas serial monitor readings in Arduino.
wherethere is more probability of occurring The vast majority of the work on fire
accidental fire [8-10]. Different sensors are used and fighting robots is focused on fire detection
fusion of their performances is ensured by an algorithms and less on the mobility of the robot
intelligent algorithm in Arduino computing platform inside the building such as climbing stairs and
or by soft computing techniques [11-12]. obstacles. Fighting fire within the building requires
Su et al. [13] made an automatic fire good thermal protection of the electronic
detection system using Adaptive Fusion Algorithm components of the robots. This kind of protection
(AFA). Multisensor Fire Detection System has been considered in the proposed firefighting
(MSFDS) along with Visual Basic to receive robot.
information was used and a general interface for Taiser T [19], presented the design and
supervised computer was designed in his study. assembly details of a robot developed to take part in
Viguria et al. [14] built an aerial/ground an educational robotic competition. A control law
robot team applied to fire detection. They used a based on Lyapunov theory was developed and
disturbed market based algorithm, called S+T and implemented on a Programmable Logic Controller
coordinated in between aerial and ground vehicles. to control the robot.
Their simulations showed that if the number of Daniel J. et al. [20] conducted a design
services increased, communication and energy project to create an autonomous mobile robot that
requirement would also increase. navigates through a maze searching for a fire
Nam Khoonet.al [15] developed an (simulated by a burning candle), detects the candle’s
Autonomous Fire Fighting Mobile Platform flame, extinguishes the flame, and returns to a
(AFFMP) that is equipped with the basic fighting designated starting location in the maze. The fire-
equipment that can patrol through the hazardous site fighting contest promotes interdisciplinary design
via a guiding track with the aim of early detection and teamwork.
for fire. The tasks for the AFFMP once it navigates Kuo et al. [21] designed fire detection
out of the patrolling route include the obstacle system using three flame sensors in the fire fighting
avoidance, locating for more precise location of fire robot. The adaptive fusion method was proposed for
source using front flame sensor and extinguish the fire detection of fire fighting robot. He used
fire flame. Their work was focused on outdoor fire computer simulation to improve the method to be
fighting robot. adequate for fire detection. He incorporated the fire
For early warning, a vision sensor based detection system in the fire fighting robot, and
fire detection method is proposed by Ko et al. [16]. program the fire detection and fighting procedure
They developed an AVM classifier for fire pixel using sensor based method.
verification. Chee et al. [22] have conducted a good
Kim et al. [17] made a portable fire review paper about variety of technologies and
evacuation guide robot system and demonstrated state-of-the-art technology of fire fighting mobile
that robot system can be thrown into a fire to gather robot. The paper also describes the first Malaysian
information, locate displaced people and evacuate designed and built fire fighting mobile robot,
them. They designed the robot with aluminum namely, MyBOT2000.
compound metal for thermal resistance with
waterproofing and an impact distribution frame for III. SYSTEM DESIGN
impact resistance. The electronic part is one of the vital parts
White et al. [18] developed a vehicle in the development of fire fighting robot. It includes
mounted fire fighting system and included a series the several types of sensors, microcontroller, DC
of flame and heat retardant coverings placed on all motor with wheel and Water pump. For the main
exposed parts of the system to prevent damage from structure of the robot, to get the preferred movement
exposure to extreme heat. Our effort is to develop an and speed, robot has two wheels at rear side and two
autonomous fire fighter robot which is constructed wheels at front side. The wheels have the ability to
by locally available fire resistant and water-proof stabilize the robot and make rotation until 360
materials and performs on an arduino based fire degrees. The flame sensorson the sides and back of
detection and extinguishment algorithm. The robot the robot were installed to detect the fire in all the
is also fabricated so that it can save itself from fire directions. A water sprayer is positioned in the front
by keeping safe distance from the source. At to douse the fire at times when sensor senses any
different distances from the fire and at different day fire. In addition, mini camera was installed in front
DOI: 10.35629/5252-02054752 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 48
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 5, pp: 47-52 www.ijaem.net ISSN: 2395-5252

side of the robot to monitor the way and condition of the location and is linked to the smart phone.

Fig. 1. System Architecture

Above fig. 1 shows the architecture

diagram of the proposed robotstructure which In most fire-fighting robots, fire sensors perform an
consists of flame sensor as input of the system. essential part in investigations, which are always
Raspberry Pi 3B is used as a microcontroller that used as robot eyes to discover sources of fire. It can
connected with other components. Motor Driver be utilized to identify fire based on wavelength of
(L298N) is used to activate the moving of the servo the light at 760 nm to 1100 nm. The detection angle
motor. Flow of water and fire extinguisher were and distance are roughly 60 degrees and distance
pump after being controlled by the operator. On the 20 cm (4.8V) to 100 cm (1V) respectively. Flame
other hand, the operator can monitor the robot sensor has two signal pins that are Digital Output
movements by using 5MP micro camera which (DO) and Analog Output (AO). DO pins will give
connects to a smartphone through VLC player. two kind of information that it’s has flame or non-
Various components that we use in project are: flame while AO pins will detect exact wavelength
of different light.
a. Flame sensor (YG1006):
b. DC motor with L298N Driver:

Fig. 3. DC Motor Driver Connection

Fig. 2. Flame Sensor connection
DOI: 10.35629/5252-02054752 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 49
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 5, pp: 47-52 www.ijaem.net ISSN: 2395-5252

DC geared motor with rubber wheel are suitable right.backward(rightSpeed);

material for this project. This DC motor are }
suitable to replace 2 WD and 4 WD car chassis. else
The working voltage for DC motor is around 5V to {
10 V DC. While the ratio of the gear is 48:1. right.brake();
Suitable current for this motor is 73.2 mA. DC }
motor is used to move the robot to the fire location. }
L298N driver module is a motor driver for
controlling two DC motors or one stepping motor. b. Basic script to sense fire, move towards it and
put on water pump is:
c. Water pump:
public void
handleGpioPinDigitalStateChangeEvent(GpioPinD
igitalStateChangeEvent event) {
System.out.println(" --> GPIO PIN STATE
CHANGE: " + event.getPin() + " = " +
event.getState());
Fig. 4. Water Pump if(fs1.isHigh())
myLed1.low();
The water pump is important part in this else if(fs1.isLow()){
robot as it will pump water or soap to extinguish myLed1.high();
the fire depending on the class of fire that occurs. for(int i=0;i<4;i++)
Small-size and light-weight category of water mc.turnLeft(movement_speed);
pump has been selected for use in this project. mc.brake();
for(int i=0;i<4;i++)
IV. SYSTEM PROGRAMMING mc.forward(movement_speed,0);
In this section some scripts are mentioned mc.brake();
that were actually used in the system programming. mypump.high();
Basic script to move wheels in directions is: try{ Thread.sleep(3000);
public void moveWheels(int leftPct, int rightPct) }catch(Exception ex){}
{ mypump.low();
//Left wheels }
int leftSpeed = }
getMotorSpeed(Math.abs(leftPct)); });
if (leftPct > 0)
{ V. SNAPSHOTS
left.forward(leftSpeed); Firefighting robot has been developed to
} find the location of fire and extinguish it. This
else if (leftPct < 0) robot has an ability to find the location of fire by
{ using flame sensor. The 3 flame sensor is
left.backward(leftSpeed); functioning to sense the location of fire. All 3
} sensors are connected to Raspberry Pi, which
else controlled the movement of DC motor.In the front,
{ a water pump outlet is fixed to spray water in case
left.brake(); of fire detection. Table 1 show the robot action
} depending on the sensors input for any movement.

//Right wheels
int rightSpeed =
getMotorSpeed(Math.abs(rightPct));
if (rightPct > 0)
{
right.forward(rightSpeed);
}
else if (rightPct < 0)
{
DOI: 10.35629/5252-02054752 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 50
 International Journal of Advances in Engineering and Management (IJAEM)
Volume 2, Issue 5, pp: 47-52 www.ijaem.net ISSN: 2395-5252

Table 1: The robot action using sensor input The connectivity of classes can be seen there. The
programming IDE is BlueJ software and Java codes
were developed as a programming tool. The OS
running in RPi is a variant of Linux and monitor
connection is through VGA wire.

Below are few of the pictures of the robot model

that is developed. Fig. 7. System Class Design

VI. CONCLUSION
The Fire Fighting Robot is fabricated with
locally available materials and some tests are done
to observe its effectiveness at different situation.
Experimental work has been carried out carefully
on the Raspberry Pi3 based micro controller model.
The result shows that higher efficiency is indeed
achieved using the embedded system. This work
has been inspired by the zeal to develop an
embedded based model that can sense fire and
douse them in real time.
In the current condition it can combat fire
just in the proximity and not in all the rooms. It
Fig. 5. Robot Hardware (Top View) tends to be stretched out to a genuine fire
extinguisher by integrating a fan by the carbon
Fig. 5 and Fig 6 shows the model from top dioxide cylinder and by making it to douse flames
and front view. The connections are clear between of all the room utilizing micro-controller
the L298N driver, RPi and the DC Motors. The programming. This gives us the chance to give to
pipes were used to hold wiring of flame sensors. A robots undertakings that generally people needed to
micro camera is also visible from the front view. do.

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DOI: 10.35629/5252-02054752 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 51
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Volume 2, Issue 5, pp: 47-52 www.ijaem.net ISSN: 2395-5252

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DOI: 10.35629/5252-02054752 | Impact Factor value 7.429 | ISO 9001: 2008 Certified Journal Page 52