Innovative Fire Safety: The SAFE Approach to Automated Fire Suppression
Prabhat Kumar Srivastava1*, Amit Arora2, Ruchin Kackar3 and Sanjay Singh4
1
Electronics and Communication Engineering, Galgotias University, Noida, India
2
Electronics and Communication Engineering, Galgotias University, Noida, India
3
Department of Mechanical Engineering, Sagar Institute of Science and Technology, Bhopal, MP, India
4
Department of Mechanical Engineering, Sagar Institute of Science and Technology, Bhopal, MP, India
Abstract
In an era marked by unprecedented technological and scientific advancements, our world
seeks innovative solutions to address pressing issues. To harness the power of technology in
mitigating the devastating effects of fire outbreaks and minimizing harm to firefighters, we
introduce the "Semi Automated Fire Extinguisher (SAFE)." SAFE is a cutting-edge
firefighting vehicle designed to operate both manually and autonomously, offering a
promising approach to reduce human intervention and enhance the efficient use of water
resources in combatting fires. SAFE is equipped with Mecanum wheels, providing
exceptional maneuverability, allowing the vehicle to strafe and navigate challenging terrains.
It is specifically engineered for deployment in high-risk areas where human access is limited
due to intense fire outbreaks. SAFE boasts the capability to detect fires and autonomously
extinguish them, significantly reducing response times and minimizing the risk to firefighting
personnel. For fire detection, SAFE employs a dual approach. Manual fire detection is
facilitated through advanced cameras, equipped with features such as facial recognition and
video recording, enhancing situational awareness. Automatic fire detection is enabled through
highly responsive flame sensors. This multifaceted approach ensures a comprehensive
response to fire incidents, integrating human expertise and cutting-edge technology. By
optimizing operations and leveraging technology, this project stands as a beacon of hope,
contributing to reduced human involvement and enhanced safety in fire emergencies.
Keywords: SAFE (Semi Automated Fire Extinguisher, Arduino UNO, Mecanum wheels,
ESP32 Cam, Flame Sensor.
Introduction
Fire accidents are a major threat to public safety and cause significant harm to people,
properties, and the environment. In the present world, fire accidents can occur due to various
reasons, such as electrical malfunctions, unattended cooking, arson, and natural disasters like
wildfires. The dangers posed by fire accidents can be life-threatening and can cause
significant property damage. Fire accidents can cause burns, smoke inhalation, and other
physical injuries, and can also result in the loss of life [1]. In addition to the dangers posed to
people and the environment, fire accidents can also cause significant economic damage,
including the cost of repairing or replacing damaged or destroyed buildings, equipment, and
other assets. It is important for individuals and organizations to take steps to prevent fire
accidents and to respond quickly and effectively in the event of a fire to minimize the
damage caused [2].
Firefighting robots are an important tool for firefighters as they can help to minimize the risks
associated with firefighting and increase the efficiency and effectiveness of firefighting
operations [3].
The aim of this paper is to provide a smart fire fighter robot. A firefighting robot is a machine
that is designed to assist or replace human firefighters in extinguishing fires. These robots are
equipped with various tools and technologies that help them navigate through smoke-filled
environments, locate the source of the fire, and extinguish it using water, foam, or other fire-
retardant substances.
Literature Survey
Fire fighting vehicles can be classified into several categories based on their intended use,
such as pumpers, aerial ladder trucks, rescue trucks, foam trucks, and hazardous material
response vehicles [4]. Each type of fire fighting vehicle is designed to meet specific
firefighting needs and to provide the necessary equipment and resources to firefighters in the
field. Firefighting robots typically consist of a chassis equipped with wheels or tracks, a set of
sensors, a control system, and a fire-fighting mechanism [5]. These robots can be equipped
with various features that allow them to navigate through hazardous environments and
perform firefighting tasks in tight spaces. Some examples of firefighting robots that can go
where humans cannot enter include Crawler Robots, Aerial Robots, Underwater Robots,
Humanoid Robots etc., and Wheels are an important component of firefighting robots for
several reasons: Mobility, Manoeuvrability, Stability, Speed [6]. Camera modules are also an
important component of firefighting robots for several reasons: Navigation, Fire Detection,
Remote Monitoring, Situational Awareness [7].Cameras can provide the robot with
information about the fire and its surrounding environment, which can be used to assess the
situation and make informed decisions about how to approach the fire and extinguish it.
III. METHODOLOGY
Methodology of Vehicle:
Fig. 1 Block Diagram of the Vehicle’s Working Process
As observed in Fig. 1, the primary processor of this vehicle is an Arduino UNO. Every single
component of the vehicle is powered by a 12V lithium-ion battery. The fire is discovered
using three flame sensors. The vehicle is driven manually using the ESP32 cam module. Four
dc motors and two servo motors are controlled by the L293d motor shield driver. As a fire
extinguisher, a 12-volt motor pump is employed is controlled using relay module. The
vehicle's receiver is an NRF24L01 transceiver.
Methodology of Radio Controller:
Fig. 2 Block Diagram of the Radio Controller’s Working Process1
The principal processor of this radio controller is an Arduino NANO, as can be seen in Fig. 2.
The controller is powered by a 9v radio battery, which powers every single part of it. An
NRF24L01 transceiver serves as the controlling transmitter. The vehicle is moved by use of
two 2-axis joysticks. The speed of the car and the water flow is managed by two
potentiometers. The processes are toggled as needed using two toggle switches. For selecting
camera directions, there are two push buttons.
A. Flowchart
Fig. 3 depicts the flowchart that was followed while designing and testing the vehicle.
Fig. 3 Flowchart for vehicle operated in Automated and Manual Mode
Figure 3 shows how the vehicle moves in relation to the controller. The surroundings are seen
by the ESP32 cam module. There are two ways to operate the vehicle. Controllers are used to
deciding on operations. Automated flame detection is performed by flame sensors. In manual
mode, the ESP32 cam module is employed. In this project, water is utilized as a fire
extinguisher.
Component Description
Arduino Uno: -It is a microcontroller board that consists of an ATmega328P IC. The board
has a total of 32 pins and those are classified as 14 digital input and output pins, 6 analog
inputs, a 16 MHz quartz crystal oscillator, a USB connection, and a power jack used to
operate at a voltage of 5-12V.And it can be programmed using the Arduino Integrated
Development Environment (IDE), which supports C++ programming.
L293D Motor Sheild: - It is equipped with two H-Bridge circuits, each of which can control
the speed and direction of two DC motors or a single stepper motor. The H-Bridge circuit is
made up of several transistors, diodes, and other components that are designed to handle high
currents and voltages. This makes the L 293D motor shield suitable for controlling motors
that require a lot of power, such as larger DC motors or stepper motors. The shield connects
to the Arduino board through a set of headers and can be easily controlled using the Arduino
Integrated Development Environment (IDE). The shield also provides a set of control pins
that can be used to control the speed and direction of the motors, as well as to provide
feedback on the status of the motors.
ESP32 Cam Module: - The ESP32-CAM module is a compact, inexpensive development
board based on the ESP32-S2 microcontroller. It has a 2MP OV2640 camera and Wi-Fi or
Bluetooth connectivity is supported. A few details about the module are provided below.
Camera: The 2MP OV2640 camera that is included with the ESP32-CAM module can both
snap images and record videos. Resolutions as high as 1600x1200 pixels are supported.
The ESP32-CAM module offers Bluetooth and Wi-Fi communication. It contains a U. FL
connector for an external antenna as well as an inside 2.4GHz Wi-Fi antenna. Also, it
contains a built-in TCP/IP protocol stack that makes connecting to the internet simple.
Programming: The Arduino IDE can be used to program the ESP32-CAM module. An
intuitive user interfaces for programming the module is offered by the Arduino IDE.
Mecanum Wheels: - Mecanum wheels are a type of omni-directional wheel that allow for
movement in any direction. Unlike traditional wheels that only move forwards and
backwards, Mecanum wheels can be driven in any direction, including forwards, backwards,
sideways, and diagonally. Each Mecanum wheel is made up of a number of small, freely
rotating rollers that are mounted at 45-degree angles around the circumference of the wheel.
When the wheel is driven in one direction, the rollers create a force that propels the vehicle in
that direction. When the wheel is driven in another direction, the rollers create a different
force that propels the vehicle in that new direction.
Two axes Joystick: - A two-axis joystick is a device that consists of two potentiometers, one
for controlling the horizontal axis and another for controlling the vertical axis. The output of
the potentiometers can be read by an Arduino microcontroller, allowing the joystick to be
used as an input device for a wide range of applications. A two-axis joystick typically
consists of a base, a lever, and two potentiometers. The lever can be moved in two directions,
the horizontal and vertical axes, and the movement of the lever is translated into electrical
signals by the potentiometers. The electrical signals can then be read by an Arduino
microcontroller and used to control various elements of a project, such as the speed and
direction of a motor, or the position of a servo.
Potentiometer: - A potentiometer is a type of electrical component that acts as a variable
resistor. It consists of a resistive element that can be adjusted to vary the resistance between
two terminals. Potentiometers are commonly used in a wide range of applications, including
volume control for audio equipment, position sensing for robotics and automation, and as
input devices for electronic circuits.
NRF24L01: - The NRF24L01 module is a radio frequency (RF) transceiver module that
operates in the 2.4GHz frequency band. The NRF24L01 module supports both the
transmission and reception of data and can communicate with other NRF24L01 modules over
distances of up to 100 meters in ideal conditions. It can communicate with multiple devices
simultaneously, making it suitable for use in networked applications.
Flame Sensors: It is a device to detect the presence of flame or fire. The flame sensor
operates by using infrared to detect the light emitted by a fire and then produce an electrical
signal in response. It contains three pins: digital, GND, and VCC.
Water Pump: - A 12V water pump is an electrically powered pump designed to move water
at a high flow rate and pressure. The main advantage of a 12V water pump is that it can be
powered by a 12V battery or a DC power supply, making it suitable for use in remote
locations or off-grid systems where access to AC power is limited. 12V water pumps are also
typically more efficient than their AC-powered counterparts, and can operate quietly, making
them ideal for use in residential or commercial settings.
Power Supply: -A 12V 1200mAh battery can supply a current of 1.2 Ampere for 1 hour when
fully charged. Alternatively, it can supply a current of 2.4 Ampere for 30 minutes, or 0.6
Ampere for 2 hours. The actual runtime of the battery will depend on the device it is
powering and the current draw of that device.
Connections and Working Model
Vehicle Connections:
Arduino Uno Micro-controller is used to operate the vehicle. Up to four DC motors can be
supported at once by the L293D motor shield driver. It is mounted to the Arduino UNO and
has two 5v servo motors connected to servo-1 and servo-2 of the motor shield, and four DC
motors as indicated in the figure-4.
Fig. 4 L293D Shield Motor Driver with 2-servos and 4-dc motors.
To attach mecanum wheels to a vehicle, you need to make sure that the wheels are mounted
securely and that they are aligned properly. Mecanum wheels have rollers mounted at a 45-
degree angle to the wheel surface, which allows them to move in any direction. Therefore, it's
important to make sure that the rollers are aligned properly so that the vehicle can move in
the desired direction follow the figure for better understanding of arranging wheels.
Flames from 120 degrees are detected using three flame sensors placed 60 degrees apart.
Mount the flame sensor to the vehicle and attach the VCC and GND pins, respectively, to the
5V and GND pins on the Arduino board. Then, attach each of the three-flame sensor's digital
output pins to pins A0, A1, and A2 on the Arduino UNO board's analog input connector. For
receiving the data, we are using the NRF24L01 transceiver. As described in the radio
controller the module consists of eight pins, pin 1 is ground, and pin 2 is Vcc connected to
3.3V of Arduino UNO. Pin CE and CSN are connected to analog pin-A3 and digital pin-2 of
Arduino UNO. For establishing serial communication, we are using In-Circuit Serial
Programming (ICSP). Therefore, SCK is connected to SCK, MISO, and MOSI are connected
to MISO and MOSI of ICSP pins Arduino UNO.
Fig. 5 Schematic View of Vehicle with all components.
We want a relay module to regulate the power supply to the pump in order to connect a 12V
water pump to an Arduino Uno. Attach the relay module's COM terminal to the positive (+)
terminal of the 12V power source. Attach the water pump's positive (+) terminal to the relay
module's NO (Normally Open) terminal. Attach a common ground to both the water pump's
negative (-) terminal and the power supply's negative (-) terminal. The relay module control
pin should be connected to Arduino Uno analog pin A4.
A maximum current of 500mA and a voltage of 3.3V or 5V are used by the ESP32-CAM
module during operation. It can be powered by a lithium-ion battery, a micro-USB cable, or
an external power source. A built-in voltage regulator on the module enables it to accept
input voltages of up to 12V. To prevent voltage fluctuations that can harm the module or the
camera, it is advised to power the module using a steady 5V power supply. The module
should be provided individually as well. We used a 7805 IC to convert 12V to 5V for that.
Then, using a 7805 IC, deliver 5V of power to the module.
Radio Controller Connections:
Arduino Nano has 13 digital and 8 analog pins and provides 5V to another module in the
transmitter section. As per the house-made code, 9 digital pins and 6 analog pins are used for
our required purpose. Joystick has 5 pins, pin 1 is connected to Vcc, pin 2 is connected to the
ground, and pin-3(x) and pin-4(y) of joystick-1 provide analog signals to the microcontroller
via pin A3 and A2 of Arduino Nano. Same as joystick-1, pin 3 and pin 4 of joystick-2
provide analog signals to the microcontroller via pin A1 and A0 of Arduino Nano.
Fig. 6 Two-axis joystick movement and vehicle direction.
NRF24L01 module requires 1.9-3.6V and is used for transmitting the data from transmitter to
receiver. It consists of eight pins, pin 1 is ground, and pin 2 is Vcc Connected to 3.3V of
Arduino Nano pin CE and CSN are connected to digital pin-5 and pin-6, SCK is connected to
digital pin 13 and MISO and MOSI are connected to digital pin 12 and 13 of Arduino Nano.
Fig. 7 Schematic View of Radio Controller with all components
In the transmitter, two potentiometers are installed each has three pins and for operating 5V is
needed, potentiometer-1 is used to regulate the flow of water and potentiometer-2 controls the
speed of the vehicle (receiver section). As per the in-house programmer speed control
potentiometer pin is connected to analog pin A7 and the water pump control potentiometer
pin is connected to analog pin A6 of Arduino Nano.
As per the in-house program function toggle switch-1 is used to select manual or auto mode
in the vehicle for detecting the fire and toggle switch-2, position-1 fixes the camera position
and position-0 controls the moment of the vehicle. And these toggle switches enable pins to
be connected to 4 and 7 digital pins of Arduino Nano. Push button 1 and 2 is used to fix the
camera positions connected to the 3 and 8 digital pins of Arduino Nano.
Working of the vehicle:
The vehicle was built with the ability to operate in both automated and manual modes. With a
radio controller, the operational mode is managed. A radio controller is used to maneuver the
vehicle in 16 directions, regulate its speed, check and adjust the camera angles, and switch
operating modes. When the flame sensor detects a flame in automated mode, a water pump is
automatically activated and focused on the fire's location. Also, when in manual mode, it is
controlled via a video camera equipped with an ESP32 cam module. Turn on the hotspot and
connect to the esp32 cam module. We can view the surroundings by using any browser and
the available URL created by the esp32 module. Also, we can manually activate the water
pump if a fire is spotted. The vehicle's mecanum wheels were mounted here. As a result, we
can get to the fire site quickly and easily. The wheel movement is possible in 16 distinct
directions thanks to the vehicle's programming.
Mechanism of Mecanum wheels:
A vehicle can go in any direction thanks to the wheels' design. A vehicle can move in any
direction with these wheels without having to turn. The wheels accomplish this by using a
number of rollers that are positioned at an angle to the wheel's primary axis. The rollers on
each wheel produce a force in one direction when the wheels are rotated in opposition to one
another, allowing the vehicle to drive in that direction. To move the vehicle in a particular
direction with mecanum wheels, the wheels must be rotated in a specific way. To move
forward, all four wheels should rotate forward at the same speed. To move right, the wheels
on the left side of the vehicle should rotate forward, while the wheels on the right side of the
vehicle should rotate backward.
Diagonal movement: The vehicle can move diagonally forward or backward by rotating the
wheels on one side of the vehicle in one direction and the wheels on the other side in the
opposite direction. For example, to move diagonally forward to the right, the wheels on the
left side of the vehicle should rotate forward while the wheels on the right side should rotate
backward.
Arc movement from left: The vehicle can move in an arc by rotating the left wheels on one
side of the vehicle faster than the wheels on the other side. The direction of the arc is
determined by the direction of the faster rotation.
Rotate in place: The vehicle can rotate in place. For clockwise rotation the wheels on the left
side move forward, while the wheels on the right side move backward.
Arc movement from front: The vehicle can move in an arc by rotating the front wheels of the
vehicle in opposite direction. For front arc left-front wheel rotate in forward and right-front
wheel in backward.
Conclusion:
Our project, consisting of a dual-section transmitter and receiver, embodies the essence of
technological innovation and resilience in the face of environmental challenges. The SAFE
vehicle, equipped with fire sensors, operates autonomously, offering an unparalleled
approach to fire detection and extinguishment while optimizing water usage. By reducing
the need for
extensive human involvement and minimizing risks to firefighters, our project contributes to
community resilience in the event of fire emergencies. It successfully integrates electronic
components and prototypes, emphasizing the effectiveness of our design. In manual mode,
the ESP32 camera's advanced features, including facial detection and image processing,
enhance the project's overall performance. This intelligent utilization of technology
underscores our commitment to reducing human casualties in fire-related tragedies. As we
look to the future, there is vast potential to further enhance our project's effectiveness and
expand its reach, ultimately aligning with the conference's themes of technological
advancement, community resilience, and the pursuit of sustainable solutions. Our project
serves as a beacon of hope in addressing fire-related challenges and ensuring a safer and
more sustainable future.
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