FIRE DETECTION AND EXTINGUISHING ROBOT

2024 International Conference on Communication, Computing and Internet of Things (IC3IoT) | 979-8-3503-5268-9/24/$31.00 ©2024 IEEE | DOI: 10.1109/IC3IoT60841.2024.10550218

USING ARDUINO
Usha S
Department of ECE
Sri Sairam Engineering College
Chennai, India

Jessica Sharon W Shrajana M S

Department of ECE Department of ECE
Sri Sairam Engineering College Sri Sairam Engineering College
Chennai, India Chennai, India
[email protected] [email protected]

ABSTRACT Once the fire source is reached, the robot activates

the extinguishing mechanism to suppress the flames
The rising frequency and severity of fire events effectively. The chemical-based extinguisher,
endangers human life and property. Firefighting controlled by the Arduino system, releases a targeted
stream of ABC powder to mitigate the fire, reducing
is a momentous and perilous job. Fire detection and
the risk of further damage and providing immediate
extinguishment are the hazardous job that invariably
firefighting capabilities.
put the life of a fire fighter in danger. Traditional fire
detection and extinguishing systems often face Keywords – Fire detection, Fire hazards,
limitations in terms of speed, efficiency, and Extinguishing mechanism, ABC powder, Arduino
accessibility. This paper introduces an innovative controller, Arduino UNO, Flame sensor, DC Motor.
solution—a Fire Detection and Extinguishing Robot
designed to autonomously detect and suppress fires I .INTRODUCTION
in diverse environments. The robot's hardware part
comprises a combination of sensors including smoke
Fires present a significant and imminent threat to life
detectors, temperature sensors, and gas sensors,
and property, underscoring the critical importance of
which enables the identification of potential fire
early detection and prompt extinguishing for effective
hazards in the environment.
fire safety. Traditional fire detection systems, while
These sensors continuously monitor the surrounding valuable, may encounter limitations in coverage,
conditions and provide real-time data to the Arduino response time, and accessibility, particularly within
controller. The Arduino controller processes the intricate indoor environments. Manual intervention in
sensor data, employing intelligent algorithms to firefighting poses inherent risks and can be time-
analyse the inputs and accurately detect the presence consuming. Therefore, there is a compelling need to
of a fire. Upon detection, the robot employs its develop an autonomous robot capable of efficiently
actuation system, which includes motors and a detecting and extinguishing fires..
chemical-based extinguisher, to swiftly move towards
The primary objective of this project is to design and
the fire source. The robot's mobility is facilitated by
create a fire detection and extinguishing robot,
wheels or tracks, enabling it to navigate various
leveraging Arduino technology and integrated with an
terrains with agility.

979-8-3503-5268-9/24/$31.00 ©2024 IEEE

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 Internet of Things (IoT) application. The envisioned uses DTMF (Dual Tone Multi Frequency Tones)
robot should possess the capability to autonomously technology for the robot's navigation.
navigate indoor spaces, utilizing sensors to detect the
presence of fires and employing suitable methods to [3] This model is a fire-detective IOT-based
extinguish them. firefighting robot. Following notification, the
authorities are able to visualise the scene of the fire
The designed system must exhibit effectiveness in and, with the aid of an automatically implanted
diverse indoor environments, including residential receiver, interact with those who are trapped. Long-
range commands can be sent to the robot to control its
buildings, offices, or warehouses. By addressing the
movement and activate its carbon dioxide or water
shortcomings of traditional systems and introducing pump, depending on the type of fire. The installed
autonomous capabilities, the project aims to enhance sensors that provide a graph for examination are used
to determine the type of fire and the amount of carbon
the overall efficiency and safety of fire detection and
monoxide present. In order for safety authorities to
extinguishing processes. take the necessary steps to mitigate the danger, the
analysis is also helpful in providing them with further
information regarding the quantity of toxic gases
inhaled over time by the residents of the affected area.

[4] This suggested fire extinguishing robot model uses

an Arduino to sense the existence of fire and puts it out
autonomously, without the need for human
intervention. When the robot senses a fire, it uses gear
motors and a motor driver to regulate its movement. It
then initiates the water pump to put out the fire on its
own. This particular robot type is equipped with a
water ejector that may spray water where a fire may
II. LITERATURE SURVEY
start. A servo motor can be used to move the water
ejector pipe in the desired direction. An Arduino UNO
[1] This study developed a model that divides the robot
microcontroller is in charge of the entire system.
into three fundamental units based on their functions:
a locomotive unit, a fire detection unit, and an [5] The primary tasks are performed by the
extinguisher unit. The model employs an Atmega2560 autonomous robot system, which is able to move in the
microcontroller. Every unit carries out its assigned direction of the fire and extinguish it by pumping out
duties with the goal of putting out fires. With the aid the surrounding water. For remote movement control,
of four infrared and four ultrasonic sensors, the this robot system makes use of Bluetooth technology.
locomotive unit moves the robot and helps it avoid The water tanker and wirelessly controlled pump on
obstacles. The temperature sensor and LDR are the robot are designed to sprinkling water. The robot
employed by the fire detection device to identify fire. can move forward, left, or right at the transmitting end
The extinguishing equipment uses a BLDC motor and according to directions from the push Bluetooth app.
a water container to put out the fire. Additionally, the With advancements in robotics in particular, humans
robot is equipped with a Bluetooth module that allows combating fires may eventually be replaced by robots.
it to communicate with smartphones and navigate in The firefighters' effectiveness would increase with this
proper direction. substitution, and they wouldn't have to threaten
[2] This paper suggested a fire extinguisher robot that anyone's life.
uses a flame sensor for fire detection that can detect
[6] This paper suggested to create an automated
flames with wavelengths ranging from 760 to 1100 nm
system that uses image processing to identify and put
with sensitivity varying from 10 cm to 1.5 ft. It also
out fires. A firefighter has to be able to put out a fire

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 safely and swiftly in order to limit more damage. With identify which flame sensor is identified based on the
the advancement of technology, combating fires can fire's origin. The Bluetooth module decodes the codes
now be done more effectively and efficiently thanks to before sending them to the ATmega328 IC
a bridge that has finally been built between humans microprocessor. The microcontroller will save the
and robots. This makes firefighting easier and results programme, which will then compare these codes with
in fewer fatalities by creating an automated system for the programming and send the appropriate commands
early fire detection and extinguishment. The goal of to the linked systems to perform the movement and
the article is to use the Arduino UNO to create a extinguishing activities.
firefighting robot.
EXTINGUISHING UNIT
III. PROPOSED METHODOLOGY
ABC powder is used for the extinguishing equipment
DETECTION OF FIRE to spray out the fire. The ultrasonic sensors are used to
detect obstacles in order to assist the robot in
This device's main function is to detect flames navigating the building. The camera module aids in
emerging from a fire and eventually assist in putting it both showing the details into the mobile application
out. In order to do this, the robot is equipped with and collecting them.
temperature and flame sensors, which help identify
high temperatures or flame wavelengths and transmit
a signal to the Arduino UNO. The user receives the
information through an easy-to-use smartphone
application, and they can then direct the robot.

APP DEVELOPMENT

The Bluetooth module of the system is linked to the

smartphone. The "firefighting robot system" android
application serves as a communication channel
between the android smartphone and the robot. With
the use of this Android app, users may choose to
manually or automatically manage the fire's progress
for various firefighting scenarios. By hitting the
controls on the android application, users may tell the
Arduino system to move the robot. The android
application is made up of buttons.

FIG2: Robot Skeleton

IV.METHODOLOGY

The main function of this device is fire detection

and suppression through advanced robotic
technology. Outfitted with an array of sensors like
temperature and flame detectors, its primary task is
FIG1: Basic structure of the proposed device to identify the presence of fires. Upon detection, the
robot initiates action, autonomously navigating
The android application offers the ability to set up the towards the fire source to implement extinguishing
proper sequence for the robot to operate in order to measures. These measures may involve deploying

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 methods such as water spraying or releasing fire- DC Motor and Right DC Motor as shown above. This
retardant foam to effectively suppress the flames. both motor used to give direction to the robot
The Arduino board is equipped with digital and according to the fire i.e. the input input received from
analog input/output pins, allowing it to interface with the flame sensor. 12V DC Pump, which is driven by
the external world by reading from sensors and an external battery through 5V Relay Module is used
controlling actuators. The IDE compiles the sketch, to instant the fire. A servo motor is the only Motorola
converting high-level code into machine code that which is used to give axial direction to spray the water
the microcontroller understands. After uploading the on the fire.
code to the board, the microcontroller executes the
instructions in a continuous loop. The setup() function A)Circuit Description
is run once at initialization for setup tasks, while the
loop() function contains the main execution of the
program.

For Obstacle detection, Ultrasonic sensors are used

to detect obstacles as the robot navigates through the
building. If the Robot encounters an obstruction, it
will come to a halt. The robot's direction can now be
altered simply clicking on the options in the mobile
app. If there are no obstacles in its way, the robot
moves. The camera module aids in gathering
information and displaying them in the mobile app. FIG.4.Circuit Description

V.BLOCK DIAGRAM AND EXPLANATION The system configuration consists of three flame
sensors: left, right, and center, along with a servo
motor, all powered through a shared breadboard
connected to Vcc and Gnd. Each flame sensor's input
pins are linked to digital pins on the Arduino Uno
board (any pins from 0 to 13). The PWM pin of the
SG90 servo motor is also connected to one of the
digital pins. The L293D Motor Driver Module's IN1,
IN2, IN3, and IN4 pins are likewise linked to digital
pins. The OUT1, OUT2, OUT3, and OUT4 pins of the
Motor Driver Module connect respectively to the left
and right DC motors. A 4V 1.5Ah Lead Acid battery
powers the Motor Driver Module. The coil terminals
of a 5V Relay Module are connected to a 9V battery.
The 12V DC Pump is wired to the Normally Open
(NO) terminal of the relay, with the relay's common
terminal linked to a digital pin on the Arduino UNO
FIG.3.BLOCK DIAGRAM
board for relay activation.

The block diagram of the above-shown model is the B) Working of the ROBOT
Autonomous Fire Detecting and Extinguishing Robot.
It involves three flame sensors called left flame sensor, When the robot is powered on, it initially moves
right flame sensor and centre flame sensor is forward with both motors active. As it navigates, the
interfaced with the Arduino Uno board as input flame sensors continuously detect the absence of fire.
components . L293D motor driver module is the Thus, the water pump and servo motor remain
driving module for two geared DC motors namely Left inactive.

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 Upon detecting a flame with its central flame sensor, 360º camera. A water pipeline can be used in place of
the robot slows down, moves a pre-determined the storage to put out a bigger fire source. Fire
distance, and stops. The water pump and servo motor detection by colour is not very accurate. For better fire
then activate, causing water to flow and the servo to source detection based on intensity, a thermal camera
direct the spraying towards the flame. The robot can be placed in place of the USB camera.
continues spraying until the flame is
extinguished.Once the flame is detected as
extinguished, the water pump and servo motor
deactivate, and the robot resumes its forward
movement.

The robot uses its left flame sensor to detect a fire.

When a fire is detected, the robot slows down, turns
left, and moves a specific distance. The water pump
and servo motor are then activated to spray water onto FIG4 : Code snippet
the flames until they are extinguished. Once the fire is
out, the water pump and servo motor are turned off,
and the robot resumes its forward movement.

When the fire is detected by the right flame sensor, the

robot slows down, turns left with the right motor off
and the left motor on, and moves a certain distance. It
then stops and activates the water pump and servo
motor, spraying water onto the flames until
extinguished. Once the fire is out, the robot turns off
the water pump and the servo motor and resumes its FIG5 : Fire detection
forward movement.

VI. RESULT AND FUTURE SCOPE

As a result, this device provides comprehensive

protection against fire hazards and decreases the risk
to human life by eliminating the need for human
involvement during a fire. Detecting and extinguishing
fires is a dangerous task for a fire extinguisher, as it
frequently endangers the person's life.

This project tries to provide a technical solution to the

aforementioned challenge. The robot is equipped with
temperature and flame sensors, which detect
temperature increases and notify the user via an app.
The robot uses an ultrasonic sensor to avoid
obstructions. This robot will also have a fire
extinguisher mechanism built into its structure to
ensure that fires are extinguished.

A large field of vision can be achieved by adding a

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