This paper introduces a comprehensive system and associated technologies designed to facilitate fire evacuation and minimize the risk of secondary accidents such as battery explosions in mobile systems utilizing 5G communication technologies. As the use of mobile systems like kiosks and vacuum cleaners becomes widespread in multi-use facilities, the potential risks associated with their large-capacity batteries, especially during fire emergencies, have become a significant concern. In densely populated environments, if these mobile systems are effectively utilized, they can guide evacuation routes during a fire, significantly reducing human and property damage. The proposed approach uses a multi-sensor-based fire detector that leverages 5G communication technology for real-time fire detection. Upon detection of a fire, the system determines the degree of spread of substances harmful to humans and, in conjunction with the mobile system, guides individuals along evacuation routes to safe areas. This technique operates through the integration of fire detectors, a fire situation awareness server, and the mobile system using 5G communication technology. The proposed technology operates in such a way that, leveraging building and fire map data, the mobile system situated in the area receives the optimal path to the emergency exit from the fire situation awareness server, and guides the evacuation route accordingly. The performance of the proposed technology, with respect to its collaborative operation through fire detection sensors, has been validated in a simulation environment assuming a fire incident.