Fire related accidents are becoming

increasingly common. [1] According

to the NCRB, a
total of 18,450 cases of fire accidents
were reported in India in 2015, with
1,193 people injured
and 17,700 killed. In the last 6
months, Mumbai has seen 12 major
fires which resulted in the
death of 22 people. Reading articles
like “Fire outbreaks is the third
biggest risk to business
continuity and operations, according
to India Risk Survey(IRS) 2018. In
IRS 2016, fire
outbreaks were ranked eighth biggest
risk to business” only make the
statement more valid.
Along with it having casualties of
firemen like “2 firemen who died in
well tragedy were feted
for work-TOI” makes us question the
system to the core. Hence in this
project we aim to
reduce the burden of firemen by
making a drone, the actual first
responder instead of firemen
and hence potentially saving actual
human lives. This is an IOT based
drone system that will
provide valuable insights of the
situation with the help of cameras and
sensors. The proposed
system will help the firemen to
monitor the situation like checking if
there is a human trapped
inside or are there any explosives in
the area near the fire, check for
harmful gases if any and
devise a plan of action accordingly.
The vast increase in the number of
fire-related accidents
makes it a serious issue. The drone
will help to improve response to the
tragedy and hence help
in saving lives. The functionality of
dropping a fire Extinguisher Ball to
control the fire will
also help the firemen
Fire related accidents are becoming
increasingly common. [1] According
to the NCRB, a
total of 18,450 cases of fire accidents
were reported in India in 2015, with
1,193 people injured
and 17,700 killed. In the last 6
months, Mumbai has seen 12 major
fires which resulted in the
death of 22 people. Reading articles
like “Fire outbreaks is the third
biggest risk to business
continuity and operations, according
to India Risk Survey(IRS) 2018. In
IRS 2016, fire
outbreaks were ranked eighth biggest
risk to business” only make the
statement more valid.
Along with it having casualties of
firemen like “2 firemen who died in
well tragedy were feted
for work-TOI” makes us question the
system to the core. Hence in this
project we aim to
reduce the burden of firemen by
making a drone, the actual first
responder instead of firemen
and hence potentially saving actual
human lives. This is an IOT based
drone system that will
provide valuable insights of the
situation with the help of cameras and
sensors. The proposed
system will help the firemen to
monitor the situation like checking if
there is a human trapped
inside or are there any explosives in
the area near the fire, check for
harmful gases if any and
devise a plan of action accordingly.
The vast increase in the number of
fire-related accidents
makes it a serious issue. The drone
will help to improve response to the
tragedy and hence help
in saving lives. The functionality of
dropping a fire Extinguisher Ball to
control the fire will
also help the firemen
Fire related accidents are becoming
increasingly common. [1] According
to the NCRB, a
total of 18,450 cases of fire accidents
were reported in India in 2015, with
1,193 people injured
and 17,700 killed. In the last 6
months, Mumbai has seen 12 major
fires which resulted in the
death of 22 people. Reading articles
like “Fire outbreaks is the third
biggest risk to business
continuity and operations, according
to India Risk Survey(IRS) 2018. In
IRS 2016, fire
outbreaks were ranked eighth biggest
risk to business” only make the
statement more valid.
Along with it having casualties of
firemen like “2 firemen who died in
well tragedy were feted
for work-TOI” makes us question the
system to the core. Hence in this
project we aim to
reduce the burden of firemen by
making a drone, the actual first
responder instead of firemen
and hence potentially saving actual
human lives. This is an IOT based
drone system that will
provide valuable insights of the
situation with the help of cameras and
sensors. The proposed
system will help the firemen to
monitor the situation like checking if
there is a human trapped
inside or are there any explosives in
the area near the fire, check for
harmful gases if any and
devise a plan of action accordingly.
The vast increase in the number of
fire-related accidents
makes it a serious issue. The drone
will help to improve response to the
tragedy and hence help
in saving lives. The functionality of
dropping a fire Extinguisher Ball to
control the fire will
also help the firemen
INTRODUCTION

Fire incidents are getting more dangerous, complicated and larger-scaled, making it more difficult for
human first-responders to act. A potential technical solution could be the application of unmanned
firefighting equipment, to avoid further substantial damage as to protect the first responders. Another
benefit might be that unmanned firefighting equipment would make the firefighting process more
efficient and provide a better way of dealing with fire incidents. Drone technology is increasingly
considered as a good candidate in this regard. Depending on the situation of the incident drones could
potentially be applied for several purposes within firefighting practices, such as the monitoring of
potential danger, detection of the danger and the extinguishing of fire.

Currently, there is a lack of unmanned aerial vehicles that are being used with the purpose of extinguish
a fire or help prevent one. An unmanned aerial vehicle (UAV) is an aircraft without a human pilot on
board. Its flight can be controlled autonomously by computers in the vehicle, or by remote control
under the direct command of a human. In the world, most of the UAVs in existence are being used for
the defense purpose. Fires that occur in homes and nonresidential buildings as well as fires in wild lands
cause plenty of health issues; including death to humans and animals, in addition to great economic
losses in structures, equipment and vegetation. Furthermore, the first response teams, such as
firefighters, are exposing their lives to great risks in order to extinguish a fire. Our brave firefighters put
their lives in danger to save the victims, but locating the victim can be only done by clear the path and
manually look for the victim which is waste of precious time when it comes to life. So Fire Fighting Drone
(FFD) is very good option in this case because it can be managed remotely without putting lives in
danger. In addition to those huge problems, there is another one that does not cause so many struggles,
but it does have a negative effect when a fire occurs. One of the most popular ways to extinguish fires is
to spray water in the area affected by the flames.
PROBLEM STATEMENT

• Unable to detect the exact direction of fire source. • To detect exact location of the fire source. •
Needs human effort and lacks safety. • Equipment’s or methods that are sensitive to heat and weather
conditions

Fires have lead to huge losses of life and property throughout history. Fast access to the fire and instant
extinguishing is key to countering fire threats. Here are the problems firefighters face in various
situations:

Forest Wildfires: Wildfires that start in central forest areas are difficult to get to and by the time
firefighters reach there with water tanks/ fire brigade vehicles the fires already spread to other areas.

Fires in high buildings: Fire fighting vehicles provide water for spraying on high building fires leading to
heavy losses.

Fires in homes: Fire fighters need to manually get into homes and fire emergency areas risking their
lives to put out those fires.
1.2 OBJECTIVES

 Designing and Analysis of a Fire Fighter Drone (MFFD)

 Improve Fire Fighting Drone technology to save life.

 Used for Extinguishing Fire in Inhospitable and Hostile Areas.

 To inspect the environmental conditions and for live recording using first person view (FPV) camera.

 Also to navigate UAV through narrow passages and finding exact position for delivering the
extinguisher balls

 This design project is to improve the ways in which fires are prevented and extinguished

 UAV’s are the apparatus that is used for this mission and a human being does not need to be on board
in order to control it.

 An innovative design is to be made for the dropping mechanism of the fire extinguisher ball which is
mounted on the drone.

 The controller has the capability of inspecting the fire situation, coordinating the fire extinguishing
operation, and assist the controller in maneuvering the vehicle
Application Areas of fire extinguisher drone

Nowadays, drones can be used in a large number of fields, depending on what type of payload,
sensors and cameras they are equipped with. The application of drones ranges from journalism,
geographic mapping, wild-life monitoring, precision agriculture, shipping or delivery, to
activities oriented more towards the safety of people such as search and rescue missions,
structural safety inspections, airplane inspections, healthcare, law enforcement, disaster
management and firefighting operations.

Drones are easy to operate and can be deployed very fast, this provides distinct advantages over
a manned aircraft, especially when it comes to public safety operations like firefighting.
In the event of a large-scale fire, drones can be immediately deployed, and the affected area can
be mapped quickly. Data about the fire and the area can be acquired immediately and informed
decisions can be made by the commander about how to allocate resources and manpower.

The drone allows for easy fire extinguishing without risking life. Also it can access forest areas in an
instant which would require hours for fire trucks or humans to arrive at and instantly reach high
building windows with fire extinguisher.
ELECTRICAL AND MECHANICAL COMPONENTS

1 Frame

The frame of the UAV is composed of three plates, two large main plates joined by pins and one small
plate of top of them. This allows a configuration of up to 8 arms; however, in the project it is intended to
build a quadcopter, which has a configuration of four arms. The four arms that hold the motors are
placed at 90˚ with respect to each other. The three plates are made of a material called G-10, which is a
fiber glass epoxy composite known for its high strength and resistance to high temperatures.

The diameter of the two main plates is 20cm. These booms are secured to the main plates by screws
that are 25-3.17mm long and they rest over two U blocks, one behind the other. The second half of the
U blocks is added to the top to clamp the boom to the structure. Another main plate is installed on the
top of the arms and the whole structure is going to be held together by adding nuts to the screws. For
better support, screws of 3.17mm in length are added around the main plates to help hold the structure
in place. The motor is mounted at the end of each arm over a flat surface that is secured to the arm by
two U supports and four 25-6.35mm long screws. A small plate is placed at the top of the two main
plates and the electronics components are located in this area, between the top small plate and the top
main plate.

2 Motors

Having a symmetrical vehicle with four motors and placed at the same distance with respect to
the center allows the pilot to have great maneuverability and trust. Out of the four motors, two
have to rotate clockwise and the other two counter-clockwise to have a resulting net torque over
the rotational axis as zero. This means that the quadcopter will be able to travel in any direction
without rotating over its central axis.
When the motor windings become energized (both the motors have coils), a temporary magnetic
field is created that repels (and/or attracts) against the permanent magnets present inside the
motor. This magnetic force is creating the repulsive force in the coil that is used to spin/rotate the
shaft.
The Xing2 is the performance focused product line-up from iFlight. The Xing2’s come in
various shapes, but it is the 2306 sized motors offering the best bang for the buck.
The Xing2 2306 comes in 2555KV for 4S – comes equipped with larger, top quality NSK
bearings, increasing the longevity of these motors. These motors are wound with 20AWG gauge
wires and come equipped with N52H curved arc magnets, reducing the already slim stator-rotor
gap and increasing efficiency. Titanium alloy shafts, 7075 Aluminum bell and NSK 9x9x4
bearings ensure this motor is equipped to the grill. Xing2’s come fitted with O-rings on the
bearings between the motor bell and stator, keeping the bearing gap tight to reduce vibrations
induced by high RPMs. All these features come at a nominal weight of 31.6g.

3. Motor Controller and Flight Controller

The quadcopter has to include a motor and flight controller. Both components are in charge of
receiving and processing the signal from the remote control. Using this signal, these two
components provide stability once the quadcopter is on the air.
In case the vehicle suddenly loses balance, for a reason such as a wind current, the motor
controller and the flight controller have the capability of resetting the quadcopter to its initial
position and generate the final decision to operate the motors in such way that they stabilize the
vehicle. Both devices are extremely relevant at the time of releasing the fire extinguishing water,
since they will provide the necessary stability in order for the quadcopter not to crash with the
structure or lose steadiness and crash with the ground.
The specifications of the flight controller and the motor controller are shown in Table 1 below.
Table 1

Figure 1 flight controller

Figure 2 motor controller

4. Battery

The element that is going to provide energy to the quadcopter will be a set of
two batteries that are going to offer approximately 20 minutes of flight. Having
this period of time, the vehicle will have the ability of releasing and recharging the
water container several times.

The batteries will have their own compartment in the quadcopter. This will allow a
faster change of batteries in case the mission requires more time. The
specifications of one battery are shown in Table 2.

Table 2
 5 First Person View Camera

The camera selected to install in the quadcopter transmits a real time image
to a remote viewer. With this system on board, the controller will have the
capability of doing an inspection of the fire situation, coordinate the fire
extinguishing operation, and at the same time will assist the controller in
maneuvering the vehicle. This camera has a transmitter with a power of 250 mW
and a frequency of 5.8 GHz. The video this camera provides can be seen by the
controller when he or she puts on goggles that show the images transmitted from
the UAV.

6 GPS Flight Control System

This system can be used to convert this quadcopter in a fully autonomous

vehicle capable of performing programmed missions. However, in the vehicle, this
device will be used as a locator while the mission is being performed. This system
will work in conjunction an Ardupilot. This will provide refinement of the
movements and behavior of the quadcopter during flight. The GPS weight is 0.2 kg
and its frequency is 915 Mhz. The GPS can be seen in Figure 3.

Figure 3 GPS
7. Ardu-Pilot
ArduPilot is a software system based on the Arduino platform, which is an
open computing system (hardware). This software contributes to autonomous
stabilization and GPS navigation to allow the vehicle to accomplish missions without
human control. Another important function is that quadcopter will have
autonomous landing in case the pilot loses visibility of the vehicle. In Figure 4 below Ardu-Pilot
device can be seen.

Figure 4 Ardu-Pilot

8. Water container

It is used to provide storage for a water that is going to be used for extinguishing purpose. It is placed at
the bottom of the frame. It has its own mechanism for water releasing.

It has a capacity of to store water up to 20 liters and contains 2 water outlet valves which has its own
control system for opening and closing of the valves.

Releasing Mechanism of water

In spraying systems, there are various types of nozzles, each with its own efficiency,
performance, and technical specifications. This sprinkler system, which is often located at the
bottom of the UAV, employs a nozzle connected to the water tank to spray water droplets over
fire flames. The two components of a sprinkler system are the spraying control and nozzle
systems. The spraying system includes both spraying material (water) and a spraying nozzle. The
second component is a controller that regulates the nozzle of the sprayer. A pressure pump is a
sprinkler system component that forces water through the nozzle using pressure. A motor driver
integrated circuit is utilized to adjust the pump’s pressure as required. 
Mechanical part structure
The main structure of the quadcopter is conformed of two plates and four
arms. Two main plates are at the center of the quad. They are attached together by
screws at four different but symmetrical positions. A smaller plate is placed at the
top for holding the batteries and antenna. In between the main plates the three battery
adapters, four flight and four motor controllers are connected together and hold in placed
by screws and metallic straps. The four arms come out of the center of the main plates,
and are secure in two points by plastic blocks and screws. Motors at the end of each arms
are hold by squared metallic plates and their cables connected to the flight controllers are
hidden inside the arms since these come hollow. The four legs are placed at an angle and
attached to each leg to give the quadcopter a stable stand when in land. The delivery
mechanism, which holds the water tank, is located at the bottom of quad. The valves are
located at the two opposite sides of the water tank.