DEVELOPMENT OF AN AUTONOMOUS

EXTINGUISHING ROBOT

CHAPTER ONE: INTRODUCTION

OVERVIEW OF THE PROJECT
The project that is being presented is focused on a firefighting robot. Robots are capable of
performing tasks in a more efficient, cost-effective, and accurate manner than humans. With the
advancement of technology, developments in the face of situations that can result in the loss of
human life are becoming more prevalent. Fires are one of the most serious of these involuntary
problems caused by the world's growing population. As a result, the robot industry is booming of
work in this area. Robotics technology has become more ubiquitous in the recent industrial
revolution. Artificially intelligent robots must interact with humans with little or no supervision
or even remotely controlled robots. A robot is defined as a mechanical design capable of
performing human tasks or behaving in a human-like manner. As the robotic field is developed,
human interaction is reduced, and robots are widely used for a safe life. Numerous humanoid
robots are employed in various applications, including personal assistance and caregiving,
education and entertainment, search and rescue, manufacturing and maintenance, and healthcare.
These robots have programmed some assignments better than humans, but others should be left
to humans rather than machines. Robots' increasingly complex capabilities will eventually
eliminate some human jobs, but not all. Current robotics technology can only simplify 25% of
the unpredictable, human-dependent areas such as construction and nursing. Nevertheless, robots
rely on human programming. There are as many types of robots as there are jobs. Human
population growth and technological advancement have increased fire accidents and hazards.
Firefighting is a dangerous job that often results in fatalities. Robotics has emerged as a viable
solution for protecting the environment and human lives. The robot will accomplish remote
detection of fire. These robots are primarily used in industrial settings. Colossus, Thermite and
Fire-Rob are the widely used firefighter robots currently available. The world is progressively
moving toward automated systems and self-driving vehicles in the era of automation; firefighters
are constantly at risk of losing their lives. In case of gas leakage, there may even be an explosion.
So, the system comes to the rescue to overcome this issue and safeguard the hero's life. This
work involves an autonomous firefighting robot system. The robot's primary function is to
transform into a crewless support vehicle capable of searching for and extinguishing fires.

Aim of the project

1. The primary aim is to enhance the safety of firefighters and civilians by minimizing
human exposure to dangerous environments during firefighting operations. Robots can
enter hazardous areas, such as buildings engulfed in flames or environments with toxic
fumes, where it may be unsafe for humans to operate.
2. Enable remote operation and autonomous functionality to allow the robot to operate in
remote or inaccessible areas, augmenting firefighting capabilities in challenging
environments.
3. To reduce the risks associated with firefighting, such as building collapses, explosions,
and extreme heat exposure, by deploying autonomous robots to perform tasks that would
otherwise put human firefighters in danger.
4. To create a robot that is capable of quickly assessing fire situations, getting to the source
of the fire and deploying appropriate firefighting techniques.
Objectives of the project

The objectives of this project are to:

a) design the robot's hardware and software

b) test the developed robot in a real-world environment

CHAPTER TWO

LITERATURE REVIEW
2.1 Overview of Robotics

What Is Robotics?
Robotics is the intersection of science, engineering and technology that produces machines,
called robots, that replicate or substitute for human actions. Robots perform basic and
repetitive tasks with greater efficiency and accuracy than humans, making them ideal for
industries like manufacturing. However, the introduction of artificial intelligence in robotics
has given robots the ability to handle increasingly complex situations in various industries.

What Is a Robot?

A robot is a programmable machine that can complete a task, while the term robotics
describes the field of study focused on developing robots and automation. Each robot has a
different level of autonomy. These levels range from human-controlled bots that carry out
tasks to fully-autonomous bots that perform tasks without any external influences.

2.1.1 Aspects of Robotics

1. Mechanical Construction

The mechanical aspect of a robot helps it complete tasks in the environment for which it’s
designed. For example, the Mars 2020 Rover’s wheels are individually motorized and made
of titanium tubing that help it firmly grip the harsh terrain of the red planet.

2. Electrical Components

Robots need electrical components that control and power the machinery. Essentially, an
electric current — a battery, for example — is needed to power a large majority of robots.

3. Software Program

Robots contain at least some level of computer programming. Without a set of code telling it
what to do, a robot would just be another piece of simple machinery. Inserting a program into
a robot gives it the ability to know when and how to carry out a task.

2.1.2 Components of a Robot

 Control System

Computation includes all of the components that make up a robot’s central processing unit,
often referred to as its control system. Control systems are programmed to tell a robot how to
utilize its specific components, similar in some ways to how the human brain sends signals
throughout the body, in order to complete a specific task. These robotic tasks could comprise
anything from minimally invasive surgery to assembly line packing.

 Sensors

Sensors provide a robot with stimuli in the form of electrical signals that are processed by the
controller and allow the robot to interact with the outside world. Common sensors found
within robots include video cameras that function as eyes, photoresistors that react to light
and microphones that operate like ears. These sensors allow the robot to capture its
surroundings and process the most logical conclusion based on the current moment and
allows the controller to relay commands to the additional components.

 Actuators

A device can only be considered to be a robot if it has a movable frame or body. Actuators
are the components that are responsible for this movement. These components are made up
of motors that receive signals from the control system and move in tandem to carry out the
movement necessary to complete the assigned task. Actuators can be made of a variety of
materials, such as metal or elastic, and are commonly operated by use of compressed air
(pneumatic actuators) or oil (hydraulic actuators) but come in a variety of formats to best
fulfill their specialized roles.

 Power Supply

Like the human body requires food in order to function, robots require power. Stationary
robots, such as those found in a factory, may run on AC power through a wall outlet but more
commonly, robots operate via an internal battery. Most robots utilize lead-acid batteries for
their safe qualities and long shelf life while others may utilize the more compact but also
more expensive silver-cadmium variety. Safety, weight, replaceability and lifecycle are all
important factors to consider when designing a robot’s power supply.
Some potential power sources for future robotic development also include pneumatic power
from compressed gasses, solar power, hydraulic power, flywheel energy storage organic
garbage through anaerobic digestion and nuclear power.

2.1.3 Types of Robotics

 Humanoid Robots

Humanoid robots are robots that look like or mimic human behavior. These robots usually
perform human-like activities (like running, jumping and carrying objects), and are
sometimes designed to look like us, even having human faces and expressions. Two of the
most prominent examples of humanoid robots are Hanson Robotics’ Sophia and Boston
Dynamics’ Atlas.

 Cobots

Cobots, or collaborative robots, are robots designed to work alongside humans. These robots
prioritize safety by using sensors to remain aware of their surroundings, executing slow
movements and ceasing actions when their movements are obstructed. Cobots typically
perform simple tasks, freeing up humans to address more complex work.

 Industrial Robots

Industrial robots automate processes in manufacturing environments like factories and

warehouses. Possessing at least one robotic arm, these robots are made to handle heavy
objects while moving with speed and precision. As a result, industrial robots often work in
assembly lines to boost productivity.

 Medical Robots

Medical robots assist healthcare professionals in various scenarios and support the physical
and mental health of humans. These robots rely on AI and sensors to navigate healthcare
facilities, interact with humans and execute precise movements. Some medical robots can
even converse with humans, encouraging people’s social and emotional growth.

 Agricultural Robots
Agricultural robots handle repetitive and labor-intensive tasks, allowing farmers to use their
time and energy more efficiently. These robots also operate in greenhouses, where they
monitor crops and help with harvests. Agricultural robots come in many forms, ranging from
autonomous tractors to drones that collect data for farmers to analyze.

 Microrobotics

Microrobotics is the study and development of robots on a miniature scale. Often no bigger
than a millimeter, microrobots can vary in size, depending on the situation. Biotech
researchers typically use microrobotics to monitor and treat diseases, with the goal of
improving diagnostic tools and creating more targeted solutions.

 Software Bots

Software bots, or simply ‘bots,’ are computer programs which carry out tasks autonomously.
They are not technically considered robots. One common use case of software robots is a
chatbot, which is a computer program that simulates conversation both online and over the
phone and is often used in customer service scenarios. Chatbots can either be simple services
that answer questions with an automated response or more complex digital assistants that
learn from user information.

2.1.4 Applications of Robotics

1. Manufacturing
2. Healthcare
3. Companionship
4. Home Use
5. Search and Rescue

2.2 Introduction to Firefighting Robotics

The use of robotic systems in firefighting is being increasingly studied due to firefighters
routinely being exposed to dangerous conditions to save lives. A robotic system is a
mechanical device that performs a task using sensors to perceive its environment, computer
programs to control the robot based on its environment, and a human operator to assist with
robot operation. In 2011, 70,090 firefighters in the U.S. alone were injured in the line of duty
with 61 deaths.

There are a variety of robotic systems being developed to support firefighters due to the wide
range of fire events including fires involving structures, vehicles, aircrafts, ships, and wild-
lands. In addition to the wide range of fire scenarios, the functionality included in the robotic
system may need to vary to support firefighters in tasks such as sizing up the fire, identifying
trapped people, locating the fire, monitoring conditions, controlling fire spread, and
suppression. This article provides an overview of robotic systems that have been developed
for firefighting as well as some design aspects of these robots.

There are two general types of robotic systems that have been developed for firefighting:
fixed systems and mobile systems. Fixed systems, such as automated fire monitors, are being
used in applications where there is a significant fire hazard and the fire needs to be
extinguished rapidly. Some example applications include aircraft landing areas, warehouse
storage and tunnels. These systems have UV and/or IR sensors to assist with fire localization
to target the suppression agents onto the fire. Mobile systems have more advanced features to
assist the operator in navigation and perform a wider range of tasks.

Outdoor ground-based mobile robotic systems are predominately vehicles with onboard
suppression systems that are remote controlled by an operator. Examples of ground-based
mobile robotic systems that have been developed for outdoor firefighting are seen below.
These robots travel 2.4 – 20 km/h (1.5 – 12.4 mi/h) using wheels or tracks, weigh 450 – 9300
kg (990 – 20,450 lbs), and have suppression capabilities onboard the robot. The robots are
powered by batteries or a diesel engine. Suppression systems mounted onto the robots
include water-based fire monitors, foam nozzles, nozzles on articulating arms for more range
of motion, and a water fog system. In addition to the remote control operation, these systems
use a wireless connection to transmit information from sensors onboard the robot to the
operator for assisting in navigation and fire suppression. Sensors on the robots include visual
cameras, IR cameras, gas concentration sensors, and rangefinders to assist in avoiding
obstacles.
ArchiBot-M Copyrighted © Thermite T2, Courtesy of Howe and
DRB Fatec Co. LTD Howe Technologies

Outdoor Robots for Fire Suppression

Aerial vehicles are also being used in many outdoor firefighting and search-and-rescue
operations performed by fire departments. Many fire departments are beginning to use basic
quadrotors that are controlled by an operator, but due to their limited payload capacity they
typically contain limited sensors, such as a camera and microphone. Despite the limited
technology onboard, these aerial vehicles are very effective at quickly providing firefighters
with an alternative view of the search area to support their efforts. Recently, plane and
helicopter drones developed for military operations are being repurposed to support aerial
suppression of wildland fires. These drones are larger in size (meters in length / wingspan),
capable of larger payloads (up to 6,000 lbs), and contain numerous sensor and mapping
capabilities to assess and monitor conditions on the ground.9

A wide variety of robotic designs are being pursued for indoor mobile firefighting robots due
to the confined, complex, and cluttered environments required for navigation. These include
aerial vehicles (primarily quad or hex rotors), track/wheeled ground vehicles, biomimetic
type robots (snake-like and bug), and humanoids. Robots are being considered both as a fire
watch as well as an assistant to firefighters. In these roles, the robots are being designed for
detecting fires, sizing up the hazards inside a structure, locating and suppressing fires, and
search-and-rescue.

Since structures are designed for humans, humanoid robots are being developed to assist
firefighters with performing tasks in emergency operations such as operating valves, opening
doors, using stairs, and operating fire hoses. The humanoid robot THOR developed at
Virginia Tech shown below maintains perception in harsh environments using sensors with
multiple modalities including stereoscopic IR thermal imagers for rangefinding through
smoke and fire environment classification, a rotating laser rangefinder (LIDAR) to create a
3D point cloud of obstacle locations in unobscured environments, and stereoscopic RGB
cameras to create a color point cloud of obstacles (i.e., obstacle locations over a color image
of the scene). This robot was developed in the Shipboard Autonomous Firefighting Robot
(SAFFiR) program to assist the United States Navy with inspection and firefighting tasks
funded by the Office of Naval Research.

In November of 2014 onboard the ex-USS Shadwell operated by the Naval Research
Laboratory, THOR walked on the heat warped decks while holding a water nozzle and
worked with a human to suppress a compartment fire using the ship’s water nozzle connected
to a hose reel.
Humanoid robot THOR developed at Virginia Tech
for firefighting in SAFFiR program. (photographs by Logan Wallace)

Though the advances in using robots in confined, cluttered indoor environments has been
accelerating, the use of robots to navigate through unknown spaces is challenging and still
requires some level of human operation. In addition, identifying, localizing, and
manipulating objects is a complicated task which still necessitates a human operator and
significant computing power, especially for performing tasks on unknown objects.

Future use of robots in firefighting will depend on the robot durability, sufficient sensors for
environment monitoring and perception, task capabilities, cost, level of autonomy, and
movement speed. Many of the robots being designed for firefighting applications are lacking
in some or all of these areas. For firefighters, cost is a significant consideration and is
currently restricting the more broad use of robotics in firefighting. However, as these robots
become more effective at conducting firefighting tasks while firefighters monitor their
performance at safe locations, robots will be used more routinely to support firefighters.