http://www.academia.edu/2177191/Fire_Detection_with_Image_Processing_and_PIR_Sensor
This is how the robot will sense fire from remote area. Since this will be a flying robot, planning to use a Raspberry Pi.
Whenever it’ll receive an input from the sensor, it’ll be triggered. Also, the coordinates will be specified by the sensor and since image processing will be used in detecting fire, the bot will know exactly where to fly.