???? System Overview

OmniFire is a smart autonomous robot combining two powerful microcontrollers:

• Arduino Uno for real-time sensor acquisition.

• Raspberry Pi 4 for decision-making, communication, and actuation.

Both are connected via serial UART, forming a master-slave system. The Arduino reads 12 ultrasonic sensors and 2 IR sensors, sending structured data packets to the Raspberry Pi.
The Pi interprets these readings to control movement and the fire suppression system.

⚙️ System Architecture

• Arduino → Handles low-level sensor data (12 ultrasonic + 2 IR).

• Raspberry Pi → Processes incoming data, determines movement, and controls:

  • Two Cytron MD10C motor drivers (for four Mecanum wheel motors).

  • Relay module controlling the pump and dual solenoid valves.

• Communication: Serial (9600 bps).

• Power supply: 12 V battery + 5 V regulator for logic.

???? Mecanum Wheel Control

The robot’s Mecanum drive enables full 360° motion — forward, backward, lateral, and diagonal — without rotating the body.
This allows OmniFire to precisely approach a flame from any angle.
Each wheel’s rotation and speed are controlled through the Cytron drivers using PWM signals from the Raspberry Pi.

???? Sensor Layout

• 12 Ultrasonic Sensors — 3 on each side (front, back, left, right).
  They create a full 360° obstacle detection map.

• 2 Infrared Flame Sensors — Mounted front-left and front-right for directional fire detection.

(Refer to the included schematic diagram showing this layout.)

???? Fire Extinguishing System

• A 10 L water/foam tank feeds two fire extinguishers mounted on the front.

• Each extinguisher connects to a 12 V solenoid valve, which is relay-controlled by the Raspberry Pi.

• When fire is detected and the robot reaches proximity, the Pi triggers:

  1. The solenoid valves to open.

  2. The pump relay to maintain pressure.

  3. After 3 seconds of spray, both are deactivated.

The dual extinguishers provide a wide-angle spray pattern for effective coverage.

???? Operation Flow

1. Scan: Arduino gathers ultrasonic and IR sensor readings.

2. Communicate: Sends serial data packet like:

    

   <U1,U2,...,U12,IR1,IR2>

3. Decision: Raspberry Pi interprets data, finds fire direction.

4. Navigate: Mecanum motion adjusts position using distance mapping.

5. Extinguish: Relays activate pump and solenoids.

6. Resume Patrol: Robot resets and continues scanning.

???? Example Arduino Code (Excerpt)

???? Example Raspberry Pi (Python) Code (Excerpt)

???? Applications

• Fire safety demonstration robot.

• Research prototype for industrial firefighting automation.

• Mechatronics and robotics university projects.

• Smart surveillance and safety systems.

???? Key Features

• Dual-controller (Arduino + Raspberry Pi) hybrid intelligence.

• 12-sensor 360° obstacle awareness.

• Omnidirectional Mecanum motion.

• Real fire suppression with dual nozzles.

• Modular design for scalability.