Working Concept of Fire Fighting Robot: The main brain of this project is the Arduino, but in-order to sense fire we use the Fire sensor module (flame sensor) that is shown below. As you can see these sensors have an IR Receiver (Photodiode) which is used to detect the fire.

1. AUTONOMOUS FIRE EXTINGUISH ROBOT

2. Abstract
• The principles used in this design are such that enable our
robot to be extended to a more robust system to be used to
combat actual fires in residential or commercial settings.
• The main requirement of this project is to create a robot
that is fully autonomous.
• This means that once the robot is started by the user, it
navigates, searches for, and extinguishes the fire on its own,
with no assistance or input from the user.

3. • In order to reach this goal, we made many critical decisions
on motors, sensors, fire extinguishing mechanical parts and
general design for our robot.
• Lastly, we wanted our robot to not only accomplish these
requirements, but also be able to do so quickly and
accurately.

4. Block Diagram

5. Components
• Arduino uno(R3)
• Motor driver IC(L293D)
• DC motor(300rpm)
• Pump
• Servo motor micro(SG90)
• Chasis
• Connecting wires
• Fire sensors
• Dc supply (12v)

6. Literature Survey
• Arduino:Arduino is a hardware and software company that designs
and manufactures single board microcontrollers.
• The Arduino language is merely a set of C/C++ functions that can be
called from your code.
• The microcontroller used is ATmega328.
• It has 14 digital input/output pins (of which 6 can be used as PWM
outputs),6 analog inputs,a 16 MHz crystal oscillator, a USB
connection, a power jack, an ICSP header, and a reset button.

7. • L293D motor driver IC:A motor driver is an
integrated circuit chip which is usually used to
control motors in autonomous robots. Motor
driver act as an interface between Arduino and the
motors. These ICs are designed to control 2 DC
motors simultaneously.

8. • Servo motor(SG90):Servo Motors are used in applications
where very high precision motion is required like assembly
robots, computer numeric controls etc.
• Servo can rotate approximately 180 degrees. (90 in each
direction)

9. • IR Fire sensors:These types of sensors are used for short
range fire detection and can be used to monitor projects or
as a safety precaution to cut devices off / on.
• This unit is mostly accurate up to about 3 feet.
• The sensor basically detects IR (Infra Red) light wavelength
between 760 nm – 1100 nm (nano meter) that is emitted
from fire flame.

10. Working
• The main brain of this project is the Arduino, but in-order
to sense fire we use the Fire sensor module (flame sensor).
• When fire burns it emits a small amount of Infra-red light,
this light will be received by the IR receiver on the sensor
module.
• So, we place three such sensors in three directions of the
robot to sense on which direction the fire is burning.

12. • We detect the direction of the fire we can use the motors to
move near the fire by driving our motors through
the L293D module.
• When near a fire we have to put it out using water.
• Using a small container we can carry water, a 5V pump is
also placed in the container and the whole container is
placed on top of a servo motor so that we can control the
direction in which the water has to be sprayed.

13. Prototype

15. Conclusion
In this project we aim to reduce the effect of fires
accidents which usually start from small flame,
therefore people life and money would be saved.
The robot can successfully find fire and reach it
without running into obstacle.

16. References
• ieeexplore.ieee.org/document/7251507/
• https://www.researchgate.net/publication/269406029_Fire_Fi
ghting_Robot
• https://www.slideshare.net/vibs1893/fire-fighting-robot-using-
8051-microcontroller
• https://www.ijettcs.org/Volume2Issue4/IJETTCS-2013-08-13-
084.pdf
• www.slideshare.net/ranjithamudhiraj/fire-fighting-robot