Firefighting Mobile Robot — PDEU Project

Arduino-powered firefighting robot with autonomous flame detection and spring-launched fire extinguisher deployment. Built as mechatronics internship project at Pandit Deendayal Energy University.

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Key Results

• 90% fire detection accuracy via multi-sensor fusion (IR/ultrasonic/temperature)
• 30-meter projectile range at 45° launch angle
• Reliable flame detection within ~50cm
• Successful fire extinguisher ball deployment in lab testing
• Webots simulation validated before physical hardware build

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System Overview

Component	Implementation
Chassis	4-wheel differential drive, wooden frame (SolidWorks designed)
Fire Detection	IR + ultrasonic + temperature sensor fusion
Actuation	Spring launcher at 45°, servo-triggered
Control	Arduino UNO — motor + servo + sensor logic
Communication	WiFi module for remote override
Power	Dual 18650 battery pack with onboard regulator
Simulation	Webots — multi-sensor fusion, 90% detection accuracy

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Repo Layout

firefighting_robot/
├── firmware/         # Arduino C++ code — motor, servo, sensor logic
├── simulation/       # Webots simulation files
├── cad/              # SolidWorks chassis and launcher designs
├── docs/             # Project report and wiring schematics
└── media/            # Prototype photos and demo GIFs

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Quick Start

# Hardware
# 1. Open firmware/fire_fighter.ino in Arduino IDE
# 2. Connect flame sensor + servo + motor driver
# 3. Upload code
# 4. Place flame source — robot detects and fires

# Simulation
# Open simulation/ in Webots
# Run world file to test multi-sensor detection

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Mechanical Design

• Chassis and DC motor mounts designed in SolidWorks
• Spring launcher mechanism at fixed 45° achieving 30-meter range
• Battery holder and wiring harness integrated into chassis
• Cable routing designed for clean assembly and serviceability

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Software & Control

• Arduino firmware in C++ with flame sensor threshold logic
• Motor control for directional navigation toward fire source
• WiFi module integration for remote manual override
• Webots simulation with IR/ultrasonic/temperature sensor fusion

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Wiring Overview

Component	Arduino Pin
Flame Sensor	A0
Motor Driver IN1/IN2	D4/D5
Motor Driver IN3/IN4	D6/D7
Servo (Launcher)	D9
WiFi Module TX/RX	D2/D3

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Notes

• Large CAD and MP4 files available via GitHub Releases
• Test launcher mechanism with robot suspended before floor operation
• Flame sensor sensitivity adjustable via potentiometer on module
• Webots simulation recommended for control logic testing before hardware