Fire Fighting Robot Using Arduino and Motor Drivers With Obstacle Detection
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Editor IJTSRDFire Fighting Robot Using Arduino and Motor Drivers With Obstacle Detection
Uploaded by
Editor IJTSRDInternational Journal of Trend in Scientific Research and Development (IJTSRD)
Volume 7 Issue 2, March-April 2023 Available Online: www.ijtsrd.com e-ISSN: 2456 – 6470
Fire Fighting Robot using Arduino and
Motor Drivers with Obstacle Detection
Chinmay Karmokar, Gaurav Gupta, Siddhesh Kambli, Soumitra Deshpande
Department of Electrical Engineering, Smt. Indira Gandhi College of Engineering, Navi Mumbai, Maharashtra, India
ABSTRACT How to cite this paper: Chinmay
We see new inventions and discoveries being made every single Karmokar | Gaurav Gupta | Siddhesh
week. Be it in medical science, commercialization, globalization, Kambli | Soumitra Deshpande "Fire
defence warfare or digital advancements. Increasing infrastructural Fighting Robot using Arduino and
marvels also increases concerns about basic safety measures like fire Motor Drivers with Obstacle Detection"
Published in
protection. In this study, we have designed a prototype for a fire International Journal
fighting robot and discussed ways in which it can be useful to fire of Trend in
fighters during fire safety drills. Scientific Research
and Development
KEYWORDS: Arduino, Battery, Detection, Drivers, Fire, Motor,
(ijtsrd), ISSN: 2456-
Obstacle, Programming, Robot, Sensors, Servo, Ultrasonic 6470, Volume-7 | IJTSRD55111
Issue-2, April 2023,
pp.708-710, URL:
www.ijtsrd.com/papers/ijtsrd55111.pdf
Copyright © 2023 by author (s) and
International Journal of Trend in
Scientific Research and Development
Journal. This is an
Open Access article
distributed under the
terms of the Creative Commons
Attribution License (CC BY 4.0)
(http://creativecommons.org/licenses/by/4.0)
1. INTRODUCTION
Humans are progressing at an unprecedented rate in Fire fighters put their life on the line to doze off the
the growing world of technologies and infrastructure. fire as quickly as they possibly can. However, there
The number of high-rise buildings and towers that can are certain spots in a specific area which are difficult
be seen today is a testament to that fact. Such for even the Fire fighters to reach as they are life-
buildings are made with a lot of thought processes threatening. In such situations, a small and mobile
behind them. robot can be really handy. It can get into spaces
With such big structures, ensuring the safety of all the where humans can’t and try to limit the extent of the
individuals inside those buildings is paramount. On- fire to some extent. And this is the major objective
site engineers pay special attention towards ensuring behind this study, which is to ease the operations of
that the building passes all the necessary safety Fire fighters in extinguishing the fire using portable
checks. Besides that, they also have to ensure timely robots or robotic cars.
maintenance of all the safety measures. Large Nowadays, robotic design and machinery have
buildings, towers, flyovers, etc. require electricity for become very important in helping humans. The fire
their respective functionalities. fighting robot was implemented to help humans in
Any abnormality in normal working conditions in hazardous situations. A fire fighting robot is capable
these places can very easily lead to a fire, which is of extinguishing fire with the help of powered
one of the most common threats that is being faced. electronic sensors. Our research paper reports the
The fire, if caused, can either be small or big design of a small automatic fire-extinguishing robot.
depending upon the extent of fault/failure in the The fire-fighting robot is enabled to search the fire for
system. However, mitigating the fire, no matter how an area of specific dimensions with the help of
big or small, is very necessary. multitasking sensors commanded by Arduino Uno.
@ IJTSRD | Unique Paper ID – IJTSRD55111 | Volume – 7 | Issue – 2 | March-April 2023 Page 708
International Journal of Trend in Scientific Research and Development @ www.ijtsrd.com eISSN: 2456-6470
Fig. 2: Circuit diagram of the fire-fighting robot.
The wheels of the robot are driven by an L298N
motor driver while the pump is driven by the L293
Fig. 1: The model of the fire-fighting robot. motor driver. The connections of the Servo motor are
2. OVERVIEW OF COMPONENTS made to the Arduino. The Servo rotates at the specific
For making this fire-fighting robot, we have mounted angles set by programming in the Arduino IDE.
all the working components on a 30x17x1.5 (in Under normal conditions when there is no fire, the
centimetres) plywood. We have made use of Arduino robot can move freely avoiding obstacles on its path
UNO, which is an open-source microcontroller board due to the ultrasonic sensor which is employed. The
on which we have compiled our program to make our sensor detects the distance with the help of the
robot work. For the operation of the motors, we are ultrasonic waves and then the robot decides the
using the L298N motor driver. This driver rotates the trajectory for itself, whether to move towards the left,
motor in a fixed direction by keeping one of the pins right, forwards or backwards. The angle at which the
as high while keeping the other one as low. The ultrasonic sensor rotates to detect obstacles is
motors used for the wheels are simple Battery adjustable and can be modified in the Arduino IDE
Operated (BO) motors. and re-uploaded to the Arduino Uno microcontroller
We have made use of a Servo motor for mounting our board as per our requirements.
pipe which is fixed to a 5 volts pump. To operate the The fire-fighting robot is programmed in such a way
submersible water pump we have used an L293D that when any kind of obstacle is sensed by the robot
motor driver. The complete robot is powered by a 12 with the help of the ultrasonic sensor, the robot
volts rechargeable battery. For water storage, we have analyses the best path of movement and moves
used a medium-sized polymer box ensuring that it is towards it. Example: When the motor decides to
completely leakage-proof to prevent any damage to make a right turn owing to obstacles in its path, then
the components which are mounted for working. the wheels on the left-hand side of the robot are
For sensing the fire we are using three flame sensors programmed to rotate in a clockwise motion while the
which are mounted in three different directions to wheels on the right-hand side of the motor are
sense the presence of flame from the direction of its programmed to rotate in an anticlockwise motion.
origin. Similarly, when the robot decides to make a left turn,
then the wheels on the right-hand side of the robot
For detecting obstacles that may be faced by the fire-
rotate in a clockwise motion while the wheels on the
fighting robot on its path, we have made use of the
left-hand side of the robot rotate in an anticlockwise
HC-SR04 ultrasonic sensor. The sensor is
motion.
programmed to operate with the Arduino Uno in a
way that it can precisely detect obstacles on its way When the flame sensor detects the presence of fire,
and instruct the robot to navigate freely without anywhere near, then they are activated as per the code
hindrance. For all the connections we have used that is written in the Arduino IDE. As a result of
regular jumper wires and their types viz. Male-to- which, it pauses the wheels and then activates the
male, male-to-female and female-to-female. pump.
3. WORKING The pump then sends water through a pipe mounted
The heart of the fire fighting robot is the Arduino over the Servo. The Servo motor then equally spreads
UNO microcontroller board. The connections from the water at the site of the fire through the pipe within
the flame sensors, L298N motor driver, L293D motor the angle specified in the code. The angle at which
driver, pump, Servo motor as well as the ultrasonic the servo rotates is adjustable and can be modified as
sensor are all made to the respective pins on the per requirement by making changes in the code where
Arduino Uno board. the angle of rotation for the same is defined.
@ IJTSRD | Unique Paper ID – IJTSRD55111 | Volume – 7 | Issue – 2 | March-April 2023 Page 709
International Journal of Trend in Scientific Research and Development @ www.ijtsrd.com eISSN: 2456-6470
Once the fire is dozed away completely, the pump fighting robot also successfully anticipates avoiding
stops and the robot is again set in motion. The fire- obstacles from the path by using an ultrasonic sensor
fighting robot will start operating again by detecting to clear the path.
obstacles on its way and it will move forward. When
The project is capable of freely navigating towards
the flame sensors sense fire ahead of it then the entire the fire and then extinguishing it by pumping water
process of pumping out water to extinguish the fire is
was successfully made.
repeated again.
5. REFERENCES
[1] K. Shamili Devi, K. Akhileswar, CH.
Vinayaka, M. Karthik, and Y. K.
Viswanadham. “FIRE FIGHTING ROBOT”,
Volume XII, Issue VII, July/2020, The
International Journal of Analytical and
experimental modal analysis.
[2] Finding solutions to doubts on
https://forum.arduino.cc/ regarding interfacing
of components, connections, optimum
operating conditions, and safety measures with
the project.
[3] Datasheet for the L298N motor driver referred
from
https://components101.com/sites/default/files/c
omponent_datasheet/L298N-Motor-Driver-
Datasheet.pdf
Fig. 3: The fire-fighting robot in a working state. [4] Datasheet for L293 motor driver referred from
4. CONCLUSION https://www.ti.com/lit/ds/symlink/l293.pdf
This paper has described a specific objective of the [5] Datasheet for HC-SR04 Ultrasonic sensor
concepts which are used in the particular area. The referred from
project presents the implementation of fire-fighting https://www.electroschematics.com/wp-
robots that move towards the fire and pump out water content/uploads/2013/07/HCSR04-datasheet-
to extinguish the fire. version-1.pdf
The project describes the methodology of interfacing
of various components to the Arduino. The fire
@ IJTSRD | Unique Paper ID – IJTSRD55111 | Volume – 7 | Issue – 2 | March-April 2023 Page 710
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