INTRODUCTION
Robots represent automated systems engineered to
execute tasks traditionally performed by humans or specialized machinery,
ranging from repetitive industrial operations to complex adaptive functions. Academic
investigations have extensively documented robotics applications across diverse
domains, including medical procedures [1], rehabilitative therapies [2-6],
emergency response scenarios [7,8], and manufacturing processes [9]. The
evolution of industrial robotics has yielded
Sophisticated programmable manipulators capable of
handling specialized materials and precision components [10]. The Fourth
Industrial Revolution (4IR) has intensified requirements for interoperable
robotic systems featuring unified control architectures capable of integrating
heterogeneous robotic platforms. Concurrently, machine learning advancements
have significantly influenced robotic development, with contemporary systems
increasingly incorporating intelligent algorithms [11-15] to enhance autonomous
decision-making, environmental adaptation, and operational efficiency. Industrial
robotics integration has demonstrated substantial improvements in production
metrics while reducing long- term operational expenditures and electronic waste
generation. Humanoid robotics research specifically targets the reduction of
occupational hazards for emergency responders, with particular emphasis on
enhancing firefighter safety and operational effectiveness [16]. Robotic
systems exhibit categorical diversity, including:
1. Tele-robotic systems requiring direct human
operation
2. Telepresence platforms providing immersive
sensory feedback for remote monitoring applications in education, eldercare,
and social services [17,18]
3. Mobile robotic platforms capable of
navigation with human supervision [19,20]
4. Fully autonomous systems with environmental
energy harvesting capabilities
5.
Android platforms featuring
human-like morphology and behavior [21]
This research presents a novel firefighting robotic
platform designed as an unmanned support vehicle with dual operational modes
(autonomous/remote-controlled) for fire detection and suppression. While
conventional firefighting vehicles primarily address structural and wildland
fire scenarios [22], the proposed system specializes in high-risk environments
including confined spaces and nuclear facilities [23,24]. Current deployed
systems such as Thermite (Howe and Howe Technologies) demonstrate remote
operation capabilities with 400m range, 1,200gpm fluid delivery capacity, and
specialized configuration for aircraft/industrial fire scenarios. Similarly,
DOK-ING's Fire Rob represents another operational firefighting robotic platform
with single-operator control architecture. The developed system distinguishes
itself through compact form factor and enhanced autonomous capabilities for
hazardous environment operation.
I.
METHODOLOGY
The development methodology comprises three key
components: mechanical design schematics, hardware implementation, and programming
architecture. These elements were systematically integrated, followed by
experimental validation to determine the optimal fire-extinguishing operational
range for Rob.
Mechanical Design Framework
The mechanical configuration was developed using Google
SketchUp and AutoCAD for comprehensive 3D modeling and 2D
schematics. The robot's chassis features a four-wheel drive system—two front
and two rear wheels—enabling 360-degree rotation for enhanced maneuverability.
An acrylic plate housing was selected for its thermal resistance (up
to 200°C) and modularity, with pre-drilled mounting points for sensor
integration and component assembly. A front-mounted mini camera
(linked to a smartphone) provides real-time environmental feedback. Figures 1
and 2 illustrate the finalized structural design with dimensional
specifications.
Fig 1. Automatic fire fighter robot
The electronic subsystem integrates:
·
Sensors: E88 Drone Camera for fire
detection and environmental monitoring
·
Control
Unit: Node MCU
ESP8266 microcontroller for centralized operation
·
Actuation: L298N motor driver for precise
wheel motor control
·
User
Interface: Transmitter/remote
control for operator input
·
Fire
Suppression: Water
pump mechanism for extinguishing
Fig 2 3D Structure
of Rob with Dimension
Fig.
3 block diagram
As depicted in Figure 3 (block diagram),
the E88 camera serves as the primary input, relaying data to the NodeMCU.
The L298N driver translates control signals into motor movements,
while the GoPro camera (smartphone-linked) enables live operational
monitoring. The system allows remote activation of the water pump for targeted
fire suppression.
Key Features:
·
Modular
acrylic chassis for heat resistance and component protection
·
Omnidirectional
mobility via four-wheel drive
·
Dual
visual feedback (E88 for AI processing + GoPro for operator view)
·
Centralized
control through NodeMCU-L298N integration
A. Mechanical Design
Structure
Google SketchUp software and Autocad were used to produce 3D and 2D schematic diagram. For the main
structure of the robot, to get the preferred
movement and speed, Rob have two wheels at rear side and two wheels at front side. The wheels have the ability to stabilize
the robot and make rotation until 360 degrees. The body of the robot is made from acrylic
plate to protect the electronic circuit. The acrylic sheet is resistant to heat of up to 200 ⁰ C. This gives the ability to use and work with (cut and drill). The body of acrylic chassis contains holes that make it easier to mounting
of various type of sensors and other mechanical
components. In addition, mini camera was
installed in front side of the robot to monitor the way and condition of the location and is linked to the smart phone.
The structure of fire distinguisher robot is shown in Fig. 4.
Fig 4 Fire Fighter Robot
B.
Hardware Implementation
The electronic part is one of the vital parts in the development of Rob. It includes the
several types of sensors, microcontroller, DC motor with wheel, Transmitter and
Remote control and Water pump. Fig. 3 shows the block diagram of the Rob
operation which consists of E88 Drone Camera
as input of the system.
Node MCU ESP8266
is used as a microcontroller
that connected with other components. Motor Driver (L298N) is used to activate
the moving of the gear motor while Transmitter Remote Control will give output
of the system. Flow of water and fire extinguisher were pump after being
controlled by the operator. On the other hand, the operator can monitor the robot movements
by using camera (Go Pro) which connects to a smartphone.
Fig 5 Motor Drivers
with wheels
A.
Water pump-
The water pump is important part in this robot as it will pump water or soap to
extinguish the fire depending on the class of fire that occurs. Small-size and light-weight
category of water pump has been selected for use in this project. Moreover, it has low noise, high effectiveness
and minimal power consumption. The optimal voltage for this water pump is 6V.
Working voltage for this water pump is around 4V to 12V
with the working
current 0.8A.
B. Transmitter and remote control- In this review,
the remote controller transmitter and collector with 4 control
modes will be utilized. Model number of this collector or remote is S4C-
AC110. This remote have four buttons. The working voltage for this controller is AC 100 -
120 V, while the working voltage scope of hand-off are AC 110 - 240 V or DC 0 -28 V. The
model number of the transmitter is C-4.
The distance of the controller is 100 m or 300ft. Power supply for this
transmitter is 12 V. The communicating recurrence is315 MHz/433 MHz by using
the transmitter and
remote-control, ob. can be controlled from far off where the administrator who controls
it will be in a protected spot while the robot will go into a risky fire region. Fig.6
Fig .6 Receiver & transmitter
III.
RESULTS AND DISCUSSION
Firefighting robot (Rob) has been created
to see as the area of
fire and smother it. Rob has a capacity to find the area by utilizing camera
and ultrasonic sensor. The Camera is working to detect the area of fire while
ultrasonic sensor is working to recognize the presence of object
around the Rob. The two sensors are associated with
Arduino Uno, which controlled the development of DC engine.
At the point when camera
found the fire, the DC engine will stop at 40 cm from the fire. The
administrator will smother the fire utilizing controller from the distance. The
administrator too can screen the Rob by utilizing camera
that interfaces with a cell phone
A.
Time to Stifle the Fire Relies upon Distance
of rob with Fire Source
|
S.No
|
Real
distance
(cm)
|
Distance
sensor
(cm)
|
Error (%)
|
Accuracy (%)
|
|
1
|
12
|
12.4
|
3.33
|
96.67
|
|
2
|
20
|
20.6
|
3
|
97
|
|
3
|
50
|
50.2
|
0.4
|
99.6
|
|
4
|
80
|
80.2
|
0.25
|
99.75
|
|
5
|
100
|
99.8
|
0.2
|
99.98
|
Loot effectively
finds fire area naturally and douse it by administrator control. The
administrator can screen the area of fire by
camera that is associated with the cell phone. Fig. 7 shows an
opportunity to douse fire relies upon distance among Loot and fire,
and Fig. 8 shows the picture during
the fire smothering interaction