Design and Implementation of a Humanoid Firefighter Robot with

Real-Time Monitoring and Firefighting Applications

Shivam Kumar

, Paras Singh

, Anjali Jain

and Neelam Verma

ASET, Amity University Noida, Sector 125, Noida, India

Keywords: BT- Bluetooth, RC – Remote Control, FPV– First Person View, ESP – Espressif Systems, RPM – Revolutions

per Minute.

Abstract: In this paper, a mobile phone-controlled humanoid firefighter robot, with a Bluetooth speaker for

announcements, and a camera for real-time monitoring is developed. The robot is designed to enhance

firefighting efforts, particularly in environments that are hazardous or inaccessible to human firefighters. The

robot can be remotely controlled via a mobile phone, utilizing Bluetooth connectivity to ensure reliable

communication and maneuverability, enabling it to operate in intense fire conditions. The integrated BT

speaker allows for critical announcements and communication during firefighting operations, enhancing

coordination and safety. Equipped with a water delivery system, the robot can actively extinguish fires. The

onboard camera provides a live feed to the operator, facilitating precise navigation and targeted firefighting.

This robot aims to significantly improve the efficiency and safety of firefighting operations, providing a robust

solution for tackling fires in challenging scenarios.

INTRODUCTION

One of the most hazardous and potentially life-

threatening problems that contemporary civilization

has is firefighting, and the Humanoid Firefighter

Robot project intends to provide a solution to this

problem. Firefighters are frequently put in situations

where they are exposed to extreme dangers, such as

high temperatures, poisonous gasses, collapsed

structures, and restricted vision. These situations, in

many instances, pose a substantial threat to the lives of

human beings. We have built a firefighting robot that

is capable of independently or remotely navigating

fire-prone situations, detecting fire sources, and

extinguishing flames, all while offering real-time

monitoring and communication capabilities. This is

done in order to limit these risks and give an

alternative that is safer and more effective. The

creation of a robot that is capable of performing vital

firefighting operations in hazardous regions where

human participation would be either too risky or

ineffective is the primary purpose of this project.

https://orcid.org/0009-0009-0578-811X

https://orcid.org/0009-0005-4831-2235

https://orcid.org/0000-0002-8412-1306

https://orcid.org/0000-0002-3216-3782

1.1 Objectives

The objectives of this project are –

1. Construct a Humanoid Robot That Is Fireproof:

Construct a robot that is long-lasting in order to

guarantee that it can function safely in high

temperature conditions.

2. Integrate Real-Time Monitoring and Sensors: In

order to provide precise fire detection and real-time

video monitoring, the robot should be outfitted with

thermal imaging cameras, gas detectors, and infrared

sensors.

3. Utilize artificial intelligence and machine learning

to achieve autonomous navigation and real-time

decision-making in complicated fire scenarios. This is

the third step in the implementation of autonomous

navigation software.

4. Develop a Mobile Control Interface: In order to

enable operators to move the robot, activate fire

suppression systems, and make announcements, it is

necessary to develop a mobile interface that allows for

remote control.

Kumar, S., Singh, P., Jain, A. and Verma, N.

Design and Implementation of a Humanoid Fireﬁghter Robot with Real-Time Monitoring and Fireﬁghting Applications.

DOI: 10.5220/0013468800004639

In Proceedings of the 2nd International Conference on Intelligent and Sustainable Power and Energy Systems (ISPES 2024), pages 5-11

ISBN: 978-989-758-756-6

5. Improve Mobility and Power Management:

Improve the robot's mobility for a variety of terrains

and expand its operating range by optimizing the

battery life and utilizing technologies that allow for

long-range communication.

1.2 Industrial Applications

The Humanoid Firefighter Robot has a wide range of

applications across civilian, industrial, military, and

public sectors, where fire hazards pose serious risks to

life and property. Equipped with advanced sensors,

mobility systems, and fire-suppression capabilities,

this robot can be deployed in various firefighting

environments, reducing the need for human

firefighters in dangerous situations. In densely

populated urban areas, the robot can navigate burning

buildings, detect hotspots with thermal imaging, and

relay real-time data to human operators, assisting in

effective firefighting. Its capabilities in high-rise

buildings, where traditional firefighting equipment

struggles, are particularly valuable. In industrial and

chemical plants, the robot can operate safely around

hazardous materials, gather data on gas levels and

potential risks, and suppress fires with specialized

firefighting tools, without putting human firefighters

at risk. Beyond firefighting, the robot supports search

and rescue in disaster zones, using thermal imaging to

locate survivors in smoke-filled or collapsed areas and

communicating with them via onboard systems to

improve survival chances. In military scenarios, the

robot's rugged design enables it to fight fires in harsh

environments and hazardous areas without

endangering personnel. Additionally, it can effectively

prevent and manage fires in public infrastructure, such

as airports and subway systems, where rapid response

is critical. Overall, the Humanoid Firefighter Robot is

a versatile solution that enhances safety and efficiency

in firefighting and emergency response, marking a

significant advancement in firefighting technology

and supporting human rescuers with real-time

feedback and high-risk exploration capabilities.

1.3 Review of Research Papers

Published on Similar Hardware

The literature on firefighting robots highlights

advancements in robotic systems designed to address

the inherent risks of firefighting and rescue

operations. Firefighting is inherently hazardous, and

human firefighters face challenges when rescuing

victims trapped in fire, prompting the development of

robotic alternatives that can either operate

autonomously or be controlled remotely. Early

research focused on robotic structural design, control

systems, and environmental detection algorithms,

with advancements in each area enabling robots to

locate and extinguish fires, assist in navigation, and

enhance situational awareness through sensory

feedback. Recent innovations include unmanned

aerial vehicles (UAVs) for forest and high-rise

firefighting, including tethered drones with mixed

propulsion systems for maneuverability. Various

robotic prototypes, like Qrob and Thermite RS series,

can operate in confined spaces and providing real-

time data through advanced sensor integration. These

robots are designed with features such as stair-

climbing abilities, high-temperature resistance, and

compatibility with fire extinguishing systems,

making them suitable for environments where human

intervention is too dangerous. The robots’ structural

resilience, diverse locomotion systems, and water jet

capabilities underscore their adaptability to different

firefighting scenarios, from high-density urban fires

to industrial and military applications (1).

HARDWARE DESCRIPTION

2.1 Components used

This Humanoid Firefighter Robot has several

different components that allow it to autonomously

explore hazardous settings, identify fires, and provide

water to extinguish them. Additionally, it can provide

real-time monitoring and communication capabilities.

The ESP8266 microcontroller (Figure 1) serves as

the central processing unit, which is responsible for

directing the activities of the robot as well as handling

the input from sensors and the output to motors, the

water system, and communication modules and other

components. The data that is gathered by the sensors

is processed, decisions are made on the appropriate

actions (such as moving toward a fire source or

making announcements), and signals are sent to the

motors, water system, and BT speaker. ESP8266 is a

WiFi-enabled microcontroller board that uses the

ESP8266 chip, designed to simplify the development

of Internet of Things (IoT) applications

Figure 1: Microcontroller (ESP8266).

ISPES 2024 - International Conference on Intelligent and Sustainable Power and Energy Systems

The robot has a Bluetooth (BT) speaker , which is

designed to be used for the purpose of making

announcements while firefighting operations are

being carried out. During an emergency, the speaker

can broadcast warnings, instructions, or updates to

humans in the surrounding area, which ultimately

helps improve coordination. The microcontroller is

responsible for activating the speaker whenever the

robot detects critical conditions, such as very high

temperatures (2).

Figure 2: Bluetooth Speaker.

In order to make real-time monitoring and navigation

possible, an ESP32-based camera (Figure 3) has been

attached. It will offer the remote operator with a live

video feed, which will enable them to do manual

supervision whenever it is required. Additionally, the

camera is beneficial to the robot's ability to navigate

autonomously since it enables it to visually recognize

obstructions, fire sources, and other significant

environmental cues (3).

Figure 3: Camera (ESP32).

An RC receiver and transmitter are included in the

water supply system (Figures 4, 5, 6) that the robot is

equipped with. This technology allows for remote

activation of the robot. If the robot detects a fire, it

has the capability to activate the water pump, which

applies water to the fire in order to put it out. The

TP4056 Power Bank Module Type-C is a compact

circuit board engineered to charge single-cell lithium-

ion 1200mAh batteries using a USB power source (4).

Figure 4: Water pump and receiver circuit.

Figure 5: Water tank.

Figure 6: Transmitter.

5V DC servomotors (Figure 7) are utilized by the

robot for the purpose of movement and dexterity.

These servomotors provide for precise control over

the robot's locomotion. The wheels or tracks of the

robot are driven by these motors, which can speed up

to one hundred revolutions per minute. This enables

the robot to traverse a variety of terrains and are

controlled by the L289 motor drive (Figure 8), which

supplies the required power and signal modulation for

effective movement. This allows for more efficient

movement. The microprocessor sends low-power

signals to the motor drive, which then translates those

signals into high-power impulses that are used to

operate the robot's motors. It is imperative that this

component be present to guarantee a fluid and

responsive movement (5).

Design and Implementation of a Humanoid Fireﬁghter Robot with Real-Time Monitoring and Fireﬁghting Applications

Figure 7: 5V DC Servomotor.

Figure 8: L289 Motor Drive.

The sturdy yet lightweight chassis supports all

components, and wheels or tracks can be chosen

based on the terrain, allowing adaptability to different

surfaces encountered during firefighting tasks. This

flexibility, paired with precise motor control,

enhances the robot’s ability to maneuver in

challenging environments. The robot’s design creates

a unified firefighting system capable of responding to

high-risk situations with minimal human

involvement. By incorporating sensors, cameras,

communication modules, and an efficient water

delivery system, the Humanoid Firefighter Robot

reduces the need for human presence in hazardous

areas while providing real-time situational awareness

and responsive firefighting capabilities (6).

2.2 Connectivity

Fig 2.9 illustrates a detailed wiring diagram for a

basic robotic system that utilizes the NodeMCU

ESP8266 microcontroller and the L298N H-Bridge

motor driver module. The NodeMCU is the brain of

the setup, responsible for controlling the motors,

which in turn manages the direction and speed of the

motors. A 9V battery powers the entire system,

including the motors and the microcontroller.

Figure 9: Connectivity Diagram.

NodeMCU ESP8266 Positioned on the right side of

the diagram, the NodeMCU microcontroller plays a

central role in controlling the robot. It communicates

with the L298N motor driver via multiple GPIO pins.

These connections allow the microcontroller to send

signals to control the motor direction and speed. The

NodeMCU is also powered by the 9V battery,

connected through the GND and VIN pins.

L298N Motor Driver is responsible for controlling

the motors based on the input received from the

NodeMCU. The motor driver has multiple pins

connecting to the NodeMCU (in various colors in the

diagram). The connections include: o IN1, IN2, IN3,

IN4: These pins receive signals from the NodeMCU

to control the motors' forward or backward

movement. o Enable Pins: These control the speed of

the motors by varying the input voltage using PWM

(Pulse Width Modulation). o The +12V, GND, and

+5V pins are connected to the power source and the

NodeMCU to ensure consistent voltage flow.

Four DC motors are used in the setup, two for the

left side and two for the right. Each pair is connected

to the L298N motor driver, which manages their

rotation direction and speed. The wiring from the

motors to the H-Bridge allows bidirectional control,

meaning the robot can move forward, backward, and

turn left or right by controlling the motor pairs. A 9V

battery provides the necessary power for both the

NodeMCU and the motors. The positive terminal is

connected to the +12V input of the L298N motor

driver, while the negative terminal is grounded and

connected to both the motor driver and the NodeMCU

to ensure a common ground.

ISPES 2024 - International Conference on Intelligent and Sustainable Power and Energy Systems

Figure 10: Working flowchart.

2.3 Software

The RC FPV and ESP8266 WiFi Robot Car apps

(Figure 11) are integral to the operation of the

firefighting robot, enabling it to function effectively

in complex environments. The ESP8266 WiFi Robot

Car app, designed to operate over a WiFi connection,

facilitates seamless remote control of robots using the

ESP8266 microcontroller, making navigation and

movement intuitive and responsive. This app handles

key functions such as guiding the robot’s movements,

controlling motors, and ensuring precise

manoeuvrability in challenging settings. Meanwhile,

the RC FPV app provides essential real-time video

streaming from the robot’s camera, allowing

operators to assess situations safely from a distance, a

crucial feature in firefighting where visibility is often

compromised by smoke and flames. Both

applications are fully integrated into the robot’s

hardware to ensure uninterrupted communication and

control. This integration is critical to establishing a

responsive and user-friendly interface, allowing

operators to manage the robot effectively in real-

world firefighting scenarios. By leveraging these

apps, the robot can be guided with minimal latency,

enhancing situational awareness and operational

efficiency while keeping human operators safe. This

combination of applications ensures fast, reliable

communication, precise handling, and real-time

feedback—all vital for effective emergency response.

The intuitive interface not only aids in navigation and

control but also significantly enhances both the

efficiency and safety of firefighting operations (7).

Figure.11: Applications used for control and monitoring.

RESEARCH METHODOLOGY

3.1 Component Selection, Assembly

and Integration

Developing the firefighting robot began with

selecting specialized components that would support

its core functions. The team chose the versatile

ESP8266 microcontroller, known for its WiFi

capability, to enable effective remote control. A range

of sensors including thermal imaging, gas detection,

and infrared was integrated to enhance environmental

awareness and fire detection. Mobility was ensured

using 5V DC servomotors powered by an L298 motor

driver, with a 1200mAh lithium-ion battery supplying

necessary power. To protect against extreme heat, the

robot was coated with a fireproof layer, and an RC-

controlled water delivery system was added for

firefighting capabilities.

The assembly process involved constructing a

durable chassis that could endure tough conditions.

Motors were mounted with precision to enable

smooth movement, and sensors were positioned for

maximum environmental coverage. Extra care was

taken to secure connections, particularly for motor

drivers and sensors, along with added fireproofing

and insulation to handle high temperatures. A

Bluetooth speaker was included for emergency audio

alerts, enhancing the robot’s communication abilities

(8).

Software development followed, focusing on

control algorithms, a user-friendly interface, and

mobile app integration for seamless remote operation.

With the ESP8266 WiFi Robot Car software, the team

enabled mobility functions, while real-time video

streaming was achieved through the RC FPV app,

allowing operators to monitor the robot’s

surroundings with minimal latency (9).

3.2 Testing, simulation and Calibration

The final development stages involved extensive

testing, fine-tuning, and simulations to ensure the

robot’s readiness for real-world firefighting. The

sensors were carefully calibrated to deliver accurate

readings of temperature and gas levels, and mobility

tests showed that the robot could navigate around

obstacles and in confined spaces effectively. Through

simulated firefighting drills, the team gathered

valuable feedback, leading to adjustments that

improved both the robot’s responsiveness and the

user interface of the control app. After full integration

of all components, real-time tests were carried out to

verify the reliability of the communication link

Design and Implementation of a Humanoid Fireﬁghter Robot with Real-Time Monitoring and Fireﬁghting Applications

between the robot and the app, confirming the

system’s readiness (10).

Figure 12: Implemented Robot.

RESULT AND CONCLUSION

The Humanoid Firefighter Robot showed strong

promise in firefighting operations by reliably

detecting fires, navigating tough terrains, and

suppressing flames with its onboard water system.

The robot’s movement was efficient, though some

limitations appeared in extreme conditions. Its

fireproof coating proved effective, but prolonged heat

exposure may need more advanced materials. The

water system handled small fires well, though a more

powerful solution is necessary for larger incidents

(11).

Still, enhancing the water delivery system for

larger fires, improving mobility for varied terrains,

and optimizing communication for challenging

environments could further strengthen the robot's

effectiveness. These areas for improvement don’t

detract from the project’s value but rather highlight

how it advances toward autonomous firefighting,

reducing risks for human firefighters and improving

emergency response efficiency (12).

4.1 Conclusion

The creation of the Humanoid Firefighter Robot

marks a major advancement in using robotics and

technology for safety-critical operations. Built with

sophisticated elements like the ESP8266

microcontroller, thermal and infrared sensors, and a

reliable water delivery system, the robot is designed

to perform in extreme conditions, such as high

temperatures, harmful gases, and restricted visibility

(13).

In summary, the Humanoid Firefighter Robot

showcases the potential of integrating robotics and

advanced technology into firefighting efforts. It

efficiently detects fires, manoeuvres through

challenging environments, and assists in flame

suppression, providing a substantial advantage by

reducing risks faced by human firefighters and

improving emergency response effectiveness.

Although the project has met key milestones, ongoing

development will help refine its performance and

broaden its scope (14).

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Design and Implementation of a Humanoid Fireﬁghter Robot with Real-Time Monitoring and Fireﬁghting Applications