Arduino Based Autonomous Fire Fighting Robot

e-ISSN: 2582-5208
International Research Journal of Modernization in Engineering Technology and Science
( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:05/Issue:05/May-2023 Impact Factor- 7.868 www.irjmets.com
www.irjmets.com @International Research Journal of Modernization in Engineering, Technology and Science
[5336]
ARDUINO BASED AUTONOMOUS FIRE FIGHTING ROBOT
Ms. Vidhya S*1, Roopashri CM*2, Yashaswini S*3, Sneha S*4, Radha R*5
*1Assistant Professor, Information Science And Engineering, The Oxford College Of Engineering, India.
*2,3,4,5Student, Information Science And Engineering, The Oxford College Of Engineering, India.
DOI : Https://Www.Doi.Org/10.56726/IRJMETS39743
ABSTRACT
A fire outburst is a dangerous act that causes various implications. Identifying the fire at the earliest stage and
to quench it and can assist in avoidance of numerous accidents. To protect human beings and to reduce the
risks taken by the firemen, we proposed a robot model. The goal of the robot is to automate the fire rescue
operations. This proposed model can be used to rescue the life of humans, reduce damages in household
environments, labs and small scale industries. The robot model is constructed to carry out a predefined path to
execute different tasks. With the advanced development in the robotic field, interference of humans has been
reduced and they are generally used for secure purposes. In daily life, fire incidents have become more general
and it becomes the responsibility of fire fighters to take risks and extinguish fires protecting human life and
other possible losses. In such cases, a robot is proposed to guard living beings and other possible losses from
the fire accidents. There are different sensors used in the robot for sensing and detecting the fire and the
accurate information about fire is passed on to microcontroller board. Then the microcontroller passes the
signal to the motors and the motor driver controls the movements of the robot in the fire accident place for
quenching the fire breakout by utilizing a pump. This technology is more secure because it reduces human
efforts and risks.
Keywords— Arduino UNO, Fire Extinguisher, Microcontroller, Fire Sensor, Water Pump.
I. INTRODUCTION
The word "ROBOT" can be defined as any automated and controlled machine that substitutes human effort,
although it may not be similar to human beings in appearance or achieve functions in a human way of
achieving. Robotics is an engineering branch that is concerned with the design, implementation and operation
of robots. A small spark can cause a massive explosion of fire. Fire accidents can harm many people for life and
take away people's lives. But this can be avoided by adopting correct fire management techniques. In this age of
technology, the world is gradually shifting towards self-driving vehicles and automated systems. Firefighters
are constantly in danger. Fire spreads quickly if not controlled.
Fig.1.Various ways of fire accidents
In case of any fire accidents, there can be many explosions that can endanger people's lives. To overcome this
problem, protect lives. A robot comes to the rescue. This advanced fire fighting robot system independently
identifies and puts off the fire. The robot system is mechanized by an Arduino Uno board, consists of mounted
sensors and a DC motor for obstacle detection and path for navigation, and is equipped with a fire sensor. A
water tank and a spray mechanism for fire extinguishing are also used to detect and approach the fire. A water

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spray nozzle is used to spray water that can cover the maximum area where the fire is to be extinguished. The
main water tank pumps water to the water jet using a water pump. The aim of this robot is to implement fire
control to prevent major fire accidents and minimize the loss of human life.
II. LITERATURE SURVEY
In the present world, firefighting is a very serious and dangerous profession .Many authors are working on the
development of autonomous fire fighting robots to solve this problem.
Athulya Balan, Mariya Simon, Sindhu TV developed a 'Virtual Reality Simulation of Fire Fighting Robot' system
at the MATLAB with the aid of «Virtual Reality Toolbox». And the testing of control algorithms initially is its
aim. It’s essential to note that the robot doesn’t have a functionality of sufficient level itself due to the lack of an
accurate formalization environment. This robot model could only operate in a corridor and room environment
without foreign objects.It could intend only one source of fire and there are marks on the floor that indicate.[1]
Norwegian Ayuni Binti Abd Majid developed the design of "autonomous fire alarm robot" with fire extinguisher
for smart building monitored by PIC18F4550 microcontroller and sustained by CYTRON SK40C autonomous
arduino board and other circuits. This robot is mounted with three flame sensors and is controlled by
PIC18F4550. And this robot navigates to the location of the fire accident when the sensor identifies fire and
passes a messages to the phone in the Global system for mobile communication network via a modem that is
connected to the programmable device. [2]
Durgesh Sharma, Harshala Gaikwad, Kartavya Verma developed "Fire Fighting Robot Using Arduino ''. This
firefighter robot model helps to reduce the burden of firefighters in fire fighting tasks. The goal of this project is
to build a firefighting robot model that navigates at a stable speed, identifies a fire, and then extinguishes it
using a pumping mechanism. Detecting and extinguishing of fire was performed utilizing primary hardware
components mounted on the robot. First, Infrared sensors are used for obstacle detection. Flame sensors are
utilized for fire detection. Second, Battery operated wheels and gear motors are used for navigation of the
robot to relocate the fire accident place. Finally, the robot quenches the fire using a submersible water pump
and servo motors[3].
K. Anuradha,Dr. R. Prema,Dr. N. Revathy,Dr. T. Guhan developed ‘ An Autonomous and Intelligent flame sensing
extinguishing robot ’. The designed model can safely detect and extinguish a fire. The developed autonomous
robot functions as a point identifier and route tracker. Only less human intervention is sufficient to control the
robot. Because it uses a water sprinkler, the spread of the fire is stopped immediately. The model has several
limitations that can be further developed in the future. The body used in this model is not made of fireproof
material. For effective results, the real robot must use refractory material for proper and better work. This may
cause injury. It can distinguish fire only in specific areas[4].
PROBLEM DEFINITION
Fire accidents are one among the threatening problems that can lead to huge losses. Sometimes it is challenging
for firefighters to approach the scene of the fire due to explosives, high temperatures and smoke . Such
situations also threaten the firefighters with their lives. In such an environment, firefighting robots can be
useful. At Fire fighter Robot, the aim is to develop a system that can quench a small fire by scanning and
navigating to the fire place. Sometimes the late appearance of firefighters leads to various effects. The fire
fighting robot constantly monitors the surroundings and puts off the fire without any delay.
1. The system is intelligent because it works in two modes, but in autonomous mode the search will take longer
for the exact location of the fire and where to get to put out thanks to the robot's self-adjusting system.
2. Nozzles are used for spraying purposes, but it can spray in one direction only.
3. Wire fire robot is also used but covers short distances according to the length of the wire.
III. PROPOSED METHODOLOGY
The goal of this project is to sense automatically and detect and put off the fire in the environment without
human interference.
Infrared sensors are utilized for object detection. The fire accident location is traced by the robot and a path is
set to the location for navigation. Flame Sensors are used for fire identification. The fire sensor equipped in the

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robot model senses the fire and passes the signals. Gear motors with wheels are used for navigating the robot
to relocate to the fire accident place. It takes much less time to perform actions.The robot starts to move in that
direction and quenches the fire with the help of a pump. The robot navigates to the location without disturbing
the obstacles in the path.
Fig.2. Block Diagram
Input Data:
The signals are received from the sensors to the microcontroller.
Comparing the threshold:
The microcontroller then compares the received values with the threshold values for the further actions.
Calculates path:
The robot then calculates the path and distance from its current position to the fire accident place.
Extinguish the fire:
The robot model quenches the fire at the fireplace with the aid of a water pump and sprays the water.

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IV. HARDWARE SPECIFICATION
● ARDUINO UNO
An Arduino Uno board is a microcontroller. It is composed of I/O digital (14) pins, an ICSP (in-circuit serial
programming) header, a power jack, analog (6)inputs,USB cable, and the reset button . It contains all that is
required for supporting the microcontroller and connects it to the computer with the help of a power supply
with a battery or an AC-to-DC adapter .
● VOLTAGE SPECIFICATION
VCC is the voltage that is required by the model for its internal operation.The voltage is not utilized by L293D
to drive the motor. It has a separate motor drive providing VSS (V supply) power to the motor. It is the power
supply that is used to operate the power supply IC.
 RELAY MOTOR DRIVER
A relay is a switch that is electrically operated. Relays use the electromagnets for operating the switch
mechanically, and also use other operating principles. Relays can be utilized where there is necessity to
monitor the circuit with a low signal, or where it is necessary to control several circuits with one signal.
● ULTRASONIC SENSOR
It is the device that is operated to calculate the distance to a body utilizing ultrasonic sound waves. The
ultrasonic sensors measure the distance within a wide range of objects despite textures, shapes, colors.
● DC MOTOR
A DC motor is a motor(electric) that works on direct current. The operation of electric motors depends on
simple electromagnetism. The current-carrying conductor provokes the magnetic field, then when it is placed in
an external magnetic field, it encounters the strength of the magnetic field. Electrical energy into mechanical
energy by the DC motor.
● FIRE SENSOR
It is the most sensitive sensor. Most IR flame sensors are designed to respond to the 4.3 µm diameter light of
flame. The fire sensor can detect smoke and fire and they are passed to the Arduino controller. It detects fire
with the wavelength of range 760 nm-110nm.
● PUMP
A pump is a material which helps move fluids, by means of mechanical actions. Pumps are divided into three
main groups based on the method they use to move fluids, gravity pumps, and positive displacement.
V. RESULTS AND DISCUSSIONS
Firefighting Robot was built to lower human lives risk and to build such a model which automatically senses
fire and puts it out with no human intrusion. Initially, the flame sensor equipped in the robot senses the fire and
transmits the signals to the arduino board. The robot will find the exact location of the fire accident and set a
path track to the location. The robot will start navigating in this direction and quench the fire with the help of a
pump. The robot navigates to the destination without disturbing obstacles in the way. It is therefore a fully
automated system that does not require any human intrusion and the chances of human injury are also very
less.
VI. CONCLUSION
This fire fighting robot model helps to relieve the burden of firemen in firefighting tasks. This article explains
the design and construction of an arduino based autonomous firefighting robot. The designed model can safely
detect and extinguish a fire. It provides greater efficiency in fire identification and extinguishes the fire before it
gets out of control and endangers people's lives. The project aim is to develop a firefighting robot model that
navigates at the same speed, identifies the fire and extinguishes it using the water pumping system. Since it
uses a water sprinkler, the spread of the fire is stopped immediately. IR sensors are used for object detection.
Flame Sensors are utilized for fire detection. Wheels and gear motors are used for navigating the robot model to
relocate to the fire accident place. It takes much less time to put out a fire. The model can easily be redesigned if
any modifications are required in the future. This will be the safest course of action as many calamities can be

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stopped without any destruction. The model has several limitations that can be further developed in the future.
The body used in this model is not made of fireproof material. For effective results, the real robot must use
refractory material for proper and better work.
VII. REFERENCES
[1] Sushrut Khajuria, Rakesh Johar, Varenyam Sharma, Abhideep Bhatti,“Arduino Based Fire Fighter
Robot”, International Journal of Scientific Engineering and Research (IJSER), May 2017
[2] Rohini More, Shrilekha Survase, Shubhangi Patil, Prof. S.D. Panchal 2017 “Fire fighting wireless
controlled robot using 8051”
[3] Akib Islam, P.Sathya. Intelligent Wireless fire Extinguishing Robot, International Journal of Control
Systems and Robotics. 2017
[4] Kuo L .Su, Automatic fire detection system using adaptive fusion algorithm for the firefighting robot. In:
Proceedings of the IEEE International conference on Systems, Man and Cybernetics.
[5] Snehal Adsul, Ujjwala Lokhande, Snehal Motghare, Pranita Dagale. Android Controlled Fire Fighting
Robot using Arduino, International Research Journal of Engineering and Technology, 2018.
[6] Mangayarkarasi V. Remote Controlled Fire Fighting Robot. International Journal of Trend in Scientific
Research and Development.2018; 2, 820-826.
[7] Komal N. Ambadkar, Vaishnavee A. Gorte, Shravasti M. Rekhate, Renuka D. Nichit, Pratik A. Gaupal, P. K.
Khedkar Fire. Fighting Robot Using Arduino, International Research Journal of Engineering and
Technology, 2019.
[8] J Jalani1 , D Misman1 , A S Sadun1 and L C Hong1,“Automatic fire fighting robot with notification”, IOP
Conference Series: Materials Science and Engineering, The International Conference on Robotics and
Mechatronics (ICRoM 2019) 9–11 August 2019, Sabah, Malaysia.

Arduino Based Autonomous Fire Fighting Robot

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