Schools Division of Olongapo

REGIONAL SCIENCE HIGH SCHOOL III

ARDUINO-BASED REMOTE-CONTROLLED FIRE FIGHTING BOT

Proponents:

MAS, JOSHUA D.

BALAGTAS, ISAAC LEMUEL P.

ALCOBILLA, JOHN EDZEL G.

MANALANSAN, ACCEL REDD C.

REGIONAL SCIENCE HIGH SCHOOL III

Table of Contents

Introduction…………………………………………………………………….…………….3

Background of the Study…………………………………………………..…………3

Statement of the Problem……….………………………………………...………….6

Hypothesis……………………………………………………………………………7

Scope and Limitations of the Study….…………………………………………..…...7

Significance of the Study……………………………………………………….…….8

Methodology………………………………………………………………………………….9

Engineering Goals...……………………………………………………………..……9

General Procedure……....…………………………………………………….…..…10

Detailed Procedure……….…………………………………………………….……10

Review of Related Literature………………………………………………………………..13

References List………………………………………………………………………………20
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Introduction

Background of the Study

One of mankind’s most important tools is fire, it has been used since ancient times.

People use it in their day-to-day lives, they use it to cook food, heating, and others, however,

regardless of the benefits that people get from the use of it, there still are dangers or

consequences when improperly used. It can cause a variety of accidents such as house fires,

buildings burning down, and forest fires.

House fires are a very common accident that happens worldwide. In the US alone,

27% of all reported fire accidents that occurred in the time span of 2014 to 2018 happened in

homes (NFPA, 2020). They can be caused by different things such as appliances, dangerous

substances, and sometimes improper use of instruments like cooking equipment. There have

been a total of 72,318 incidents from 2012 to 2016 (BFP, 2018). A single house fire can

cause collateral damage such as property damage, and even injuries and casualties. Out of all

these incidents recorded, there are 1,203 deaths and 4,091 injuries recorded (BFP, 2018).

Additionally, aside from house fires, another disaster that has been appearing in the

news frequently these past few years is forest fires. In the Province of Benguet, a forest fire

occured. The fire burned 900 hectares of land and burned forests and reforested areas.

Philippine Information Agency (2020) reported that the area that has been burned costs a total

of 2 million Philippine pesos. The municipality of Kayaban was most affected by the forest

fire, which burned 640 hectares of their land. Although somewhat decreasing in numbers,

their sizes and damages had been growing exponentially from the past years. According to
 4

the National Interagency Coordination Center (2021), since the year 2000, an annual average

of 70,600 forest fires have burned an annual average of 7.0 million acres.

According to Nolan (2019), historical evidence shows that fire extinguishers are the

most common method of extinguishing an incipient fire. Humans that are able to respond

quickly and effectively extinguish incipient fire prevented possible disasters from happening.

Nolan stated that the numerical rating of fire extinguishers has a relative rating number. Fire

extinguishers are assigned by recognized testing laboratories for the amount of fire area that a

fire extinguisher can extinguish using the method established by the National Fire Protection

Association (NFPA).

According to the Department of Trade and Industry (2017), every fire extinguisher

has its own type and its own color bands attached to them. All fire extinguisher types have a

red body except for the Halon substitute that has a light green body and white band. Dry

chemical (ABC) has a white band, carbon dioxide has a black band, while foam has a blue

band. All fire extinguisher types have their own uses. Dry chemical type of fire extinguisher

is used for fire incorporated with solid materials, liquid or liquefiable solids, gases, and

electrical equipment. Carbon dioxide type is for fires involved with flammable liquids and

electrical equipment. Foam is used for fires concerned with solid materials and flammable

liquids. Lastly, halon substitute is used for fires involving solid materials, liquid or liquefiable

solids, gases, and electrical equipment

There actually are different classifications of fires based on their fuel source. There

are a total of six (6) classes of fire namely; class A, class B, class C, class D, electrical fires,

and class F. The fuel source of class A fires are combustible solids like paper and wood,
 5

while class B fires involve flammable liquids such as cleaning liquids, class C fires have a

fuel source of gases like LPGs, and class D fires are involved with metals. Electrical fires

aren’t necessarily fuel sources for the fire, they are more of a starter than a fuel. And lastly,

class F fires, class F fires have oils such as cooking oil as their fuel (HASpod, 2019).

Just like fires, fire extinguishers also differ from each other. They vary depending on

their contents. There are five (5) main types; water, foam, dry chemical, carbon dioxide

(CO2), and wet chemical. Fire extinguishers are limited as to what class of fire they can put

out. Water fire extinguishers are good with class A fires. Foam extinguishers are limited to

class A and B fires. Dry chemical fire extinguishers, sometimes called ABC fire

extinguishers, are as the name suggests, able to put out A, B, and C classes of fire. Sometimes

they can also be used for electrical fires. CO2 fire extinguishers are used when it comes to

class B and electrical fires. Finally, wet chemical fire extinguishers are sort of special for they

can put out a class F fire. It can also be used for class A fires (Park, 2017).

With the help of firefighters and their equipment today, these accidents can be

stopped. But with the current fire extinguisher, it needs a person for it to be used, therefore, a

person needs to get close to the fire for at least 5 to 20 feet to use the fire extinguisher in full

effectiveness (University of Massachusetts Boston, 2021).

The purpose of this study is to create a robot that eliminates that restraint while

having better or the same effectiveness as regular fire extinguishers. To be able to remotely

control the robot from a safe distance means, the danger of being in close proximity with the

fire for a long time does not exist anymore. It is also made to stop or at the very least, weaken

fire accidents. It aims to help firefighters when encountering widespread flames that can be
 6

hard to put out with just the use of a fire extinguisher. This could effectively save many lives

and minimise the damage caused by the fire.

This study would be beneficial to many people as, if there were to be a fire-related

accident, this robot would be of help saving us from many casualties and deaths. This robot

aims to be able to be used easily so that any firefighter in need would be able to do so. It

helps firefighters to combat fires that are very broad and large in area that will be very hard to

put out with just the use of a conventional fire extinguisher as this robot is to be used in

wide-scale fire incidents.

Statement of the Problem

This research aims to design, develop, test, and evaluate a remote-controlled robot

that assists in the extinguishment of widespread fire situations as well as searching for

victims that have been trapped in burning houses or under debris in disasters whilst working

with the use of a remote. This study aims to answer the following questions:

1. How may the robot extinguish?

1.1. Paper and wood fires

1.2. Electrical fires

2. How will the robot work efficiently in terms of;

2.1. Extinguishing fires

2.2. Clearing debris

Hypothesis:

Ha:

The robot will be able to extinguish;

1.1. Paper and wood fires

1.2. Electrical fires

And the robot will work efficiently in terms of;

2.1. Extinguishing fires

2.2. Clearing debris

Ho:

The robot will not be able to extinguish;

1.1. Paper and wood fires

1.2. Electrical fires

And the robot will not work efficiently in terms of;

2.1. Extinguishing fires

2.2. Clearing debris

Scope and Delimitations

This study intends to assist in fire fighting with the use of robotics. The goal is for the

robots to help extinguish fires and see if there still are survivors that have been trapped and

cannot escape. The variables that will be encountered would be the following: Dependent -

the performance of the robot; Independent - the type of fire to be extinguished and whether or

not there are rubbles on the way; Controlled - the design of the robot and the codes and

programs that will be used. The testing will be held in a secured place so as to not hurt any

civilians. During the testing, the researchers will only use class A and electrical fires as they
 8

are two of the most prominent fire accidents. We will not be using class C fires (gases such as

methane) for they are hard to control. The assembly of the robot will be held in Regional

Science High School III and testing will take place in the school year 2022-2023 at a fire

rescue station in National Rd, Baraca Camachile, Subic, Zambales.

Significance of the Study

The results of this study will be of great benefit to the following:

Community. This study would be beneficial to many people as, if there were to be a

fire-related accident, this robot would be of help, saving us from many casualties and deaths

since many lives and personal belongings are lost in times of a fire-related accident

Fire Response Workers. It helps firefighters to combat fires that are very broad and

large in area that will be very hard to put out with just the use of a conventional fire

extinguisher as this robot increases the efficacy of a regular fire extinguisher to be used in

wide-scale fire incidents.

Future Researchers. With the completion of this study, it will give way for future

researchers to create more and more efficient robot in order to hopefully save more lives or

make lives easier in the future.

Methodology

Engineering Goals

The objective of this study is to design, build, test, and evaluate a remote-controlled

robot that aids in the extinguishment of fires as well as the search for victims trapped in

burning houses, rubble, and other areas, all while using a remote control.

It is to lessen the burden for the firefighters and to decrease the casualties that are

faced every time there are fire-related disasters.

Our research is a car-like robot that has a water hose connected to it that shoots out a

stream of water with the push of a button in order to extinguish the fire. It can be controlled

remotely via transmitter and receiver. It has a camera so that the user can control it even when

it's not in their line of sight.

The researchers will gather the following materials: Arduino UNO, HC-05 Bluetooth

Module, SparkFun Dual H-Bridge motor drivers L298, Pimoroni Maker Essentials -

Micro-motors & Grippy Wheels (20x), Jumper wires, Li-Ion Battery 1000mAh, LED light,

Remote Control, Radio Control Circuit Board, and a Two-way Radio Transceiver.

The following variables will be encountered: Dependent - the performance of the

robot; Independent - the type of fire to be extinguished and whether or not there are rubbles

on the way; Controlled - the robot’s design as well as the codes and programs that will be

employed.
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General Procedure

Figure 1. Flowchart

Detailed Procedure

A) Gathering of the Materials

The researchers will gather the following materials: Arduino UNO, HC-05 Bluetooth

Module, Camera OV7670, Arduino TFT Shield, SparkFun Dual H-Bridge motor drivers

L298, Pimoroni Maker Essentials - Micro-motors & Grippy Wheels, Jumper wires, Li-Ion

Battery 1000mAh, LED light, Remote Control, Radio Control Circuit Board, and a Two-way

Radio Transceiver. The materials will be bought from online shops or nearby electrical shops.

B) Construction of the Robot

Once the materials are all set, the researchers will then begin the construction of the

robot. To do so, they will need the help of a mechanical engineer to fabricate the body of the

robot.
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Figure 2. Schematic Diagram

Figure 3. Design
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C) Programming of the robot

The researchers will be using the Arduino Software (IDE) written in programmable

language of Javascript, C, and C++ to control and pilot the robot while being assisted by a

programmer during the process.

D) Testing and Evaluation of the Robot

After the robot has been completed and is ready to be tested, the researchers will

gather data on how well the robot performs. The researchers will carry out tests once all the

necessities are met and the testing environment is secured. The robot will be graded based on

how well and how fast it extinguishes middle sized class A and Electrical fires. To guarantee

the safety of the researchers, they will be equipped with necessary personal protective

equipment such as laboratory gowns and goggles. Fire protective coats and pants must also

be worn by the researchers. All personnel must keep a safe distance away from the fire and

the researchers must be monitored at all times by proper authorities. The testing will be held

in a secured place so as to not hurt any civilians. After each test, the researchers will make

sure that the robot has not been damaged. The testing will take place in the school year

2022-2023 at a fire rescue station in National Rd, Baraca Camachile, Subic, Zambales.
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Review of Related Literature

Foreign

Abul Hassan Laiq et al (2021) states that several fire incidents happen everywhere

possible that result in great losses in establishments. Most of the time, fires are uncontrollable

due to fewer resources and the challenges that firefighters face to gain access to internal areas

in buildings due to high temperature and also due to explosive materials that may cause more

complications. Fires are generally classified into four types: Ordinary solid combustibles such

as paper, wood, fabric, and some polymers are classified as Class A. Class B: Flammable

liquids such as alcohol, ether, oil, gasoline, and grease that should be smothered. Class C:

Electrical equipment, appliances, and wiring in which the use of a non-conductive

extinguishing chemical prevents electrical shock harm. Use no water. Certain flammable

metallic compounds, such as sodium and potassium, are classified as Class D. These items

are not generally found in the Medical Center (UCLA Health, 2021).

Portable fire extinguishers are generally our first line of defense against minor fires,

and you're probably not too far away from one right now. As with other lifesaving equipment,

you must ensure that it is always operational so that it can be used when you need it the most.

Fire extinguishers may be long-lasting, dependable solutions for tackling a minor fire early

on if correct inspection, testing, and maintenance (ITM) practices are followed.(O’Connor,

2013[2021?]). Portable fire extinguishers and their corresponding types take part in

preventing fire to cause more damage in nearby materials (Benfer et al., 2016[2018?]).
 14

For different scenarios, there are five different colors of fire extinguishers: blue (dry

powder), black (carbon dioxide or CO2), cream (foam), red (water), and yellow (liquid) (Wet

Chemical). There are five different color designations for fire extinguishers. As a result,

selecting the appropriate fire extinguisher for the situation is critical. This is not just because

they are required by law under the Regulatory Reform (Fire Safety) Order 2005, but also

because they save lives. (Fire Risk Assessmennt Network, 2015). You should not use any fire

extinguisher on any form of fire. If you use the improper type of fire extinguisher, you might

endanger yourself and others. Some fire extinguishers, for example, can kill you if used in a

confined place (carbon dioxide) or on an electrical fire (water) (HASpod, 2020)

Regular portable fire extinguishers are good but robotic technology is steadily

growing at the present as more and more technological advancements occur. Robots can

assist people in performing some occupations, particularly those that need a high degree of

precision, are high-risk, or require a significant deal of power (Fahmi et al., 2017). A robot is

an automated device that performs activities normally assigned to humans or machines and is

charged with a series of repeated or flexible behaviors. Numerous studies have proven that

robots can be useful in medical rehabilitation, rescue operations, and industry (Aliff et al.,

2019). According to Hidayati et al. (2018), continuous research should be conducted to

improve robot's capabilities. A robot must be created for a specific function in order to

deliver a high economic value.

The fast advancement in technology today, directly makes the tools and equipment to

be better in fire fighting, minimizing the damages done by a fire incident. A fire fighting

robot is an example, it may be a solution that may decrease the threat of fire hazards on a

firefighter (Alkahari et al., 2013). Robots are used in several fields or businesses and for
 15

consumer uses. Fire-fighting robots, as an example, have an essential application in the

future. These robots can be used in close areas where humans don't have easy access.

According to Gao et al. (2018) in their study, “Vision and Infra-Red Sensor Based Fire

Fighting Robot'', the robot embodies a four-wheel structure, it is designed to run on an

organized course, detecting the fire autonomously, locate it and eventually extinguishing the

flame. In order to locate and extinguish the flame effectively, it uses a far-infrared flame

sensor, grayscale sensor, and IR approaching sensor.

Additionally, Fahmi et al. (2017) also stated in their study "Fire Extinguisher Robot

Using Ultrasonic Camera and Wi-Fi Network Controlled with Android Smartphone" that one

man's task that robots can accomplish well is fire extinguishment. This sort of activity

necessitates immediate response to prevent the fire from spreading too far. When the threat

area expands, firefighter jobs will become more difficult and dangerous.

Exposure to fire may pose a threat to our health as well as extinguishing it. By using

robots to detect fire and extinguish it, the risks can be avoided. Nowadays, technology

advances quickly and many studies are proceeding to achieve efficient ways that can be

applied to firefighting for the purpose of reducing the risks and damages caused by it. (Rashid

et al., 2016). There has been a focus on the use of robots to assist firefighters to reduce

firefighter deaths and increase their work efficiency. The robot was tasked to locate a fire that

wasn’t in its direct field of view and discover a way that would lead the robot into the fire

using the presence of smoke and flames in order to suppress it. Their study uses a method that

identifies fire and smoke by using thermal images in an accurate manner (Lattimer &

Jong-Hwan, 2015).
 16

As stated by Tan et al. (2012), their robot is designed as a mobile fire fighting

machine controlled wirelessly as well as a mobile computer. It has a nozzle and water is

projected from it forming a ‘jet’ or fire fighting stream, the nozzle is expected to recoil in the

blench in the opposite direction, therefore, an analysis is made in order to maintain the

stability of the device.

In accordance with Rambabu et al. (2018), it shows in their study a robot that can be

used either manually or automatically. The robot uses a temperature sensor to detect the

flame then it would spray water into the fire once a certain temperature value is reached, if

the robot is switched to manual mode, the user would be aware of its surroundings through

the camera.

Fire incidents increasing numbers can be caused by the human population’s increasing

numbers and developing industrialization. Firefighting is not an easy task as it puts

firefighters in a dangerous situation. Robotics can be applied in various fields such as

manufacturing industries. Accordingly, it can aid firefighters in extinguishing fires as well as

reducing the risk of their lives (Patel & Pancholi, 2018).

People who live in places like California are familiar with wildfires. However, a

concerning tendency is that the wildfire season is lengthening, putting pressure on

firefighting troops and increasing the risk of not being able to reach victims in time. Dropping

chemicals on wildfires to intentionally spark small fires that burn vegetation and restrict

wildfires from spreading is one method of mitigating the impact caused by wildfires

(Matthews, 2019).
 17

Robotic firefighting systems are designed with certain tasks in mind. These include

analyzing and locating fires, conducting search and rescue, monitoring hazardous variables,

and the primary task of fire control and suppression. Fixed fire fighting robotic systems, like

automatic fire sprinklers and alarms, are used in heavily populated and hazardous areas for

rapidly extinguishing any threat. These are usually simpler systems relying mostly on UV or

IR sensors and, as the name suggests, are fixed (Gabbert, 2015).

Local

Since its inception in the mid-nineteenth century, robot innovation has progressed

steadily, beginning with mechanical manipulation and sensor-based controls, and now include

autonomous robots and artificial intelligence (AI). Robots are expected to become a part of

people's daily life, with humanity's synergy with robots maximizing the usage of human

intelligence for higher tasks in the framework of creativity, with robots doing the

monotonous, risky, uninteresting, and unclean duties (Alejandrino et al., 2020)

They also stated that other than industrial robots, service robots are mobile semi- and

fully autonomous robots capable of doing human-like activities. They can be used for

personal or commercial purposes. Professional service assistants, domestic service robots,

security robots (defense, military, search and rescue), and space robots are some of the

applications of service robots.

Robotics technology can almost be found everywhere as technology advances very

fast, it is applied in work environments or several fields. Fire fighting robots were developed

to alleviate losses in disasters or fire incidents (Comoadante et al,. 2020).

Fire catastrophes are common in the Philippines' metropolitan communities.

Numerous authorities, such as the Bureau of Fire Protection (BFP) and the Disaster and Risk

Reduction Management Office (DRRMO), are worried and are looking for measures to avoid

or stop this from happening (Tan & Vicente, 2019). The National Capital Region (NCR)

contains some of the most densely inhabited cities on the planet. According to the

Commission on Audit's (COA) Performance Audit Report in 2018, the metropolitan cities

have had an average of 4500 fire incidents per year since 2013, a staggering rate of 12

occurrences per day. Property damage from fire occurrences across the country cost a total of

PHP31 billion from 2011 to 2017, with the NCR contributing PHP17 billion to the total cost.

2021 (Asiddao & Bongolan)

Firefighting services have grown more tough to cope with a smart-city idea as

technology has advanced and huge city expansion has occurred. Firefighters play a key role

in providing safety to both commercial and residential buildings. Due to the Philippines' lack

of resources and small advancements of technology in the bureau of fire protection, resulting

in an underperforming result causing fire incidents to be more destructive and harder to save

lives affected by it. (Abdulwakil et al., 2021)

Fire accidents can happen anytime and anywhere. That's why it’s hard to stop them

because of their unpredictability. According to Arabiran et al. (2015), in order to prevent this,

we must develop technology that will detect, identify, and extinguish the fire at the first

indication of smoke and instantly warn the owner and nearby fire control agencies about the

occurrence and its specific position. In their study, they made a robot that can locate and

detect fire and subsequently extinguish it.

Accordingly, Gerona & Narciso (2014) made a study to create a mobile robot able to

carry a fire extinguisher and activate it. The robot consists of thermopile sensors detecting
 19

obstacles and calculating the distance between them, it can also read temperatures. The

device uses a mechanism called “Pull-Type Solenoid Actuator” inactivating the fire

extinguisher.
 20

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