Proceedings of the Third International Conference on Trends in Electronics and Informatics (ICOEI 2019)

IEEE Xplore Part Number: CFP19J32-ART; ISBN: 978-1-5386-9439-8

Design and Advancement of Firefighting

Robot using Direction Control Model
Surya Teja1, L.Sujihelen2
1
Final year Student, 2Assistant Professor
Department of Computer Science and engineering
Sathyabama Institute of Science and Technology
Chennai,India
1
[email protected], [email protected]

Abstract- A robot is an automatic machine which stress. A huge number of firefighters have been
perform based on the human behavior with flexible injured while practicing their duties. Therefore to
set of movements. This robotic application is always keep away firefighters from danger firefighting
helpful in the field of medicine, rehabilitation,
robot is introduced. Firefighting robot is used to
industries and even for rescues operations. Hence
protect human lives, animals, environment and
designing an improved automatic machine for
firefighting is quite challenging. In this paper we have
materialistic things from fire accidents [5]. The
proposed to design and develop a firefighting robot figure 1 shows the sample firefighting robot
using direction control model. This direction control
model has three stages are Obstacle identification,
Temperature Spark, and Gas sensors detection-based
models. This DC model have improved the control
and performs effectively by removing the obstacle on
the way to alternative position utilizing a robotic arm
to make the path clear.

Keywords- Automatic Robots; Firefighting Robot;

Direction control Model; Real time application;
Obstacle recognition; Gas sensor detection.

1. INTRODUCTION

With the growth in the field of robotics human

interference has become less and robots are widely Fig.1 Sample Firefighting Robot
used for the safety purpose [1]. Robotics deals with
In these kinds of process, the robot has to
the design, construction, operation and application
move forward from a starting location, and direct
of robots. They are also used for the control of the
around obstacles, then identifying any fire in the
system, sensory, feedback and information
location, and immediately extinguish them [7]. The
processing [2]. These kind of machineries deals
sensors are used to identify the fire and to transmit
with the computerized machines which can take the
the information to the controller to avoid the risk
place of the humans in case of risky atmospheres
by removing the obstacles from the path [10][11].
and their engineering procedures. They resemble
human presence and performance shown in fig.1. The section 1 explains the introduction where
the section 2 explains the literature review and
Rescue robots have been proposed by DARPA
section 2.1 shows the problem definition and
for human robot investigation. Firefighting and
motivation. The section 3 shows the proposed
rescue motion are considered as very hazardous
methodology using direction control model and the
tasks. Firefighters face serious risks on their tasks
section 4 explains the experimental results in terms
such as high flames, heat, physical and mental

978-1-5386-9439-8/19/$31.00 ©2019 IEEE 826

Proceedings of the Third International Conference on Trends in Electronics and Informatics (ICOEI 2019)
IEEE Xplore Part Number: CFP19J32-ART; ISBN: 978-1-5386-9439-8

of real time environment and finally section 5 applied. Hence the motivation of this work is to
explains the conclusion. deliver fire fighting robots to help the public by
detecting the fire and to act immediately to avoid
2. LITERATURE SURVEY heavy losses of life of human or the building or any
kind of properties. Many projects have been done
Aliff and et al. [3] have developed a
based on the tracking line application as the robot
firefighting robot for extinguishing the fire in order
has to follow the path to extinguish the fire.
to avoid the risk. Hence to avoid the obstacles on
Therefore, failure of robotic path selection happens
the way, the efficient controller is used to control
due to bad simulation and design which affects the
and remove the obstacles and to deliver the process
real time situations. Hence it is important to design
automatically. The process is programmed to sense
and develop a firefighting robot for real time
the fire and to stop at maximum distance from the
application and the above-mentioned problems
fire where a human will be operating the robot
motivated me to do research in this area.
using the monitor through a smart phone or remote
devices.
3. PROPOSED METHODOLOGY USING
Rakib Sarkar [4] have fabricated a fire fighter
DIRECTION CONTROL MODEL
for identify and extinguish the fire. Hence the robot
is made with ‘Rashed Tree’ wood which will be A robot is an automatic machine which
having water storage size of 1L. They have used performs based on the human behavior with
Arduino controller for identifying the fire and to flexible set of movements. This robotic application
extinguish the fire. The identification of fire will is always helpful in the field of medicine,
depend on the distance of the fire with wavelength rehabilitation, industries and even for rescues
of light will be fixed as the threshold. operations. Hence designing an improved
automatic machine for firefighting is quite
Bose and et al. [6] have developed a technique
challenging. In this paper we have proposed to
to identify the gas and to extinguish the fire. This
design and develop a firefighting robot using
process was used to identify the flame and gas
direction control model. The fig. 2 shows the block
using the robot. In many manufacturing
diagram of control model of firefighting robot
organizations these kinds of robots should be
installed to avoid heavy losses. 3.1 Direction Control Model
Ali and et al. [8] have developed a This direction control model has three
firefighting robot for extinguishing the fire using stages are Obstacle identification, Temperature
water pump. In this gas sensor was used ton sense Spark, and Gas sensors detection-based models.
and later navigate the robot using monitor to reach This DC model have improved the control and
the target. Setiawan and et al. [9] have proposed an performs effectively by removing the obstacle from
approach for fire fighting robot which the path to one another position by using a robotic
automatically detect and extinguish the fire. They arm to clear the path. Hence, we have to discuss
have implemented the same process in a real time about few sensors and controlling strategies are as
environment and proved it to be best and efficient follows
controlled firefighter at trinity college.
3.2 Identification using Temperature and Gas
2.1 Problem Definition and Motivation Sensors
There has been lot of research on robotics due to One of the crucial parts for target
the advancement of robotics in different identification and avoiding the obstacle is to sense
applications. This robotic application has a greater the fire. It plays a crucial role.
number of designs and advanced technology is

978-1-5386-9439-8/19/$31.00 ©2019 IEEE 827

Proceedings of the Third International Conference on Trends in Electronics and Informatics (ICOEI 2019)
IEEE Xplore Part Number: CFP19J32-ART; ISBN: 978-1-5386-9439-8

Fig.2 Control Model cause of fire. Therefore, the identification of fire

will be based on the wavelength of light at a
sensing will be based on wavelength of light with particular threshold. The fig. 5 shows the flowchart
angle and distance as threshold. So, it will be for identification of obstacles in the path.
confirmed that the sensors signal will be of flame
or not. The temperature sensor senses the
temperature of environment, if the temperature
crosses its limit, it activates the flame sensor to
sense the fire. Now the microcontroller produces a
command to robotic arm for water to fire off in the
exact location. The fig. 3 shows the schematic
diagram of working process of controller and
sensor

Fig.5 Flowchart for identification of obstacles

. 3.4 Water pump

Fig. 3 Schematic diagram of working process of controller and This is one of the important parts in
sensor firefighting robot as they have to pump the water
perfectly. The design of robot is made itself to
deliver the effective display during these kind of
rescue operations to save the humans life. Hence
Fig 4. Schematic Diagram of Obstacle Identification
based on the system design type of pump will be
3.3 Obstacle Identification installed such as light weight and very small size is
selected to pump water or any other liquid for
The fig.3 shows the concept of obstacle extinguishing the fire with exact voltage and
identifications. Here at first sensor sends signal to current.
the controller which sends a command to the
robotic arm to clear the way. The fig. 4 shows the 3.5 Path Controller
schematic diagram of obstacle identification.
The path control of robot will be
Hence from the above block diagram it is clear that
processed using the transmitter and remote control,
the sensors act as the eye of robot to realize the

978-1-5386-9439-8/19/$31.00 ©2019 IEEE 828

Proceedings of the Third International Conference on Trends in Electronics and Informatics (ICOEI 2019)
IEEE Xplore Part Number: CFP19J32-ART; ISBN: 978-1-5386-9439-8

the robot will be monitored from a far distance depends on

which will stops the robot at a particular distance to the direction
make it safe and then the process will be started. control
All the information from the sensor will be model by
removing
observed and controlled using microcontroller. the
Hence high efficiency system will be implemented obstacles to
to find the exact location automatically and to another
extinguish the fire. location to
clear the
4. RESULTS AND DISCUSSION path

In the motion control system, the fire

fighting robot model will be developed as an After
automatic process such as sensing and acting removing
the
immediately to extinguish the fire by walking
obstacles, it
forward, backward or to stop or to rotate to turn left will clear
or right through the trained process. Next, the the path and
firefighting robot can use sensors and ultrasonic once after
sensors to construct environment. It can avoid state reaching the
dynamic obstacle, and move in the free space. In location it
the state avoiding, it uses sensor modules to detect starts
extinguishin
obstacle on the front side of the robot. The
g the fire. In
proposed method in the real time environment and this figure
the below demonstration shows how the automatic we can see
firefighter robot responds and extinguish the fire the robot
source. The below fig. 6 shows the experimental opens the
result of how the fire fighter robot extinguishes the extinguisher
fire in real time
Here we can
see the
robot have
In this flighted and
figure, we extinguishe
can see that d the fire
the source.
firefighter Thus, the
identified proposed
the source system
of fire using achieves
the sensor efficient fire
models fighter robot
based on the to fire off in
threshold real time
when it environment
crosses the .
Fig 6: The experimental result of how the fire fighter
limit robot extinguishes the fire in real time

In this
figure we In one another real time environment we
can see the have tested the proposed direction control model-
robot starts based firefighter. The fire sensing process is used
moving to
for identifying the fire. At first fire is identified at
the fire
source and the left end and using water pump fire is
it clearly extinguished. Later the fire is identified at the

978-1-5386-9439-8/19/$31.00 ©2019 IEEE 829

Proceedings of the Third International Conference on Trends in Electronics and Informatics (ICOEI 2019)
IEEE Xplore Part Number: CFP19J32-ART; ISBN: 978-1-5386-9439-8

center and using water pump fire is extinguished. [6] Bose, J. Subash Chandra, et al. "Development
Finally, fire is identified at the right end and using and designing of fire fighter robotics using cyber
water pump fire is extinguished. Hence the system security." 2017 2nd International Conference on
efficiently extinguishes the fire and proved the best Anti-Cyber Crimes (ICACC). IEEE, 2017.
automatic process for enabling the fire
immediately. [7] Alhawas, S., M. Sabha, and T. Alhmiedat
Alhmiedat. "The design and development of a
5. CONCLUSION smart fire-fighter robotic system." Int Rob Auto J
3.6 (2017): 00073.
The direction control model based
firefighting model is implemented in order to [8] Hazrat Ali, Shamishev and Aitmaganbayev,
process the automatic machine to sense the fire and “Development of a Network based Autonomous
to fire off using water in any kind of application firefighting Robot,” 2018
such as hospitals or malls or in institutions to save
the human life. This process required sensors, [9] Setiawan, Joga D., Mochamad Subchan, and
motors, pumps of smaller size and required very Agus Budiyono. "Virtual reality simulation of
less space. The approach sense using high firefighting robot dynamic and motion." Intelligent
wavelength light and act immediately when the Unmanned Systems: Theory and Applications.
limit crosses the threshold. Later it removes the Springer, Berlin, Heidelberg, 2009. 191-203.
obstacles to another location using robot arm to
[10] Zhou, Yan, Dawn Wilkins, and Robert P.
clear the path. The proposed system works
Cook. "Neural network control for a fire-fighting
efficiently and provides an automatic device to
robot." Software-Concepts & Tools 19.3 (1998):
save human life.
146-152.
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