AUTOMATIC FIRE FIGHTING ROBOT USING ARDUINO 2024-2025

CHAPTER 1

INTRODUCTION

1.1 Preamble

Fire hazards pose a significant threat to lives, property, and the environment. Quick
detection and suppression of fire are critical to minimizing damage and ensuring safety.
An automatic fire-fighting robot provides an innovative solution to address these
challenges. Using modern microcontroller technology, the Arduino platform to create an
efficient, affordable, and effective system capable of detecting and extinguishing fires
autonomously.

Automatic fire fighting robots represent a significant advancement in robotics and

automation, designed to enhance fire suppression capabilities while minimizing human
risk. These robots can navigate hazardous environments, detect fires, and deploy
appropriate firefighting measures. This review covers various aspects of automatic fire
fighting robots, including their design, sensors, control systems, and real-world

applications. The Arduino microcontroller serves as the brain of the robot, processing
sensor data and coordinating movements and fire suppression actions. This project
demonstrates the integration of electronics, programming, and robotics to address real-
world problems, highlighting the potential of technology in enhancing fire safety.

1.2 Motivation

The increasing occurrence of fire-related accidents highlights the need for innovative
solutions to enhance fire safety and minimize human risk. An automatic fire-fighting
robot using Arduino presents a highly effective and versatile solution. The motivation
behind developing such a robot stems from the desire to the dangers faced by firefighters
in hazardous environments, improve response time, and reduce property and
environmental damage. The robot can detect fires, navigate through obstacles, and
extinguish flames without human intervention, ensuring quick action in critical situations.

In recent years, there has been significant advancement in the field of robotics and
artificial intelligence, leading to the development of various types of robots designed to
assist humans in different domains. Traditional methods of controlling robots, such as

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using remote controls or programming, can be cumbersome and require specialized
knowledge. An Arduino-based fire fighting robot combines affordability, efficiency, and safety,
making it an ideal solution for residential, industrial, and commercial applications. Its development
reflects a commitment to protecting lives and property through technological innovation.

1.3 Relevance/Scope in Indian Context

The development of an Arduino-based automatic fire-fighting robot holds immense

potential in India for both urban and rural applications.

 Growing Urbanization and Fire Incidents: India has seen rapid urbanization. This
increases the risk of fire incidents, particularly in densely packed urban slums,
factories, and high-rise buildings. An automatic fire-fighting robot can act as a first
responder in such situations, minimizing human risk.

 Industrial Applications: Industries like oil refineries, chemical plants, and

manufacturing units are highly prone to fire hazards. Robots equipped with fire-
detection sensors and extinguishing systems can be deployed in these environments
to enhance safety without exposing human workers to danger.

 Smart City Initiatives: Under India’s Smart City Mission, integrating such robotic
systems into smart infrastructure can provide a technological edge to disaster
management systems. These robots can be networked with IoT systems for
automated responses to fire alarms.

 Educational and Research Applications: Indian engineering institutions can use such
projects for teaching and innovation, encouraging students to develop practical, real-
world solutions for societal challenges.

1.4 Organization of the Report

This mini project work is organized into 5 chapters

Chapter one: A brief introduction about the Automatic Fire Fighting Robot using
Arduino.

Chapter two: Explains the Review of Literature.

Chapter three: Explains the Methodology.

Chapter four: It determines the results and discussion of this project.

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Chapter five: It gives the conclusion and future work of this project.

CHAPTER 2

REVIEW OF LITERATURE

2.1 Introduction

The development of fire fighting robots has been a growing area of research over the past
few decades. Early prototypes focused on basic tasks like hose manipulation. Notable
studies include work by researchers at the University of Tokyo, who developed a robot
capable of navigating through smoke-filled rooms using infrared sensors. Another ground
breaking project involved the development of a firefighting drone by a team at the
Massachusetts Institute of Technology, which could access confined spaces and
provide real-time thermal imagery to firefighters.
This review highlights the key contributions in the field, emphasizing the role of Arduino
in simplifying the development of such systems. It also explores challenges like
enhancing detection accuracy, ensuring reliable operation in complex environments, and
optimizing response time.

2.2 Review of Literature

The development of fire-fighting robots has significant attention in recent years due to
their potential to enhance fire safety and minimize risks to human life. Researchers have
explored various approaches to automate fire detection and suppression using Arduino-
based systems, emphasizing affordability, flexibility, and scalability.
Several studies highlight the integration of sensors, such as flame, temperature, and
smoke sensors, for accurate fire detection. Tawfiqur Rakib, M. A. Rashid Sarkar
proposed a fire fighting robot model which consists of a base platform made up of
‘Kerosene wood’, LM35 sensor for temperature detection, flame sensors to detect the fire
and a water container of 1 litre capacity which is made up of a strong cardboard that
makes it water resistant. The robot has two wheels for its movement.
Saravanan P, Soni Ishawarya proposed a model which uses Atmega2560 micro-controller
and in which the robot is divided into three basic units according to their functions which
are as locomotive unit, fire detecting unit and extinguishing unit. Each unit performs their
task in order to achieve the desired output of extinguishing fire. The locomotive unit is

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used for the movement of the robot and to avoid the obstacles with the help of four IR
and four ultrasonic sensors. The fire detecting unit is used to detect fire using LDR and
temperature sensor. The extinguishing unit is used to extinguish the fire using water
container and BLDC motor. The robot also have a bluetooth module that is connected
with the smartphones in order to navigate it in the proper direction.
In addition, wireless communication technologies like Bluetooth or RF modules are
frequently incorporated for remote operation. Studies by Gupta et al. (2021) demonstrated
a prototype that allowed users to control the robot through a smartphone app, enhancing
its usability in hazardous scenarios.
Despite advancements, challenges remain in optimizing power efficiency, scalability, and
multi-sensor integration. The existing literature emphasizes the importance of balancing
cost-effectiveness with functionality, making Arduino an ideal platform for prototyping.
Overall, fire-fighting robots represent a promising field for advancing fire safety through
automation, with continuous innovations in sensing, navigation, and control systems.

2.3 Summary
The development of automatic firefighting robots using Arduino has been extensively
studied to address the need for efficient and safe fire suppression methods. Research
highlights the integration of Arduino microcontrollers with various sensors and actuators
to create cost-effective and autonomous systems.

Fire-fighting robots offer a promising solution to enhance firefighter safety, improve

situational awareness, and optimize emergency response. However, they face challenges
in operating in harsh environments, maintaining stability, and communicating reliably.
Future research should focus on developing more robust and adaptable robots with
advanced AI, sensor technology, and power solutions.

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CHAPTER 3

METHODOLOGY

3.1 Introduction

The methodology section outlines the systematic approach taken to design,

develop, and implement the firefighting robot. This structured approach ensures that each
phase of the project is meticulously planned and executed to achieve the project
objectives effectively. The methodology includes the conceptual design, selection of
components, hardware and software development, integration, testing, and evaluation.
In the following sections, we detail each step of the methodology to provide a clear and
comprehensive understanding of the processes involved in creating the firefighting robot.
This approach ensures that all aspects of the project are thoroughly considered and
executed, leading to a functional and reliable firefighting robot capable of operating in
hazardous environments.

3.2 Objectives of the Mini Project

 Enhance Firefighter Safety: Develop a robot that can operate in hazardous

environments, reducing the risk to human firefighters by performing dangerous
tasks such as fire detection and suppression.
 Rapid Fire Detection and Extinguishing: Utilize advanced sensors and
algorithms to quickly identify and locate fire sources, and deploy appropriate
extinguishing methods to suppress fires efficiently.
 Environmental Adaptability: Design the robot to with stand extreme
temperatures and other challenging conditions commonly encountered in fire
emergencies.
 Real-time Data Processing: Equip the robot with real-time data processing
capabilities to analyse sensor inputs, make decisions, and execute firefighting
actions promptly.
 Scalability and Versatility: Develop a modular and scalable robot platform that
can be adapted for various firefighting scenarios, including residential, industrial,
and wildland fires.

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3.3 Methodology

Fig 3.1 block diagram

There are at least five interfacing circuits, L293d driver module, Arduino-uno with
Microcontroller, flame sensors, ultrasonic sensors, servo motor and 5v pump. In the
above block diagram we can see that there are three flame sensors and ultrasonic sensor
which acts as input interface to the microcontroller and servo motor, pump, driver module
acts a output interface to the microcontroller, here the input and output interface can be
indicated with the arrow lines with the respective the microcontroller performs with the
respective commands and delay which is programmed on arduino software.
The methodology involves the following key components and steps:
1. Sensor Integration: The robot uses sensors like a flame sensor and temperature sensor
as inputs. These sensors provide real-time data, indicating the presence of fire.
2.Control System: The Arduino microcontroller serves as the central unit, processing
sensor data. It makes decisions based on the inputs from the flame and temperature
sensors. If the flame sensor detects fire or the temperature exceeds a set threshold, the
Arduino triggers the robot's movement and extinguishing mechanism.
3. Robot Movement: The robot is equipped with motors and wheels controlled by motor
drivers, allowing it to navigate towards the detected fire. The Arduino receives the sensor
input and drives the motors accordingly, moving the robot in the direction of the fire.

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4. Extinguishing Mechanism: The robot features an extinguisher system, such as a small
water pump or CO2 release system. The Arduino activates this system once the robot
reaches the fire, effectively putting it out.
5. Power Supply: The robot is powered by a battery pack, which provides the necessary
power for movement, sensors, and the extinguisher.

3.4 Required components

An automatic fire-fighting robot using Arduino is a robotic system designed to detect and
extinguish fires autonomously. It relies on various sensors to identify fire sources,
navigate toward them, and deploy fire-extinguishing measures. Components required to
make automatic fire fighting robot using Arduino are

 Arduino UNO board

 Flame Sensor Module
 L293D Motor Driver
 Servo Motor
 Battery operated motor with wheel
 Mini DC water pump
 Battery
 Arduino IDE

3.4.1 Arduino UNO board

The Arduino UNO is a popular microcontroller board based on the ATmega328P chip.
The open-source electronics platform Arduino is built on user-friendly hardware and
software. Arduino boards have the ability to take inputs, such as a light from a sensor, a
finger pressing a button, or a message from Twitter, and convert them into outputs, such
as starting a motor, turning on an LED or posting content to the internet. Today the
ATmega328 is commonly used in many projects and autonomous systems where a
simple, low-powered, low-cost micro-controller is needed. Perhaps the most common
implementation of this chip is on the popular Arduino development platform, namely the
Arduino Uno and Arduino Nano models.

The board is programmed via the Arduino IDE, using a simplified version of C/C++
code. It supports serial communication, PWM, and power management, making it ideal

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for robotics, sensors, automation, and prototyping. Arduino Uno is widely popular for its
ease of use and flexibility.

Fig 3.2 Arduino UNO board

Features
 Microcontroller - ATmega328
 Operating Voltage - 5V
 Input Voltage (recommended) - 7-12V
 Input Voltage (limits) - 6-20V
 Digital I/O Pins - 14 (of which 6 provide PWM output)
 Analog Input Pins - 6
 DC Current per I/O Pin - 40 mA
 DC Current for 3.3V Pin - 50 mA
 Flash Memory -32 KB (ATmega328) of which 0.5 KB used by bootloader
 SRAM - 2 KB (ATmega328)
 EEPROM - 1 KB (ATmega328)
 Clock Speed - 16 MHz

3.4.2 Flame Sensor Module

A flame sensor module is an electronic component designed to detect the presence of a
flame or fire by sensing infrared (IR) radiation emitted by the flame. The flame sensor
module is equipped with a photodiode for light detection and an op-amp for sensitivity

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adjustment. Its purpose
is to detect fire and,
upon detection,
to emit a HIGH
signal.

Fig 3.3 Flame Sensor Module

After interpreting the signal, Arduino activates the LED and buzzer to send an alarm. It is
widely used in safety applications, such as fire alarm systems, industrial equipment, and
heating systems, to detect potential fire hazards. These modules typically operate in a
low-voltage range (e.g., 3.3V to 5V), making them compatible with microcontrollers like
Arduino and Raspberry Pi for easy integration into automated fire safety systems.

3.4.3 L293D Motor Driver

The L293D is a popular motor driver IC that allows you to control the direction and
speed of DC motors, stepper motors, and other inductive loads, such as relays or
solenoids, through low-power control signals. It's commonly used in robotics and
automation projects to interface motors with microcontrollers like Arduino, Raspberry Pi,
and other embedded systems. The L293D contains two H-bridge circuits, which allow it
to control two motors independently. Each H-bridge can drive a motor in both directions
(forward and backward).

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Fig 3.4 L293D Motor Driver

It can drive motors with voltages between 4.5V to 36V, making it suitable for a range of
motors. The two enable inputs on this integrated circuit allow you to turn the gadget on or
off without relying on the input signals.

3.4.4 Servo Motor

The servo motor is a closed-loop device that uses positional feedback to regulate both
position and rotational or linear speed. An electric signal, either digital or analog, controls
the motor by dictating how much movement corresponds to the shaft's ultimate command
position. A servo or error-sensing feedback control can improve a system's performance.
In addition, a very complex controller is needed; this is often a separate module made
especially for servomotor operation. DC motors with accurate angular position control are
known as servo motors. These DC motors' gears gradually reduce their speed. The typical
rotating cutoff angle of servo motors is between 90° and 180°. Additionally, some servo
motors have a 360-degree rotational cut off.

The gear reduction provided in a servo is large; the basic hobby servo has a 180:1 gear
ratio. This means that the DC motor shaft must make 180 revolutions to produce 1
revolution of the servo shaft. Servo motors are typically used for angular positioning, such
as in radio control airplanes.

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Fig 3.5 Servo Motor

3.4.5 Motor with wheel

Fig 3.6 Motor with wheel

A gear motor is an all-in-one combination of an electric motor and a gearbox. This makes
it a simple, cost-effective solution for high-torque, low-speed applications because it
combines a motor with a gear reducer system. Motor with wheel enabling a vehicle or
device to move. This is common in various mechanical systems, from toys to robots to
motorized vehicles. The motor is the core component that converts electrical energy (or
fuel, depending on the type of motor) into mechanical motion. In the case of electric
motors, a DC motor or stepper motor is often used for simplicity and control. The wheels
are attached to an axle or directly to the motor's shaft. The motor drives the wheels,
causing them to rotate, which in turn moves the entire device or vehicle.

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3.4.6 Mini DC water pump

Fig 3.7 Mini DC water pump

A mini DC submersible water pump is a small, compact water pump that operates on
direct current (DC) power. A 12V direct current power source power the DC electric
water pump motor in a 12 Volt water pump. The primary function of a mini DC
submersible pump is to move water from one place to another by creating a flow. They
are commonly used in aquariums, cooling systems, hydroponic setups, small-scale water
circulation, and DIY projects. Mini DC water pumps are popular for their ability to
operate at low voltage (commonly between 5V to 12V), making them ideal for battery-
operated or solar-powered systems. The pumps are available in various flow rates, with
some models capable of moving up to 1200 liters per hour or more, depending on the
specifications.

3.4.7 Battery

A battery is a device that stores and supplies electrical energy. It consists of one or more
electrochemical cells, each containing two electrodes—an anode (negative) and a cathode
(positive)—separated by an electrolyte. The electrolyte facilitates the flow of ions
between the electrodes. When the battery is connected to an external circuit, chemical
reactions at the anode and cathode generate a flow of electrons, creating an electric
current.

The capacity of a battery is measured in ampere-hours (Ah) or milliampere-hours (mAh),

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indicating the amount of charge it can store and release over time. The voltage of a
battery depends on the materials used in the electrochemical reactions and typically
ranges from 1.5V in standard cells to 3.7V in lithium-ion batteries.

Fig 3.8 Battery

3.4.8 Arduino IDE

The Arduino IDE (integrated development environment) is a software developed by
Arduino. cc to assist Arduino microcontrollers. This Arduino IDE software supports all
kinds of Arduino boards like Arduino UNO, Arduino mega, Arduino micro, Arduino
nano, and many more. The Arduino IDE software supports C and C++ programming
languages. This software is mainly used for writing, compiling, and uploading the code
required for the respective work. Debugging the written code is easier in this software.
The main code in this software is known as the sketch. This software will automatically
generate a hex file after compiling and it will be uploaded to the Arduino board when the
upload option is chosen. The Arduino IDE software consists of two main parts, Editor
and compiler.

The Arduino IDE software consists of three sections,

(1) Menu bar: The bar located at the top of the window is the menu bar. This contains
five options, File, Edit, Sketch, Tools, Help. In this, the file option contains twelve
options New, Open, Open recent, Sketchbook, Examples, Close, Save, save as, Page
set up, Print, Preferences, Quit. The menu bar also has an option called the Serial
monitor which is used to debug the written code of the respective project. To use the
serial, monitor option, the Arduino board should be connected with the computer.
(2) Text editor: The area below the menu bar is a text editor.
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(3) Output pane: the bar located at the bottom of the software is the output pane. This
bar displays the error messages if there are any. If any components to be integrated
with the Arduino board, the library of the respective component need to be chosen.
This can be done using this command, Sketch -> Include library -> choose the
required library.

3.5 Summary

The automatic firefighting robot employs an Arduino microcontroller to detect and

extinguish fires autonomously. It integrates flame and temperature sensors to identify
fire, ultrasonic sensors for obstacle avoidance, and DC motors for navigation. Upon fire
detection, the robot calculates the fire's position and approaches it safely using pre-
programmed algorithms. A water pump or CO₂ extinguisher, operated by the Arduino, is
used to extinguish the fire. The system is powered by a rechargeable battery and
programmed using the Arduino IDE. Compact and efficient, this robot is suitable for
enclosed spaces such as homes, offices, or industrial areas.

PROJECT ASSOCIATE:

Name: Dhanush M Ambig

USN: 2GP22EC018
E-mail: [email protected]
Address: Hosapete, TQ-Siddapur, DT-Uttara Kannada

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Name: Niteesh C T

USN: 2GP22EC029

E-mail: [email protected]

Address: Satenahalli, TQ-Hirekerur, DT-Haveri

Name: Rajat G Naik

USN: 2GP22EC033

E-mail: [email protected]

Address: Kodibag, TQ-Karwar, DT-Uttara Kannada

Name: Santosh S Biradar

USN: 2GP22EC043
E-mail: [email protected]
Address: Shivananda B 81 khb Colony Ramanagar
Hagaribommanahalli

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