Design of Hexaport Robot for Firefighting Operation in Hazardous Area

Abstract – Fire is one of the disasters that can threaten life safety and cause significant environmental damage. The rapid spread of fire and the toxic smoke produced can endanger firefighters when conducting rescue operations. Based on these problems, we designed an automatic firefighting robot. This robot is programmed to explore rooms one by one, detect and extinguish the source of the fire, then return to the starting point. This robot is built with at least eight different types of core hardware, including an Arduino Mega 2560 board. Based on the test results, the HC-SR04 sensor showed quite stable performance with an average measurement error of 1.2 cm, while the QMC5883L sensor worked less than optimally due to magnetic field interference in the pump. The average forward speed of the robot was 180 cm/minute, and the average rotation speed was 9.7 degrees/second.