An uncontrolled fire poses severe threats to both humans and the environment, making firefighting a perilous and complex task. Traditional fire suppression methods are inefficient, costly, and without thorough testing, leading to delays in gaining control over fire outbreaks. This paper presents a novel firefighting drone aimed at mitigating risks to firefighters by extinguishing fires and providing real-time imaging, gas concentration and fire location data monitoring. The proposed intelligent quadcopter utilizes the Pixhawk PX4 microcontroller for precise control and the Pixhawk Telemetry system for data processing. The proposed device is constructed from an ultra-strength S500 Quadcopter frame, NodeMCU, Arduino Nano, various gas sensors, a servo motor to extinguish the fire and a camera to detect fire events in real time. Equipped with an FPV camera and a video transmitter, it transmits live video feed to the ground, enabling efficient navigation using the Flysky I6X controller. The intended position and height of the drone are controlled using an adaptive optimization technique known as fuzzy-based backstepping control. This article demonstrates the effectiveness of the device by collecting and analyzing gas emissions data from controlled burns of various materials. The drone successfully measured concentrations of CO, CO2, O3, SO2, and NO2 in affected areas, providing valuable insights for firefighting operations. Different levels of gases have been measured depending on the concentration from burning alcohol, clothes, plastic materials, paper, leaves, and so on. The novelty of this work lies in the development and comprehensive analysis of an IoT-based firefighting drone conducting extensive real-time experiments.

中文翻译：

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开发基于物联网的消防无人机，以提高灭火的安全性和效率

失控的火灾对人类和环境构成严重威胁，使消防成为一项危险而复杂的任务。传统的灭火方法效率低下、成本高昂且未经彻底测试，导致无法及时控制火灾爆发。本文提出了一种新型消防无人机，旨在通过灭火并提供实时成像、气体浓度和火灾位置数据监测来减轻消防员的风险。所提出的智能四轴飞行器利用 Pixhawk PX4 微控制器进行精确控制，并利用 Pixhawk 遥测系统进行数据处理。该设备由超强度 S500 四轴飞行器框架、NodeMCU、Arduino Nano、各种气体传感器、用于灭火的伺服电机和用于实时检测火灾事件的摄像头构成。它配备了 FPV 摄像头和视频发射器，可将实时视频传输到地面，从而使用 Flysky I6X 控制器实现高效导航。无人机的预期位置和高度是使用称为基于模糊的反步控制的自适应优化技术来控制的。本文通过收集和分析各种材料受控燃烧的气体排放数据，展示了该设备的有效性。无人机成功测量CO、CO浓度2, 氧3， 所以2， 和不2在受影响地区，为消防行动提供宝贵的见解。根据燃烧酒精、衣服、塑料材料、纸张、树叶等的浓度，测量出不同浓度的气体。这项工作的新颖性在于基于物联网的消防无人机的开发和综合分析，并进行广泛的实时实验。