Autonomous Fire Fighter Robot Based on Image Processing

Abstract

This paper presents the design methodology and implementation of a low cost autonomous robot prototype that can detect presence of fire from its surroundings and take necessary measure to extinguish it. Using the mounted camera, this prototype takes continuous video feed of the surroundings which is used for detecting presence of fire in its premises. For detecting fire, an image processing algorithm was developed and it was tested with a database created by authors. After the presence of fire being confirmed at a direction, the robot aligns itself at that direction and moves toward that place. After reaching there a cross check for the presence of fire is done by a pyro sensor and upon receiving positive result, the fire extinguishing procedure begins and continues till the fire is extinguished. The functionality and accuracy of this robot are tested in different locations and accuracy rate is measured in terms of fire detection and heading angle. This robotic system can be very effective as a safeguard robot in both industries and households by detecting fire and extinguishing it before it reaches a threatening amount.