(FIRE FIGHTING ROBOT USING ARDUINO)

B TAARUN, B DHARANI PRASAD

Fire_Fighting_Robot_for_Indoor_and_Industrial_Safety
This project focuses on developing an autonomous fire fighting robot capable of detecting and
extinguishing small-scale fires in confined environments. The system utilizes an Arduino Uno controller,
multi-directional flame sensors, and a water pump to operate independently, ensuring quick fire response
without human intervention.

Autonomous_Fire_Detection_and_Suppression_Mechanism
The robot integrates real-time flame detection, intelligent navigation, and automated water spraying
to extinguish fire sources efficiently. This cost-effective, modular prototype emphasizes fast
detection-to-action cycles, structural safety, and ease of deployment in homes, offices, and small
industries.

Introduction

➔ 1. The Urgent Need for Autonomous Fire Suppression

Fire hazards continue to endanger human lives and property, particularly in environments where immediate
human intervention is delayed or dangerous. Autonomous fire-fighting robots provide a transformative
solution by responding faster than traditional methods. They offer rapid, targeted action that minimizes
escalation risks. This project directly addresses the need for intelligent, automated fire mitigation systems.

➔ 2. Integration of Embedded and Mechatronic Technologies

This project leverages the Arduino Uno platform combined with flame sensors, motor drivers, and a relay-
controlled water pump. Through seamless hardware and software integration, the robot is capable of
independent decision-making. The system continuously scans its environment and autonomously navigates
toward fire sources. It demonstrates how embedded control systems can effectively manage real-world
emergencies.

➔ 3. Scope and Impact of the Proposed System

Designed for confined and sensitive spaces, the fire-fighting robot prioritizes cost-efficiency, reliability, and
scalability. Its modular architecture allows easy upgrades, including AI-based enhancements and wireless
monitoring. This project not only showcases technical feasibility but also establishes a pathway for broader
adoption of autonomous safety systems. Future enhancements can extend its application to industrial,
domestic, and hazardous environments.

Literature review
➔ 1. Robotic Solutions for Fire Suppression

Recent advancements have shown that autonomous robots can significantly reduce response time during fire
emergencies. Research emphasizes the importance of integrating flame detection, obstacle avoidance, and
suppression capabilities. Systems employing infrared sensors and motorized platforms demonstrate
substantial promise. These robots enhance safety by operating in hazardous environments where human
intervention is risky.

➔ 2. Role of Embedded Systems in Emergency Robotics

Microcontroller-based platforms like Arduino and Raspberry Pi have enabled rapid prototyping of intelligent
robotic systems. Studies highlight that embedded control units provide the flexibility to process sensor data
and issue actuation commands autonomously. The modularity and programmability of these systems allow
customization for specific applications. Consequently, embedded technologies are pivotal in realizing
efficient, autonomous fire-fighting robots.

➔ 3. Evolution of Sensor-Based Fire Detection

The evolution from smoke-based detection to flame-based infrared sensing marks a significant advancement
in early fire detection methodologies. Literature shows that infrared flame sensors offer faster, more accurate
fire localization compared to traditional methods. Researchers stress the importance of sensor placement and
multi-sensor fusion techniques. This project employs these principles to maximize detection reliability and
response accuracy.

Materials and methods

➔ 1. Arduino Uno as the Control Core

The Arduino Uno serves as the brain of the system, coordinating sensor inputs and actuator outputs in real
time. Its open-source nature and robust I/O capabilities make it ideal for prototyping autonomous systems. It
processes flame sensor signals and issues navigation and suppression commands. Arduino’s versatility
ensures reliable system management throughout the robot’s operation.

➔ 2. Sensor Array and Actuation Components

Three flame sensors positioned at strategic angles enable precise directional fire detection. The L298N motor
driver controls the robot’s movement, while a relay-driven water pump ensures efficient fire suppression.
This combination of sensors and actuators allows the robot to autonomously locate and extinguish fire
sources. Proper calibration and positioning are critical to achieving optimal system performance.

➔ 3. Power Supply and Safety Mechanisms

A rechargeable Li-Po battery powers the entire robotic system, ensuring full operational autonomy without
external dependence. Integrated protection features, such as the manual override switch and low-voltage cut-
off, safeguard both the robot and its environment. The relay module electrically isolates the control circuitry
from high-power components. This structured energy management enhances operational safety and extends
system longevity.

➔ 4. Mechanical Structure and Chassis Design

The robot is built on a lightweight acrylic chassis optimized for indoor maneuverability and stability.
Components are symmetrically mounted to maintain balance during motion. The chassis ensures low center
of gravity, preventing tipping even during abrupt directional changes. Careful mechanical layout also
minimizes wiring strain and enhances durability.

Arduino UNO

The Arduino Uno is a microcontroller board based on the ATmega328P. It features14 digital input/output
pins, 6 analog inputs, a USB connection for programming, a power jack, an ICSP header, and a reset
button. Designed for ease of use, the Uno is ideal for beginners and experts alike, facilitating rapid
prototyping and development of interactive electronic projec

Flame Sensors
Flame sensors, capable of detecting infrared light signatures in the 760–1100nm spectrum
were chosen for their high sensitivity to open flame sources. Their low cost, ease of analog
integration, and minimal computational demands made them particularly suitable for multi-
directional fire detection. By strategically deploying three flame sensors at different orientations, the
robot achieved rudimentary but highly effective directional sensing. The sensor readings allowed the
robot to triangulate the approximate location of the flame, enabling real-time path adjustments and
prioritizing fire suppression activities with minimal algorithmic complexity.
Relay Module (5V Single-Channel Relay):
A 5V single-channel relay module was chosen due to its ability to electrically isolate the low-
power Arduino circuits from the high-current demands of the water pump. Its onboard
optocoupler design added an extra layer of safety and reliability.
The relay module was fundamental in controlling the activation of the water pump. It allowed
the Arduino to initiate fire suppression remotely and autonomously without risking back-
voltage damage or circuit instability, thereby ensuring the operational integrity of the
microcontroller system.
Motor Driver Module (L298N Dual H-Bridge Driver):
The L298N motor driver module was selected for its proven reliability in controlling bi-
directional motor operations with separate supply voltages for logic and motor circuits. Its
integrated heat sink and dual H-bridge architecture enable robust handling of up to 2A per
channel, ideal for our DC motor requirements.
The motor driver interfaced between the Arduino and the drive motors, translating low- current
control signals into the higher-current outputs necessary for physical movement. PWM
modulation through the L298N allowed fine-grained speed control, essential for precise
orientation and flame engagement.

Testing and discussion

➔ 1. Sensor Accuracy and Responsiveness Testing

Flame sensors were individually tested at varying distances and flame intensities to validate detection
accuracy. The robot consistently identified flames within a range of 60–80 cm with a response time of under
1.5 seconds. Minor calibration adjustments were performed to equalize sensor sensitivity. The multi-sensor
configuration proved highly effective in reducing false detections.

➔ 2. Navigation and Maneuverability Evaluation

The car module’s differential steering system was rigorously tested for obstacle negotiation and directional
stability. During trials, the robot smoothly oriented itself toward flame sources without oscillation or
overshoot. Speed and turning radius were fine-tuned using PWM control signals. Overall, mobility
performance met the critical requirement for rapid fire approach.

➔ 3. Fire Suppression Performance Analysis

The relay-controlled water pump was evaluated for consistency, flow rate, and targeting precision. The
pump extinguished small flame sources like candles within 5 to 7 seconds after sensor detection. Water
usage was optimized to prevent wastage while ensuring complete suppression. Activation-deactivation
cycles were reliable under repeated testing conditions.
CONCLUSION AND FUTURE WORK

➔ 1. Conclusion: Validation of Autonomous Fire Suppression

The project successfully demonstrated the feasibility of a low-cost, Arduino-based autonomous fire-fighting
robot. Through intelligent sensor integration, reliable mobility, and efficient suppression mechanisms, the
system effectively detected and extinguished fire sources. Testing confirmed fast response times and
consistent operational safety under various controlled conditions. The robot proved a promising solution for
preliminary fire management in confined spaces.

➔ 2. Conclusion: Core Contributions and Impact

This work validates the integration of embedded control systems, real-time sensing, and mechanical
actuation to address real-world emergency scenarios. By minimizing the need for human intervention during
initial fire outbreaks, the robot enhances safety while reducing potential property damage. Its modularity and
cost-effectiveness make it highly suitable for further research, academic exploration, and practical
deployment in domestic and small industrial settings.

➔ 3. Future Work: Enhancing System Intelligence and Scalability

Future developments could involve integrating obstacle avoidance using ultrasonic or LiDAR sensors to
enable autonomous path planning in complex environments. Wireless communication modules such as Wi-
Fi or Bluetooth can allow remote monitoring and control. Expanding fire detection methods to include
thermal cameras would further improve detection accuracy. Scalability to larger environments and multi-
robot coordination systems also offers significant future potential.

PROTOTYPE SYSTEM

➔ 1. Development of the Fire-Fighting Robot Prototype

The prototype system represents a compact, functional model of an autonomous fire-fighting robot
constructed using commercially available components. It incorporates an Arduino Uno microcontroller, a set
of three calibrated flame sensors, a relay-actuated mini water pump, and a differential drive car chassis. The
integration of these subsystems allows real-time fire detection, autonomous navigation toward the flame, and
immediate extinguishing actions. The prototype validates key design principles and demonstrates the
feasibility of a fully autonomous firefighting agent within controlled environments

➔ 2. System Testing, Refinement, and Validation

The prototype underwent rigorous field trials to evaluate its sensor sensitivity, navigational accuracy,
suppression effectiveness, and overall system stability. Testing included variations in flame size, ambient
lighting conditions, surface types, and power endurance cycles. Minor adjustments, such as recalibration of
sensor thresholds and PWM tuning for motor control, were implemented based on empirical results. The
iterative refinement of hardware and control algorithms ensured that the final prototype operated reliably and
delivered consistent fire suppression performance under multiple simulated emergency scenarios.
REFERENCES:

 Patel.V&Srinivasan.K
Role of Motor Driver Circuits in Autonomous Robotic Applications.
International Journal of Electrical and Electronics Research, 2017.

 Williams.J&Thomas.D
Water-Based Fire Suppression Mechanisms in Mobile Robotic Platforms.
Robotics and Autonomous Systems Review, 2021.