Introduction: Fire Fighting Robot Using Arduino

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Today we are going to build a Fire Fighting Robot using Arduino, which will automatically sense the fire and start the water pump.

In this project, we will learn how to build a simple robot using Arduino that could move towards the fire and pump out water around it to put down the fire.

Material Required:

Step 1: Arduino Sensor Shield V5

Arduino Sensor Shield is a low-cost board that allows you to connect a range of sensors to your Arduino using easy-to-attach jumper cables.

It’s a simple board with no electronics on it other than a couple of resistors and an LED. Its main role is to supply those header pins to make it easier to attach external devices like our servo motors.


  • The Arduino Sensor Shield V5.0 allows plug and play connection to various modules like sensors, servos, relays, buttons, potentiometers and more
  • Suitable for Arduino UNO and Mega Boards
  • IIC interface
  • Bluetooth module communication interface
  • SD card module communication interface
  • APC220 wireless RF module communication interface
  • RB URF v1.1 ultrasonic sensors interface
  • 128 x 64 LCD parallel interface
  • 32 servo controller interface

You can easily connect with usual analog sensors by using this expansion board, such as temperature sensor. Those 3-way male pins allow you to connect servo motors.

Everything is plug and play, and it's designed to be Arduino UNO compatible. So all you need to do is to read the data from the sensors and output PWM to drive the servos by program in arduino.

This is the latest version of sensor shield in the market. The major improvement over its predecessor is the power source. This version provides an external power connector so you don't need to worry about overloading the Arduino micro controller while driving too many sensors and actuators.

If you remove the pin connector next to the power input, you can power it externally. You shouldn't power it with more then 5v or you can damage the arduino underneath.

Step 2: Flame Sensor & L298N Motor Driver

Flame Sensor

A flame sensor module that consists of a flame sensor (IR receiver), resistor, capacitor, potentiometer, and comparator LM393 in an integrated circuit. It can detect infrared light with a wavelength ranging from 700nm to 1000nm.The far-infrared flame probe converts the light detected in the form of infrared light into current changes. Sensitivity is adjusted through the onboard variable resistor with a detection angle of 60 degrees.

Working voltage is between 3.3v and 5.2v DC, with a digital output to indicate the presence of a signal. Sensing is conditioned by an LM393 comparator.


  • High Photo Sensitivity
  • Fast Response Time
  • Sensitivity adjustable


  • Woriking voltage: 3.3v - 5v
  • Detect range: 60 degrees
  • Digital/Analog output
  • On-board LM393 chip
L298N Motor driver

The L298N is a dual H-Bridge motor driver which allows speed and direction control of two DC motors at the same time. The module can drive DC motors that have voltages between 5 and 35V, with a peak current up to 2A.

The module has two screw terminal blocks for the motor A and B, and another screw terminal block for the Ground pin, the VCC for motor and a 5V pin which can either be an input or output.

This depends on the voltage used at the motors VCC. The module have an onboard 5V regulator which is either enabled or disabled using a jumper. If the motor supply voltage is up to 12V we can enable the 5V regulator and the 5V pin can be used as output, for example for powering our Arduino board. But if the motor voltage is greater than 12V we must disconnect the jumper because those voltages will cause damage to the onboard 5V regulator. In this case the 5V pin will be used as input as we need connect it to a 5V power supply in order the IC to work properly.

We can note here that this IC makes a voltage drop of about 2V. So for example, if we use a 12V power supply, the voltage at motors terminals will be about 10V, which means that we won’t be able to get the maximum speed out of our 12V DC motor.

Step 3: Circuit Diagram

For Full Working Code Visit - Alpha Electronz

Step 4: Output Video