Fire-fighting Robot Research Articles

Low-cost multi-sensing fire-fighting robot with obstacle avoidance mechanism

Robots are mostly optimized for tasks that require strength exceeding that of humans or for operations in hazardous environments. The fire-fighting robot developed has multiple sensing capabilities with obstacle avoidance mechanisms and is divided into two units: the robot and the static unit. The robot is equipped with three flame sensors to detect flames (infrared radiation) in three directions, an ultrasonic sensor to avoid obstacles, a wireless receiver to receive data from the static unit, a magnetometer giving the robot a sense of direction, and a unit of Arduino Mega microcontroller serving as the central controlling platform. The static unit has four flame sensors and a transmitter that transmits signals to the robot unit, which an Arduino Uno directly controls. A prototype was developed, which helps prevent the escalation of fires in the home as it can detect, navigate and extinguish flames while avoiding obstacles autonomously.

Spring failure analysis of fire-fighting robots under high-temperature action

In order to improve the performance and reliability of fire-fighting robots in high-temperature environments, this paper analyses the spring failure of fire-fighting robots under the action of high temperatures. A hyperbolic sinusoidal rate model is used, combined with finite element analysis and experimental data, to study the creep behavior of the material. Through stress relaxation experiments and theoretical derivation, the creep intrinsic model of the material is established to investigate the failure of the spring under stress relaxation conditions. The results show that under high temperatures, the experimental results are well-fitted.

Review on Design and Development of Four Directional Fire Protection System

Abstract: The Development of an autonomous Four-directional fire-fighting robot has long been approaching. The creation of such equipment makes it possible to rescue people and property more quickly with less fire damage. As professionals, it is our responsibility to design and evaluate fire extinguishers and extinguishers. For this project we created a solar powered feature for uninterruptible power supply. Wireless controlled mobile robot. The robot can move around the building model, locate the fire, and then extinguish it using water spray. The development of autonomous firefighting robots is a long-standing need. Thanks to the development of this equipment, people and goods can be rescued quickly, with little fire damage. As experts, our job is to design and test fire detection and suppression systems. In this project, we developed a solar energy function for non-interruptive energy products. Wireless mobile robots. The robot can move within the building model, find the fire and extinguish it with the help of water spray

Fire Fighting Robot- The Fire Extinguisher

This study presents the design and implementation of a fire fighting robot using an Arduino UNO microcontroller as the central control unit. The robot is equipped with a flame sensor for detecting fires, a motor driver for precise motor control, and a water pump for extinguishing flames. Additionally, an ultrasonic sensor is integrated for obstacle detection and navigation, enhancing the robot's mobility in complex environments. A Bluetooth module allows for remote control and monitoring of the robot's operation, while a buzzer provides audible feedback during emergency situations. The performance of the fire fighting robot is evaluated under various conditions, demonstrating its effectiveness in autonomously detecting and extinguishing fires. Overall, the developed robot offers a promising solution for automated fire fighting tasks, with potential applications in both indoor and outdoor environments

Fire Fighting Robot with Human Detection and Audio Recognition

This paper presents innovative approaches to firefighting robots, addressing critical challenges in fire safety. CeaseFire, equipped with water and CO2 sprays, ensures real-time operations prioritizing human safety, offering user-friendly handling and extended control range. The DaNI(sbRIO)-powered robot excels in rapid fire detection and extinguishing, providing a reliable solution for hazardous situations. In parallel, the YOLOv4-tiny implemented on a limited hardware robot enhances accuracy in victim rescue during firefighting missions. The Arduino UNO-based mini fire-fighting robot autonomously detects and extinguishes fires, minimizing risks to firefighters and incorporating user intervention through an Android app. Additionally, a modular robot employs computer vision, temperature, and UV-TRON sensors for enhanced fire detection, pathfinding, and extinguishing, promising a significant advancement in autonomous firefighting technology. AFDER, an Autonomous Fire Detecting and Extinguishing Robot, integrates robotics, computer vision, and firefighting tech, autonomously navigating with lidar-based mapping and obstacle avoidance. With precise fire detection and targeted extinguishing capabilities, AFDER reduces human intervention, proving adaptable to diverse environments. Collectively, these advancements showcase the potential to revolutionize firefighting, safeguard lives, and address the complex challenges posed by fire emergencies.

FIRE FIGHTING ROBOTIC VEHICLES

The project is designed to develop a fire fighting robot using Arduino uno . The robotic vehicle is loaded with water pump which is controlled by servos. An ATMega 328 microcontroller is used for the desired operation. At the transmitting end using commands are sent to the receiver to control the movement of the robot either to move forward, and left or right etc. At the receiving end tow motors are interfaced to the microcontroller where two of them are used for the movement of the vehicle and the one to position the robot. The ultrasonic sensor adequate range with obstacle detection, while the receiver driver module used to drive DC motors via motor driver IC for necessary work. A water tank along with water pump is mounted on the robot body and its operation is carried out from the microcontroller output through appropriate command from the transmitting end. The whole operation is controlled by an ATmega 328 microcontroller. A motor driver IC is interfaced to the microcontroller through which the controller drives the motors,three ir flame sensors are fixed on robot chassis to sense the fire and to reach the destination to putoff the fire.

4WS Intelligent Fire-Fighting Robot Trajectory Tracking Control Based on Adaptive Cornering Stiffness

4WS Intelligent Fire-Fighting Robot Trajectory Tracking Control Based on Adaptive Cornering Stiffness

A Soft Actor-Critic Approach to Complex Dynamic Flight Control for a Flying Firefighter Robot with Water-Jet Propulsion

A Soft Actor-Critic Approach to Complex Dynamic Flight Control for a Flying Firefighter Robot with Water-Jet Propulsion

Fire Fighting Robot

Abstract: Fire safety is the major priority in this time of rapid industrialization. As in many factories, mainly the chemical industries and also in clothe, electrical factories, many fire accidents happen. According to the global report about 10000 deaths happen on average every year because of the fire accidents in the world. Since we are using many technologies to avoid these accidents, we also need to focus on post-accidents technologies. As many countries and factories use such technologies, it has been seen that the death rate because of fire accidents has decreased by some percent in past years. Means this works and we are working in the right direction. So, keeping the same in mind we came with a project that is a fire-fighting robot – an autonomous vehicle and robot. It is based on sensor-based object detection. This model is practically a working model and able to detect the fire of its own. Also, this vehicle is self-driven while checking the safety issues.

Fabrication of Mini Fire Fighting Robot

Abstract: Fire Incident is a disaster that can potentially cause the loss of life, property damage and permanent disability to the affected victim. The Victim of Fire Incident can also suffer from prolonged psychological and trauma. Fire fighters are primarily tasked to handle fire incidents, but they are often exposed to higher risks when extinguishing fire, especially in hazardous environments such as in nuclear power plant, petroleum refineries and gas tanks. They are also faced with other difficulties, particularly if fire occurs in narrow and restricted places, as it is necessary to explore the ruins of buildings and obstacles to extinguish the fire and save the victim. With high barriers and risks in fire extinguishment operations, technological innovations can be utilized to assist firefighting. Therefore, this paper presents the design of a firefighting robot dubbed that can extinguish fire without the need for fire fighters to be exposed to unnecessary danger. It is designed to be compact in size than other conventional fire-fighting robot to ease small location entry for deeper reach of extinguishing fire in narrow space. It is also equipped with an ultrasonic sensor to avoid it from hitting any obstacle and surrounding objects, while a flame sensor is attached for fire detection. This resulted in It demonstrating capabilities of identifying fire locations automatically and ability to extinguish fire remotely at distance

Arduino-Based Emergency Unmanned Fire Protection System

Abstract: The safety of a person's home, workplace, factory, and other structures is crucial. We create a fire-fighting robot that can be operated via a semiautomatic control. The highest source is the destructive damage that electrical energy causes. It is because our security system can’t alert us to unusual or harmful situations. Additionally, it is challenging for the user to identify minor burns caused by electrical appliances. When using an automatic water cannon, the user might take some extra time to do things like locate a water source. Small charred areas and locations that are difficult for users to access, even with automatic water cannons, might make a fire difficult to detect. In order to control the water cannon for the intelligent building, a "semiautomatic water Canon (movable) for fire extinguishing using Arduino" was designed. This robot is able to sense the fire flames in the region where a fire is occurring and will automatically spray water in that direction.

Optimization Design of Bolt-on Exhaust Hood for Fire Fighting Robot

To solve the problem of frequent cracks in the air-cooled engine exhaust hood of a fire fighting robot, the structure parameters are optimized based on Beam element.Firstly,the finite element model of the exhaust hood is analyzed for pre-stress modal analysis, compared with the choice of Beam unit to simulate the bolted connection, and the RSM is used to optimize it.Secondly, the sample points are generated by Latin hypercube sampling, and the Kriging response surface model with good fitting is constructed. The sensitivity analysis is used to screen the targeted parameters, and the response surface optimization model with the total deformation, mass and first natural frequency as the target is established.Finally, MOGA is used to optimize the exhaust hood, and the optimal results are rounded and verified.The results show that the total deformation of the optimized exhaust hood is reduced by 7.18 %, the mass is reduced by 4.68 %, and the first natural frequency is increased by 74.98 %.The stiffness of the exhaust hood increases, which avoids the resonance interval. The application of Beam element effectively improves the simulation efficiency and provides a reference for the structural optimization of bolted connections.

Wireless Arduino Controlled Fire Fighter Robot Designed for Residential Area

Fire accidents have become a common problem in human life and may lead to permanent injury or death. The fire fighter robot is developed with the aim to save lives of fire fighters who risk their lives, entering dangerous environments. This paper presents the development of the fire fighter robot, which is suitable to extinguish fire in closed areas and residential areas. The robot’s movement can be manually controlled using Flysky GT2 Controller from outside of the affected area. The robot is in the form of a robust and compact vehicle which allows it to move front, back, left and right in small areas with a steady speed. The robot has a 12V water pressure pump capable of shooting water up to 3 to 5 litres per minute which allows it to control large amounts of fire. The robot also provides live streaming and GPS location tracking services during the movement of the robot. This live recording can be viewed in PC or in the user's mobile phone.

Weakly Aligned Multimodal Flame Detection for Fire-Fighting Robots

Flame detection is a key module of fire-fighting robots, especially for autonomous fire suppression. To effectively tackle the fire-fighting tasks, fire-fighting robots are usually equipped with multimodal vision systems. On the one hand, cameras of different modalities can provide complementary visual information. On the other hand, the differences in installation position and resolution between different cameras also result in weakly aligned image pairs, that is, the positions of the same object in different modal images are inconsistent. Directly fusing the image features of different modalities is difficult to meet the accuracy and false alarm requirements of fire-fighting robots. Therefore, we propose a multimodal flame detection model based on projection and attention guidance. First, we use projection to obtain the approximate position of the flame in the thermal image and employ a neighbor sampling module to detect flames around it. Second, we design an attention guidance module based on index matching, which applies the attention map generated by the thermal modality to optimize the regional feature of the color modality. Experiments on multimodal datasets collected by an actual fire-fighting robot validate that the proposed method is effective in both fire and nonfire environments.

An Indoor Autonomous Inspection and Firefighting Robot Based on SLAM and Flame Image Recognition

Indoor fire accidents have become increasingly common in recent years. More and more firefighting robots have been designed to solve the problem of fires. However, the indoor environment is very complex, with high temperatures, thick smoke, more turns, and various burning substances. In this study, a firefighting robot with autonomous inspection and automatic fire-extinguishing functions intended for use in unknown indoor environments was designed. Considering water’s poor efficiency and its inability to extinguish some combustion materials, other fire extinguishers were applied to design the extinguishing system. The robot can install four different extinguishers as required and select the appropriate fire extinguisher to spray it automatically. Based on the Cartographer SLAM (simultaneous localization and mapping) theory, a robot map-building system was built using Lidar scanners, IMU (inertial measurement unit) sensors, encoders, and other sensors. The accurate identification and location of the fire source were achieved using an infrared thermal imager and the YOLOv4 deep learning algorithm. Finally, the performance of the firefighting robot was evaluated by creating a simulated-fire experimental environment. In an autonomous inspection process of the on-fire environment, the firefighting robot could identify the flame in real-time, trigger the fire-extinguishing system to carry out automatic fire extinguishing, and contain the fire in its embryonic stage.

Motion analysis of the fire-fighting robot and trajectory correction strategy

This paper presents an intelligent fire-fighting robot with multiple sensors and introduces the composition of the control system. The kinematic equation of the robot and the fire water monitor jet trajectory are established. Moreover, the fire extinguishing space at the end of the fire water monitor is simulated and analyzed to obtain the operating range of the fire-fighting robot and provide theoretical support for the precise fire extinguishing of the robot. The fire-fighting robot virtual prototype is established in RecurDyn. Aiming at trajectory deviation caused by centroid offset, the trajectory correction based on PID control strategy is proposed. According to the co-simulation of RecurDyn and Matlab/Simulink, it is found that the fluctuation range of centroid velocity decreases by 25.2%, and the variance value decreases by 26.2% after using PID deviated angle correction strategy during climbing. The acceleration fluctuation range is lowered by 38.9%, and the mean value is lowered by 51.2%, verifying the accuracy of the trajectory correction control model.

Development and Experimental Study of Mobile Fire Smoke Decontamination System

Fire smoke decontamination equipment, such as fire-fighting robots and smoke exhaust robots, is mainly used in long and narrow spaces such as underground garages. In several recent decades, the study of fire smoke spread in narrow spaces and fire smoke decontamination equipment stimulated the interests of many researchers. However, present equipment cannot eliminate insoluble toxic gases such as CO and may decrease the height of the smoke layer, causing great difficulty to rescue. In this study, a novel mobile fire smoke decontamination process and system are proposed. The experimental study and theoretical prediction of the system are conducted. The results show that the developed equipment is able to eliminate fire smoke particles and CO, cool the space, and improve the visibility of the fire site. The developed equipment can reduce the space temperature to below 60 °C, reduce the CO concentration to below 145 ppm, and enhance the visibility to more than 50 m in the rectangular tunnel after operating for 30 min under 4 MW fire condition.

MOVING FIRE FIGHTER ROBOT

The earlier type of fire fighter robot has four wheels attached to its chassis in which the front two wheels control the direction of the body of the chassis. And the fire fighter robots usually has a fixed water hose which is able to extinguish only a certain distance. The objective of our project is to operate the robot for detecting the fire with 360 degree rotatable wheel which helps in reaching out the fired place in a minimal time duration and prevents the spread of fire less than the usual time and the 360 degree water splashing hose. This project is very useful in manufacturing industries and fireworks industries, textiles and military applications for detecting the fire and controls it through water. This project also improves the security performance. Henceforth our idea of Fire Fighting Robot (FFR) is of compact size planned to build in compact size. which is portabale emergency responder robot,that assists firemen in fighting high rise fire,especially in highly dangerous environment where it is not safe for people to enter.

A new differential evolution using a bilevel optimization model for solving generalized multi-point dynamic aggregation problems.

The multi-point dynamic aggregation problem (MPDAP) comes mainly from real-world applications, which is characterized by dynamic task assignation and routing optimization with limited resources. Due to the dynamic allocation of tasks, more than one optimization objective, limited resources, and other factors involved, the computational complexity of both route programming and resource allocation optimization is a growing problem. In this manuscript, a task scheduling problem of fire-fighting robots is investigated and solved, and serves as a representative multi-point dynamic aggregation problem. First, in terms of two optimized objectives, the cost and completion time, a new bilevel programming model is presented, in which the task cost is taken as the leader's objective. In addition, in order to effectively solve the bilevel model, a differential evolution is developed based on a new matrix coding scheme. Moreover, some percentage of high-quality solutions are applied in mutation and selection operations, which helps to generate potentially better solutions and keep them into the next generation of population. Finally, the experimental results show that the proposed algorithm is feasible and effective in dealing with the multi-point dynamic aggregation problem.

The Design,Implementationand Performance Analysisof a Smart Fire Fighting Robot

This research work Titled “Design and Implementation of a Smart Firefighting Robot” focused on developing a robotic system capable of moving to areas wherefiremen have to risk their lives to put off the fire.Fire disaster occur at any time and at any place without notice, which result in high losses.Due to the damage of buildings and explosive materials, it becomes a major task to save people and to put off the fire.The robot will reduce the risk of injury for firefighters and possible victims and minimize the monitory losses which increase considerably as fire duration increases. It consists of Ultrasonic sensormounted on the servo motor for obstacle detectionand equipped with flame sensors for detecting fire.It has a liquid-tank and spray mechanism for putting off the fire.The spring nozzle is mounted on the servo motor to cover a maximum area. The liquid is pumped from the tankwith a 12v pump.The robotic system is programmed using Arduino Uno board which served as the brain of the robotic system.