Proceedings of the International Conference on Edge Computing and Applications (ICECAA 2022)
IEEE Xplore Part Number: CFP22BV8-ART; ISBN: 978-1-6654-8232-5
IoT based Fire Fighting Robot
Sabari L Uma R. Mohamed Atheeq
Maheshwari
Department of Electrical
Department of Electrical
and Electronics
2022 International Conference on Edge Computing and Applications (ICECAA) | 978-1-6654-8232-5/22/$31.00 ©2022 IEEE | DOI: 10.1109/ICECAA55415.2022.9936575
and Electronics
Engineering, R.M.K.
Engineering, R.M.K.
Engineering College,
Engineering College,
Chennai, Tamil Nadu,
Chennai, Tamil Nadu,
India
India
Abstract— Most of the hearth accidents occurring in
industries like nuclear energy plants, crude refineries, gas tanks,
chemical factories and different large-scale fire industries, lead to
serious consequences. With the advancement in the field of
Robotics, human intervention is lowered each day and robots are
used widely for the purpose of safety. Firefighting is a crucial
however dangerous occupation. A firefighter should be able to
reach the fire promptly and safely to extinguish it, avoiding
further harm and reducing fatalities. Technology has aided to
solve this issue; firefighters and machines are currently using
more economical and effective methodology of firefighting. The
proposed venture uses L298N Drive and a Wi-Fi Cam to operate
and receive the live feed from the camera and is used to control
and manage the movement of the vehicle which is accompanied
by other sensors such as Flame sensor, PIR sensor, LPG sensor
and Gas sensor that are connected through Arduino Nano using
IoT.
Keywords— Arduino, WiFi Cam, IoT, PIR Sensor, Flame
Sensor.
I. INT RODUCT ION
A robot is an automated device that performs tasks that
would normally be performed by humans or machines and is
tasked with a series of repeated or flexible operations. Robots
have been found to be effective in medical, rehabilitation,
rescue operations, and industry in numerous research. Robotics
has been used in a variety of sectors over the years. Industrial
robots are multi-function manipulators that use numerous
programming movements to accomplish various jobs on more
specialized materials, divisions, gadgets, or devices. There is a
desire for a single system that can control, communicate, and
integrate different robots of diverse types and specifications,
according to the Fourth Industrial Revolution (4IR).
Though unmanned robotic vehicles are needed in a variety
of industries, firefighting is the most significant area where
their capabilities may be fully employed because it can save
human lives. The detection of fire and rescue actions can be
carried out remotely with the utilisation of such robots, without
putting fire fighters in dangerous situations.
This system can be utilized as follows:
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U. Nikhil Surendar S. Navin Vaishnav
Department of Electrical Department of Electrical
and Electronics and Electronics
Engineering, R.M.K. Engineering, R.M.K.
Engineering College, Engineering College,
Chennai, Tamil Nadu, Chennai, Tamil Nadu,
India India
 The utilization of humanoid robots is effectively
conveyed out to limit firemen's wounds and passings
as well as expanding usefulness, wellbeing,
productivity and nature of the task given.
 This venture expands level of functionalities as it
contains various kinds of sensors such that it could
detect the flame, LPG and other forms of smoke.
 This model could also be used to detect the movement
of stranded individuals in a fire broken area as it is
equipped with a PIR sensor.
 When linked to a local Wi-Fi network, the end user
can control the operations of this model remotely,
removing the requirement for traditional RF
communication modules.
II. PROPOSED METHODOLOGY
A current market venture offers a modest or basic
unmanned fireman bot. Most of the time, they're rudimentary
bots with a Raspberry Pi processor that provides them minimal
control over the car. Furthermore, as with [3], the firefighting
truck is voice-controlled and does not have a virtual feed for
remote operation. In other circumstances, such as [2], a
separate Radio Frequency (RF) communication module is
employed to operate, the bot's operating functions. This
reduces the range of control the end user has over the robot and
makes the operator more vulnerable to fire. Other models on
the market, meanwhile, use a traditional flame sensor and
buzzer to sense and extinguish the fire. As a result, other
factors that emerge as a threat throughout the fire suppression
and evacuation procedure are not considered. In an era where
autonomous robotic vehicles are becoming increasingly
important in practically every field of expertise, updating the
features, and increasing the effectiveness of one such
firefighting vehicle that would aid firemen to a greater extent
becomes a top concern.
The proposed venture includes a number of additional
upgraded features that would aid a firefighter in a variety of
situations. For transmitting the live video feed to a separate
webpage, the proposed venture uses an L298N Driver in
conjunction with an ESP32 Cam. The webpage receives a live
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 Proceedings of the International Conference on Edge Computing and Applications (ICECAA 2022)
IEEE Xplore Part Number: CFP22BV8-ART; ISBN: 978-1-6654-8232-5
camera feed from the ESP32 Cam and also provides the
necessary controls for the car and pump's movement. Similarly,
an Arduino Nano microcontroller is used for collection of
sensor signals from sensors such as a Flame Sensor, a Passive
Infrared (PIR) Motion Sensor, a MQ2 (Gas) Sensor, and a
MQ6 (LPG) Sensor. Furthermore, all these sensors are
connected via IoT, allowing the data obtained from them to be
sent to Adafruit, a cloud storage service that stores real-time
live data so that firemen can study the findings recorded by the
vehicle for a certain region of exposure. Furthermore, the
Arduino Nano is connected to the ESP8266 Node MCU, which
allows the end user to connect the venture to a local WiFi
network and log in to the given webpage to handle the vehicle's
operational operations, thereby controlling the entire process.
III. ARCHITECTURE OF THE MODEL
The block diagram of the proposed model is shown below:
Figure 1 – Block Diagram
A. Components:
The following are the components used in this model:
 Arduino Nano
 Flame Sensor
 LPG Sensor
 Gas Sensor
 PIR Sensor
 Buzzer
 Water Pump
 Motors
 L298N Driver
 ESP8266 Node MCU
 ESP32 Cam
 LCD
B. Design:
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A significant component of the project's design is the
L298N Dual Motor Controller 2A and Arduino, which are
utilised to regulate the speed and direction of two DC motors.
Motors having a voltage between 5 and 35V DC can be utilised
with the L298N H-bridge module. In addition, this module
contains an onboard 5V regulator that adjusts the power supply
in the event of power fluctuations. The direction of each motor
is regulated by delivering a HIGH or LOW signal to the drive
(or channel). A HIGH to IN1 and a LOW to IN2 on motor one,
for example, will make it to turn in one direction, whereas a
LOW and HIGH will make it to rotate in the opposite direction.
The rotational movements of the motors are directly controlled
through a specific webpage where the live feed from the
camera is also fed.
An ESP32 Cam, which is attached to the bot's body,
receives the camera feed from the location. The ESP32-CAM
is a development board that has an ESP32-S chip, an OV2640
camera, a microSD card slot, and various GPIOs for peripheral
connections. It lets the user to build a surveillance camera,
capture images, do facial recognition and detection, and much
more. In addition, the Cam is linked to a Submersible DC
Water Pump, whose pumping mechanism may also be operated
via the web interface.
The design of the project includes another key unit Arduino
Nano which is a viable, adaptable and breadboard , well-
disposed Microcontroller board, created by Arduino.cc, in view
of ATmega328p (Arduino Nano V3.x)/Atmega168 (Arduino
Nano V3.x). It accompanies identical usefulness as in Arduino
UNO yet very small in size. It is associated with any remaining
segments like different sensors and ESP8266 Node MCU.
Flame sensors are more sensitive to ordinary light, which is
why they are commonly employed for flame alarms. This
module can detect flames or wavelengths in the range of 760
nm to 1100 nm. Single-chip and small plate output interfaces
can be directly attached to the microcomputer IO port. To
prevent the sensor from being damaged by high temperatures, a
specified distance between the sensor and the flame should be
maintained. The smallest distance to test is 80 cm; if the flame
is larger, it can be tested at a greater distance. The flame
spectrum is highly sensitive because the detecting angle is 60
degrees. The Flame Sensor is accompanied by a buzzer that
alarms the end user on successful detection of a flame within
its vicinity.
The model also consists of an MQ6 (LPG) sensor that helps
the vehicle in detection of leakage of LPG within the given
area. The fabrication of this sensor enables the bot to detect
iso-butane, propane, LNG, cooking fumes, cigarette smoke and
alcohol’s din.
The venture further comprises of an MQ2 (Gas) sensor to
detect other flammable gases. The MQ2 gas sensor is made up
of a sensitive material of SnO2. When the target flammable gas
is present, the sensor's conductive properties increase in
tandem with the concentration of gas, allowing the end user t o
translate the change in conductivity to a gas concentration
output signal utilising a basic circuit. The MQ-2 gas sensor has
a high sensitivity to propane and smoke, as well as the ability
to detect natural gas and other dangerous steams.
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 Proceedings of the International Conference on Edge Computing and Applications (ICECAA 2022)
IEEE Xplore Part Number: CFP22BV8-ART; ISBN: 978-1-6654-8232-5

Additionally, this model is accompanied with a Passive ii. The live stream from the camera is presented on a
Infrared (PIR) motion sensor. The LHI778 PIR sensor and the web page, which also houses the bot's control.
BISS0001 IC, control the motion detection in this motion
iii. The bot can move with the help of the L298N driver
sensor. The module has configurable sensitivity, allowing for a
motion detection range of 3 to 7 metres, as well as time delay thanks to the controls built into the interface.
adjustments and trigger choices for fine tuning. This capability iv. High (Analog 1) and low (Analog 0) pulses are
enables firefighters to discover stranded people in a fire- delivered by the L298N driver. The motor's motion is
damaged region [17]. controlled by a combination of these pulses.
The Espressif ESP8266 is a microcontroller created by The end user can choose from the following choices on the
Espressif Systems. The ESP8266 is a self-contained Wi-Fi control interface:
networking device that may act as a bridge between
microcontrollers and Wi-Fi, as well as runs standalone apps.
The data collected from the sensors is supplied to the ESP8266,
which then transmits the information to the cloud st orage
‘Adafruit’ over Wi-Fi.
C. Software Implemented:
The Arduino Integrated Development Environment (IDE)
is an open-source application that allows to programme in
languages such as C, C#, and other embedded languages.
V1.8.13 is the software version that is used to programme the
functions into the microcontroller. It includes a code editor as
well as a compiler. The Arduino IDE provides a toolbar with
several options for improving the client text editor, compiler,
and debugger, among other things. Because of its basic and
easy-to-use purpose, the IDE environment is extremely
dependable. The code is then uploaded via USB cable to the
Arduino module. They usually support the languages C, C#,
and C++.
Various types of libraries are supplied for coding reasons,
making it simple to perform, and has a larger number of editing
tools from the menu bar. It works with practically all Arduino
boards. The user can execute, compile, fix, upload, include
library, and add file in the sketch section. The output panel
displays any errors or successful uploads, as well as
comments/remarks. Figure 2 – Control Interface with live camera feed

Adafruit IO is one among the other pieces of software that  Forward - Selecting this option instructs the driver to
has been employed in this approach. Adafruit IO is a free cloud send analog high pulses to both motors (M1 and M2),
service that lets users to save and see data online in real time. causing them to revolve clockwise.
This allows the company to stay connected, allowing it to
 Left and Right - Selecting this option causes the driver
control motors, read sensor data, and much more. It also allows
to generate alternate pulses, causing the motor M1 to
the operator to link projects to web services such as Twitter,
revolve clockwise while the motor M2 rotates
RSS feeds, and weather services, among others. This might be
counterclockwise, and vice versa.
expanded to include other internet-connected gadgets.
 Backward - Selecting this option instructs the driver
IV. OPERATION to send low pulses to both motors, causing them to
revolve in the opposite direction.
In terms of functional protocol, the venture is divided into
two parts such as:  Stop - This option is used to bring the vehicle to a
complete stop.
1. Control Section
 Pump On and Pump Off - This option allows the user
2. Sensor Section to switch on and off the water pump in order to put
out the fire.
A. Control Section:
i. The bot's mobility is controlled using the live feed B. Sensor Section:
from the ESP32 camera. The Sensor Section is responsible for containing and
operating the different sensors used in this model. As far as this

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 Proceedings of the International Conference on Edge Computing and Applications (ICECAA 2022)
IEEE Xplore Part Number: CFP22BV8-ART; ISBN: 978-1-6654-8232-5

prototype is concerned, this part is powered by a separate 5V

battery. The sensors and their operation in relation to the
planned endeavour are as follows:
i. Flame Sensor - This sensor detects any form of flame
in its immediate surroundings and activates the
buzzer.
ii. LPG Sensor - This sensor monitors the leakage of
LPG and isobutane in the environment and sends the
information to the microcontroller.
iii. Gas Sensor - This sensor detects additional
combustible gases such as propane, natural gas, and
smoke, and keeps the firefighter informed about the
inside environment.
iv. PIR Sensor - This sensor has the extra benefit of
assisting in the detection of stranded individuals in a
fire-damaged region as the robot progresses.

Figure 4 – Prototype of the model

V. RESULTS
When linked to a local Wi-Fi network, the L298N driver
reliably control the motion of the firefighting robot. Under
regulated fire settings, the robot's sensor portion performs
admirably, and data from the sensors are successfully
communicated to the Adafruit cloud storage utilising IoT. The
combined action of sensors, IoT, and the L298N driver is
successful in putting out the fire. One general comment about
this venture is that it couldn't work in highly dense smoke or at
extremely high temperatures [16].

VI. FUTURE SCOPE

firefighters, allows robots to identify fires and other causes, and
controls fire with minimal casualties.
Figure 3 – Data stored in the cloud storage
Furthermore, the entire sensor portion is controlled by an
Arduino Nano, which then transfers the data to an ESP8266
Node MCU, which connects the sensors via IoT, and the data is
sent to the Adafruit cloud storage via Wi-Fi. The data in the
cloud storage is updated every 30 seconds to keep the user up
to date on the severity of the fire to which the robot is exposed.
For further examination, this data could also be extracted in a
graphical style.
This document reduces the risk of direct fire exposure to
 This endeavour can be improved by interfacing with
various advancements like GPS tracker, image
sensing and object detection technology.
 This firefighting bot can be improved by using high
fire-resistant metals like Silicon carbide (SiC),
Titanium carbide (TiC), Osmium (Os), and other
metals to construct the bot's body.
 The vehicle's body size might be enlarged to
incorporate additional sensors that would improve the
venture's capability.
 This robot could be supplied with a tiny fire
extinguisher along with the existing submersible
water pump to put out fires instantly.

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 Proceedings of the International Conference on Edge Computing and Applications (ICECAA 2022)
IEEE Xplore Part Number: CFP22BV8-ART; ISBN: 978-1-6654-8232-5

 This type could also be linked to a Wide Area
Network (WAN), to increase the operational control's
accessibility range significantly.
 Through the Internet of Things, this concept may be
extended to various types of security measures.
 This venture's future implementation could include
security systems for schools, colleges, and society.
VII. CONCLUSION
Robots have supplanted people in numerous domains and
lessened mankind's load in many scenarios in this age of trend -
setting innovation. Firefighting is a risky job in which
firefighters are more prone to suffer fatal injuries. Robotics are
effectively used to minimise firemen's wounds and deaths
while also increasing usefulness, wellbeing, and productivity.
Fire detection and rescue actions can be done remotely with the
usage of such robots, without putting fire fighters in dangerous
situations. To put it another way, robots can lessen the
requirement for firefighters to enter potentially hazardous
situations.
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[14]Wireless image communication system for fire-fighting robots, Sang-Uk
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[15]Shivam Agrawa, Nidhi Agrawal, “Interfacing of robot with android app for
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