RADIO FREQUENCY CONTROLED FIRE FIGHTING VEHICLE

IN-HOUSE PROJECT

SUBMITTED IN PARTIAL FULFILLMENT OF REQUIREMENTS FOR THE AWARD OF THE DEGREE

OF

BACHELOR OF TECHNOLOGY MECHANICAL ENGINEERING

BY
JITESH KUMAR AYUSH SHARMA
20001004039 20001004023

DEEPAK RANA KIFAYAT AHMED

20001004028 20001004044

KATTINA DHAMOJI
20001004042

UNDER THE GUIDANCE OF

Dr. ANIL KUMAR GUPTA

DEPARTMENT OF MECHANICAL ENGINEERING FACULTY OF ENGINEERING & TECHNOLOGY

D.C.R. UNIVERSITY OF SCIENCE & TECHNOLOGY MURTHAL, SONEPAT, HARYANA (INDIA) –
131 039

Table of Content

S No: TOPICS Page.no

1 Acknowledgement 3

1
2 Declaration 4
3 Certificate 5
4 Abstract 6
5 Introduction 7
6 Chapter -1 8-9
7 1.1- RF Controlled introduction 8
8 1.2 – Hardware specification 8
9 Chapter-2 9-29
10 2.1- 8051 Microcontroller 9
11 2.2- History of 8051 and key Development 10-11
12 2.3 - programming environment and programmer 12-15
13 2.4- RF Module 15-19
14 2.5 features 20
15 2.6 relay switch 21
16 2.7 Pin diagram 22
17 2.8 Why relay used ? 23
18 2.9 Gas sensor 24
19 2.10 Resistor 25
20 2.11 Diode 26
21 2.12 IC 7805 27
22 2.13 LED 28
23 2.14 RF controlled fire fighting vehicle diagram 29
24 Chapter-3 30-32
25 3.0 – Circuit diagram 30-32
26 3.1 – project view 31
27 3.3- working 32
28 Chapter-4 33-38
29 4.0- Software used 33
30 4.1- Code of Project 34-38
31 Application 39
32 Conclusion 40
33 Reference 41

ACKNOWLEDGEMENT

2
 We are highly grateful to the Hon‟ble Vice-Chancellor, D.C.R. Univ. of Science &
Technology, Murthal, Sonepat for providing us this opportunity to carry out the present project
work.
The constant guidance and encouragement received from Dr.Avdhesh kumar sharma, Prof.
& Chairperson, Dept. of Mechanical Engineering, D.C.R. Univ. of Science & Technology,
Murthal, Sonepat has been of great help in carrying our the present work and is acknowledged
with reverential thanks.
We would like to express a deep sense of gratitude and thanks profusely to our Project
Supervisor, Dr. Anil Kumar Gupta Professor, Dept. of Mechanical Engineering, D.C.R. Univ. of
Science & Technology, Murthal, Sonepat. Without his/her able guidance, it would have been
impossible to complete the project in this manner.
The help rendered by DR. M.N.Mishra B.Tech. Project Coordinator, Department of
Mechanical Engineering, D.C.R. Univ. of Science & Technology, Murthal, Sonepat for his/her
wise counsel is greatly acknowledged. We also express our gratitude to other faculty members of
Dept. of Mechanical Engineering, D.C.R. Univ. of Science & Technology, Murthal, Sonepat for
their intellectual support throughout the course of this work.
Finally, We are indebted to all whosoever have contributed in this project work.

Name Roll. No.

JITESH KUMAR 20001004039
DEEPAK RANA 20001004028
KATTINA DHAMOJI 20001004042
AYUSH SHARMA 20001004023
KIFAYAT AHMED 20001004044
DECLARATION BY THE CANDIDATES

3
 We hereby certify that the work which is being presented in this In- Project report entitled
„SIX SIGMA APPROACH‟ in partial fulfillment of requirements for the award of degree of
BACHELOR OF TECHNOLOGY in MECHANICAL ENGINEERING, submitted to the Dept.
of Mechanical Engineering, Faculty of Engg. & Technology, D.C.R. Univ. of Science &
Technology, Murthal, Sonepat (Haryana) is an authentic record of our own work carried out
during a period from April to May under the supervision of Dr. A.K.Gupta. The matter
presented in this project work has not been submitted to any other University / Institute for the
award of B.Tech or any other Degree / Diploma.

Name Roll. No.

. JITESH KUMAR 20001004039

DEEPAK RANA 20001004028
KATTINA DHAMOJI 20001004042
AYUSH SHARMA 20001004023
KIFAYAT AHMED 20001004044

This is to certify that the above statement made by the candidate is correct to the best of my
knowledge & belief.

Signature of Supervisor (s)

4
 Abstract
RF Controlled Fire fighting Robot is a newly developed design where its function
is to reduce the fire fighter risk in the dangerous situations . This project is
proposed the fire-fighting robot using multiple sensor to detect the fire and
extinguish the flame.The RF Module and microcontroller use to control the
operation of the robot. The flame sensor used to detect flame and avoiding the
robot from the fire with predetermined distance.This proposed model of fire
fighting robot using RF Controlled used to extinguishing fire, it automatically
without any human interference.It contains gear motor and motor drivers to
control the movement of robot when it detect any presence of fire and will
manually start the water pump to extinguish that fire breakout

INTRODUCTION

The main purpose of the project is to control a robotic vehicle. The firefighting robot
designed by us is an amateur attempt at creating a moving machine, aid us in
fighting the emergency of. When fire happens in building, factories or any closed areas,
fighting it's quite risky for us as one might get trapped in such closed areas In such cases,
a robot, as designed by us, can be very efficiently use to extinguish fire, with least
risky human intervention. The FIRE FIGHTING robot made under this project will
move in all directions. Thus, we will operate a robot over a really long distance and view
the conditions around and give us the exact situation at the place on fire. It extinguishes
fire by sprinkling water or other extinguishing agent. Thus, fighting robot provides a
secure means to fight fire without any risk to human life. Robot is defined as a
mechanical style that's capable of performing human tasks or behaving in a very
human-like manner. Building a robot requires expertise and complex programming. It‟s
regarding building systems and manufacturing motors, flame sensors and wires, among
other important components. A fire fighter robot is one that has a small device added to
that. By attaching a small device to the robot, the automation put out the fire by human
controlling. The design and construction of a robot that is able to sense and extinguish
5
 fire is all cover under this paper. This robot implements the subsequent
concepts:environmental sensing , proportional motor control.This robot processes
information from its varied sensors, and key hardware components via Microcontroller.
It is an inevitable part of being a fire fighter where they have risk their life while
extinguishing fires and rescuing victims. In addition, a robot can function by itself or be
controlled from a distance without having to risk the lives of firefighters and making the
activities of rescuing easy with the use of robot technology instead. In different words,
robots decrease the need for fire fighters to get into dangerous situations. This robot
provides fire protection once there's a fire in a tunnel or in an industry by using
automatic management of robot by the use of a Microcontroller in order to reduce
loss of lives and property damage.there's no want for human to travel even close to the
area on fire. The light dependent resistors are used for detection of fire. It is the sensitive
device and is capable for detecting very small fires too. A water tank is installed
on the robot so that it sprinkles water to extinguish water. Thus, this robot can
move around the place of fire.

CHAPTER-1

1.1 RF CONTROLLED FIRE FIGHTING ROBOT

The main purpose of the project is to control a robotic vehicle. This can be achieved by using RF
technology for remote operation. It uses 8051 series of microcontroller to achieve its desired
operation. This system uses push buttons at the transmitting end. With the help of these push
buttons, the receiver is able to receive commands. These commands that are sent are used to
control the movement of the robot which gives instructions for either to move the robot forward,
backward, left or right etc. The movement of the vehicle is done with the help of two motors that
are interfaced to the microcontroller. The RF transmitter acts as a RF remote control. This RF
remote control has the advantage of adequate range that is up to 200 meters if provided with
proper antenna. The receiver is responsible for decoding and feeding it to some other
microcontroller to drive DC motors via Motor driver
IC to perform the necessary work.

6
Further enhancement can be done by integrating DTMF technology with the help of which the
robot can be controlled using cell phone as it provides a long communication range as compared to
the RF technology.

1.2 Hardware Specifications:

8051 Microcontroller
Robotic Chassis
DC Motor
Motor Driver IC
Resistors
Capacitors
Transistors
Cables and Connectors
Diodes
PCB and Breadboards
LED
Push Buttons
Switch
IC
IC SocketsKeil µVision IDE Software

CHAPTER-2
2.1 8051 Microcontroller:

A microcontroller is an economical computer-on-a-chip built for dealing with specific tasks, such as
displaying or receiving information through LEDs or remote controlled devices. The most commonly used
set of microcontrollers belong to 8051 Family. 8051 Microcontrollers continue to remain a preferred choice
for a vast community of hobbyists and professionals. Through 8051, the world became witness to the most
revolutionary set of microcontrollers.

7
 Fig:2.1
8051 microcontrollers use two different kinds of memory such as UV- EPROM, Flash and NV-RAM. Hence
8051 will not be seen in the part number even though it is the most popular member of the 8051 family.

Features of 8051:

The main features of 8051 microcontroller are:

i. RAM – 128 Bytes (Data memory) ii. ROM – 4Kbytes (ROM signify the on – chip
program space) iii. Serial Port – Using UART makes it simpler to interface for serial
communication.
iv. Two 16 bit Timer/ Counter
v. Input/output Pins – 4 Ports of 8 bits each on a single chip.
vi. 6 Interrupt Sources vii. 8 – bit ALU (Arithmetic Logic Unit) viii. Harvard Memory Architecture – It has
16 bit Address bus (each of RAM and ROM) and 8 bit Data Bus.
ix. 8051 can execute 1 million one-cycle instructions per second with a clock frequency of 12MHz.

This microcontroller is also called as “System on a chip” because it has all the features on a single chip. The
Block Diagram of 8051 Microcontroller is as shown in Figure 1.1

2.2 History of 8051 and Key Developments

Intel Corporation fabricated the 8 – bit microcontroller which was referred as MCS-51 in 1981. This
microcontroller was also referred as “system on a chip” because it has 128 bytes of RAM, 4Kbytes of ROM,
2 Timers, 1 Serial port, and four ports on a single chip. The CPU can work for only 8bits of data at a time
because 8051 is an 8-bit processor. In case the data is larger than 8 bits then it has to be broken into parts so

8
that the CPU can process conveniently. Most manufacturers have put 4Kbytes of ROM even though the
quantity of ROM can be exceeded up to 64 K bytes.
As years passed by, the quality of technology surpassed the expectation of the greatest minds, with gadgets
becoming smaller, sleeker and more efficient. Microcontrollers were seen as the answer to the requirements
raised in advanced electronics. This is the reason why manufacturers have now focused their production
around the following main developmental aspects

i. Ease-of-use ii.
Market availability iii. Less
power usage iv. Smaller processing
power
v. More integrated features like RF and USB vi.
Smaller form factors

Figure 2.2 Block Diagram of 8051 Microcontroller

9
 Applications:

i. Energy Management: Efficient metering systems help in controlling energy usage in homes and industrial
applications. These metering systems are made capable by incorporating microcontrollers.

ii. Touch screens: A high number of microcontroller providers incorporate touch-sensing capabilities in their
designs. Portable electronics such as cell phones, media players and gaming devices are examples of
microcontroller-based touch screens.

iii. Automobiles: The 8051 finds wide acceptance in providing automobile solutions. They are widely used in
hybrid vehicles to manage engine variants. Additionally, functions such as cruise control and anti-brake
system have been made more efficient with the use of microcontrollers.

iv. Medical Devices: Portable medical devices such as blood pressure and glucose monitors use
microcontrollers will to display data, thus providing higher reliability in providing medical results.

2.3 Programming environment and programmer

Formerly, programmers used machine language for coding. A machine language is a program that consists of
0s and 1s which was very dreary for the humans to program any computer.

10
 Fig 2.3 Pin Diagram

2.4 RF Module (Transmitter & Receiver)

The RF module, as the name suggests, operates at Radio Frequency. The corresponding frequency range
varies between 30 kHz & 300 GHz. In this RF system, the digital data is represented as variations in the
amplitude of carrier wave. This kind of modulation is known as Amplitude Shift Keying (ASK).

11
 Fig2.4 RF MODULE

Transmission through RF is better than IR (infrared) because of many reasons. Firstly, signals through RF
can travel through larger distances making it suitable for long range applications. Also, while IR mostly
operates in line-of-sight mode, RF signals can travel even when there is an obstruction between transmitter
& receiver. Next, RF transmission is more strong and reliable than IR transmission. RF communication uses
a specific frequency unlike IR signals which are affected by other IR emitting sources.

This RF module comprises of an RF Transmitter and an RF Receiver. The transmitter/receiver (Tx/Rx) pair
operates at a frequency of 434 MHz. An RF transmitter receives serial data and transmits it wirelessly
through RF through its antenna connected at pin4. The transmission occurs at the rate of 1Kbps

10Kbps.The transmitted data is received by an RF receiver operating at the same frequency as that of the
transmitter.
The RF module is often used alongwith a pair of encoder/decoder. The encoder is used for encoding parallel
data for transmission feed while reception is decoded by a decoder. HT12E-HT12D, HT640-HT648, etc. are
some commonly used encoder/decoder pair ICs.

Pin Diagram:

12
 Fig 2.5 RF PIN DIAGRAM

Pin Description:

Pin No Function Name

1 Ground (0V) Ground
2 Serial data input pin Data
3 Supply voltage; 5V Vcc
4 Antenna output pin ANT

2.5 RF Module:

RF Modules are used wireless transfer data. This makes them most suitable for remote control applications,
as in where you need to control some machines or robots without getting in touch with them (may be due to
various reasons like safety, etc). Now depending upon the type of application, the RF module is chosen. For
short range wireless control applications, an ASK RF Transmitter-Receiver Module of frequency 315 MHz
or 433 MHz is most suitable. They are quite compact and cheap! You can buy them from the following
stores:
13
Fig 2.5(a)

Fig(B)

14
 2.6 Features:
• Range in open space(Standard Conditions) : 100 Meters

• RX Receiver Frequency : 433 MHz

• RX Typical Sensitivity : 105 Dbm

• RX Supply Current : 3.5 mA

• RX IF Frequency : 1MHz

• Low Power Consumption

• Easy For Application

• RX Operating Voltage : 5V

• TX Frequency Range : 433.92 MHz

• TX Supply Voltage : 3V ~ 6V

• TX Out Put Power : 4 ~ 12 Dbm

This has single channel for data transfer, thus serial data communication is used.

Serial Encoder/Decoder
The most popular serial encoder/decoder used is the HT12D-HT12E pair. Their description is given below. It‟s
okay if you don‟t understand what is written there. Just make sure you go through the pin configurations and the
circuit implementation.

The HT12E Encoder ICs are series of CMOS LSIs for Remote Control system applications. They are capable of
Encoding 12 bit of information which consists of N address bits and 12-N data bits. Each address/data input is
externally trinary programmable if bonded out.

The HT12D Decoder ICs are series of CMOS LSIs for remote control system applications. This ICs are paired
with each other. For proper operation a pair of encoder/decoder with the same number of address and data format
should be selected. The Decoder receive the serial address and data from its corresponding encoder, transmitted
by a carrier using an RF transmission medium and gives output to the output pins after processing the data.

15
 Features – Encoder:

• 18 PIN DIP

• Operating Voltage : 2.4V ~ 12V

• Low Power and High Noise Immunity

• CMOS Technology

• Low Standby Current and Minimum Transmission Word

• Built-in Oscillator needs only 5% Resistor

• Easy Interface with and RF or an Infrared transmission medium

• Minimal External Component

Features – Decoder:

• 18 PIN DIP

• Operating Voltage : 2.4V ~ 12.0V

• Low Power and High Noise Immunity

• CMOS Technology

• Low Stand by Current

• Ternary address setting

• Capable of Decoding 12 bits of Information

• 8 ~ 12 Address Pins and 0 ~ 4 Data Pins

16
• Received Data are checked 2 times, Built in Oscillator needs only 5% resistor VT goes high during a valid
transmission

• Easy Interface with an RF of IR transmission medium

• Minimal External Components

Applications:
• Burglar Alarm, Smoke Alarm, Fire Alarm, Car Alarm, Security System

• Garage Door and Car Door Controllers

• Cordless telephone

• Other Remote Control System

Compatibility:
• Compatible with RF Modules 433 MHz Link RF Modules (Tx + Rx Pair) 433 Mhz ASK

Now let‟s move on to the circuit implementation part.

17
 Fig 2.6
2.7 Relay Switch

Relay is an electromagnetic device which is used to isolate two circuits electrically and connect them
magnetically. They are very useful devices and allow one circuit to switch another one while they are completely
separate. They are often used to interface an electronic circuit (working at a low voltage) to an electrical circuit
which works at very high voltage. For example, a relay

18
 Fig 2.7
can make a 5V DC battery circuit to switch a 230V AC mains circuit. Thus a small sensor circuit can drive, say, a
fan or an electric bulb.

A relay switch can be divided into two parts: input and output. The input section has a coil which generates
magnetic field when a small voltage from an electronic circuit is applied to it. This voltage is called the operating
voltage. Commonly used relays are available in different configuration of operating voltages like 6V, 9V, 12V,
24V etc. The output section consists of contactors which connect or disconnect mechanically. In a basic relay
there are three contactors: normally open (NO), normally closed (NC) and common (COM). At no input state, the
COM is connected to NC. When the operating voltage is applied the relay coil gets energized and the COM
changes contact to NO. Different relay configurations are available like SPST, SPDT, DPDT etc, which have
different number of changeover contacts. By using proper combination of contactors, the electrical circuit can be
switched on and off. Get inner details about structure of a relay switch.

2.8 Pin Diagram:

.

19
 Fig 2.8 Pin Diagram
1. Working of relay 2.
How to use a relay.
As we know relay is a device which is used to provide connection between two or more points or device in
response to the input signal applied. In another words relay provide isolation between the controller and the
device as we know devices may work on AC as well as on DC. However, they receive signals from
microcontroller which works on DC hence we require a relay to bridge the gap. Relay is extremely useful when
you need to control a large amount of current or voltage with small electrical signal.
Working of relay is simple, when power is supplied to relay current start flowing through the control coil as a
result electromagnetic starts energizing. Hear points A,B,C are used as control points. When power is applied to
input terminal due to electromagnetic effect, B and C are connected thus closes the contacts causing a short
circuit for the power to the load. If the relay was already de-energized when the contacts were closed, then
thecontact move opposite and make an open circuit. When power supply is cut off point A and C are connected.
This force is mainly provided by two factors they are spring and gravity.

20
 Parts of Relay Switch

1. Electromagnet- It consists of iron core wounded by coil of wires. When electricity is passed through it
become magnetic therefore it is called as electromagnet.

2. Armature-The movable magnetic strip is known as armature. When current flows through them, it energizes
the coil and produce magnetic field which is used to make or break the normally open (N/O) or normally close
(N/C) points. Armature can be moved with direct current (DC) as well as alternating current (AC).

3. Spring - When no current flow through coil electromagnet, the spring pulls the armature away so that circuit
cannot be completed.

4. Set of electrical contacts- There are two contact points :

a. Normally open-In this the device connected to it will work when relay is activated and disconnect it when
relay is inactive.
b. Normally close- In this the device connected to it will not work when relay is activated and the circuit is
connected when relay is inactive.

5. Molded frame-Relays are covered with plastic or glass so that we can observe its working without opening
or removing its cover

2.9 Why is a relay used?

The main operation of a relay comes in places where only a low-power signal can be used to control a circuit. It
is also used in places where only one signal can be used to control a lot of circuits. The application of relays
started during the invention of telephones. They played an important role in switching calls in telephone
exchanges. They were also used in long distance telegraphy. They were used to switch the signal coming from
one source to another destination. After the invention of computers they were also used to perform Boolean and
other logical operations. The high end applications of relays require high power to be driven by electric motors
and so on. Such relays are cal led contactors

21
Fig2.9

22
 2.10 GAS SENSOR:

Fig 2.10

Description:

This is a simple-to-use liquefied petroleum gas (LPG)sensor, suitable for sensing LPG (composed of mostly
propane and butane) concentrations in the air. The MQ-6 can detect gas concentrations anywhere from 200 to
10000ppm.
This sensor has a high sensitivity and fast response time. The sensor‟s output is an analog resistance. The drive
circuit is very simple; all you need to do is power the heater coil with 5V, add a load resistance, and connect the
output to an ADC.

This sensor comes in a package similar to our MQ-3 alcohol sensor, and can be used with the breakout board
below

Fig2.10(b)

23
2.11 Resistor:

Fig :2.11

Resistor is a passive component used to control current in a circuit. Its resistance is given by the ratio of voltage
applied across its terminals to the current passing through it. Thus a particular value of resistor, for fixed voltage,
limits the current through it. They are omnipresent in electronic circuits.

The different value of resistances are used to limit the currents or get the desired voltage drop according to the
current-voltage rating of the device to be connected in the circuit. For example, if an LED of rating 2.3V and
6mA is to be connected with a supply of 5V, a voltage drop of 2.7V (5V-2.3V) and limiting current of 6mA is
required. This can be achieved by providing a resistor of 450 connected in series with the LED.

Resistors can be either fixed or variable. The low power resistors are comparatively smaller in size than
high power resistors. The resistance of a resistor can be estimated by their colour codes or can be
measured by a multimeter. There are some non linear resistors also whose resistance changes with
temperature or light. Negative temperature coefficient (NTC), positive temperature coefficient (PTC)
and light dependent resistor (LDR) are some such resistors. These special resistors are commonly used
as sensors. Read and learn about internal structure and working of aresistor

24
2.12 Diode 1N4001

Fig 2.12

1N4001 is a member of 1N400x diodes. Diode is a rectifying device which conducts only from anode to cathode.
Diode behaves open circuited for the current flow from cathode to anode. 1N4001 is a 1A diode with low forward
voltage drop and high surge current capability. It comprises of diffused PN junction and has low reverse leakage
current of 5µA. Its DC blocking voltage is 50V.
The cathode (n) is identified by a bar on diode case. The other terminal is the anode (p).

2.13 How Diodes work?

The diode operates when a voltage signal is applied across its terminals. The application of a DC voltage to make
the diode operate in a circuit is called as „Biasing‟. As already mentioned above the diode resembles to that of a
one way switch so it can either be in a state of conduction or in a state of non conduction. The „ON‟ state of a
diode is achieved by „Forward biasing‟ which means that positive or higher potential is applied to the anode and
negative or lower potential is applied at the cathode of the diode. In other words, the „ON‟ state of diode has the
applied current in the same direction of the arrow head. The „OFF‟ state of a diode is achieved by „Reverse
biasing‟ which means that positive or higher potential is applied to the cathode and negative or lower potential is
applied at the anode of the diode. In other words, the „OFF‟ state of diode has the applied current in the opposite
direction of the arrow head.

25
2.14 IC 7805 (Voltage Regulator IC)

Fig 2.14
7805 is a voltage regulator integrated circuit. It is a member of 78xx series of fixed linear voltage regulator ICs.
The voltage source in a circuit may have fluctuations and would not give the fixed voltage output. The voltage
regulator IC maintains the output voltage at a constant value. The xx in 78xx indicates the fixed output voltage it
is designed to provide. 7805 provides +5V regulated power supply. Capacitors of suitable values can be
connected at input and output pins depending upon the respective voltage levels.

2.15 PIN DIAGRAM:

26
 Fig 2.15
2.16 LED

Light emitting diodes (LEDs) are semiconductor light sources. The light emitted from LEDs varies from visible
to infrared and ultraviolet regions. They operate on low voltage and power. LEDs are one of the most common
electronic components and are mostly used as indicators in circuits. They are also used for luminance and
optoelectronic applications.

Based on semiconductor diode, LEDs emit photons when electrons recombine with holes on forward biasing. The
two terminals of LEDs are anode (+) and cathode (-) and can be identified by their size. The longer leg is the
positive terminal or anode and shorter one is negative terminal.

Fig 2.16 Pin diagram

The forward voltage of LED (1.7V-2.2V) is lower than the voltage supplied (5V) to drive it in a circuit. Using an
LED as such would burn it because a high current would destroy its p-n gate. Therefore a current limiting resistor
is used in series with LED. Without this resistor, either low input voltage (equal to forward voltage) or PWM
(pulse width modulation) is used to drive the LED. Get details about internal structure of a LED.

2.17 RF CONTROLLED FIRE FIGHTING ROBOT

27
 Fig : 2.17

Block diagram

RF controlled robot move according to button pressed at Transmitter.

Button Pressed at Transmitter Moving Direction of Robot

First (1) Right

Second (2) Left

First and Second (3) Forward

Third and Fourth (4) Backward

No Button Pressed Stop

CHAPTER -3

3.0 CIRCUIT DIAGRAM

28
 Fig 3.0

3.1 PROJECT VIEW –

Fig 3.1

29
3.2 Working:

The heart of this project is Microcontroller. The project is designed to develop a fire fighting robot using GSM
mobile phone technology. The robotic vehicle is loaded with water tanker and a pump which is controlled over
wireless communication to throw water. An 8051 series of microcontroller is used for the desired operation. At
the transmitting end using push buttons, commands are sent to the circuit to control the movement of the rob ot
either to move forward, backward and left or right etc. At the receiving end three motors are interfaced to the
microcontroller where two of them are used for the movement of the vehicle and the remaining one to position
the arm of the robot.
A water tank along with water pump is mounted on the robot body and its operation is carried out from the
microcontroller output through appropriate signal from the transmitting end. The whole operation is controlled by
an 8051 series microcontroller. A motor driver IC is interfaced to the microcontroller through which the controller
drives the motors. The project is wirelessly controlled using DTMF IC MT8870. This is a Double Tone Multiple
frequency generator. Here total two mobile are used one mobile phone will always with the circuit and the other
will be with user‟s as shown in the block diagram above as user‟s cellphone and Circuits cellphone. A special
type of double tone multiple frequencies get generated when we press any key of our cell through 0-9. This
frequency is taken to the circuit through headphone . we can transmit this multiple frequency from one cell to
another cell wirelessly. The multiple frequency is decoded by the decoder MT 8870 IC and the decoded signal is
sent to the LED display for the clear visual indication that whether the signal from behind is coming or not and
then to the microcontroller for the further processing.
According to the keys press microcontroller sends signal to the current driver IC l293d which in turn send the
amplified signal with high current and voltage gain. We have set a sounder on the robot. It sounds when the robot
detect any fire near it. The fire is detected by the fire sensor or smoke sensor. As soon as the fire sensor detect the
fire it immediately sends the signal to the microcontroller and controller activate the buzzer so that the user have

30
attention of fire in his / her house. The buzzer indication is important as most of the time when there is fire in the
house we are in sleep state. Buzzer indication let us wake up and control the robot to extinguish the fire .

Applications:

1) It finds great application in Government official vehicle used in fire fighting operation.
2) This robot can be used at home for the fire fighting if there is any fire.
3) It can be used in the industries as well as a secured alternate of fire fighting arrangement. 4) The robot is
highly reliable, cost effective, and fast.

Future Scope:
As today is an era of automation. Everybody wants to have their things works automatically. So this project is
supporting the trend of the modern era technology. The robot is controlled wirelessly. As the problem of fire can
be seen in every field so we can say that by improving our robot even better, we can provide tremendous future
scope to it. So we can say that the application area of this project is huge in coming future

CHAPTER 4
4.0 SOFTWARE USED

Keil µVision IDE

Software Specifications:
MC Programming Language: C

In present time almost all the people are familiar with robots. Robots play a very important role in human life.
Robots are a machine which reduces the human efforts in heavy works in industries, building etc. and makes life
easy. In Our previous Projects we have made some robots like line follower, DTMF controlled robot, gesture
controlled robot, computer controlled robot, but in this tutorial we are going to design a very interesting robot,
that is RF controlled Robot. Interesting thing in this project is that it will run without using any microcontroller.
Here we will run it directly by RF Decoder and Motor Drive.

31
RF controlled robot is controlled by using Four push button placed at transmitter side. Here we only need to push
the buttons to control the robot. A transmitting device is used in your hand which also contains a RF Transmitter
and a RF Encoder. This transmitter part will transmit command to robot so that it can do the required task like
moving forward, reverse, turning left, turning right and stop. All these tasks will perform by using four push
buttons that are placed on RF transmitter.

In this robotic vehicle, Transmitter and receiver works at a frequency of 433MHz. The device contains a crystal
stabilized oscillator to ensure accurate frequency for longer range. One antenna is fixed externally for this
module.

With this effective features long range RF communication is performed. It does not send data using UART
communication of PC or microcontroller because there is lots of noise at this frequency. Encoder and decoder ICs
are used to extract data from the external noise.

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4.1 Code of the project:

#include<reg51.h>
sbit motor1=P2^0; sbit
motor2=P2^1; sbit
motor3=P2^2; sbit
motor4=P2^3;

sbit buzzer=P2^4;
sbit relay=P2^5;

sbit sensor= P1^1;

sbit Input4=P3^0; //From DTMF

sbit Input3=P3^1; sbit
Input2=P3^2; sbit
Input1=P3^3;

delay(unsigned int k); main()

{
buzzer=1; relay=1;
sensor=1;
delay(100); delay(2000);

//delay(10000);
//delay(10000);
// delay(10000);
buzzer=0;
delay(40); buzzer=1;
delay(20); buzzer=0;
delay(40); buzzer=1;

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 delay(20); buzzer=0;
delay(40);
buzzer=1;
delay(20); buzzer=0;
delay(40);
buzzer=1;
delay(20);

buzzer=0;
delay(40);
buzzer=1;
delay(20); buzzer=0;
delay(40);
buzzer=1;
delay(20); buzzer=0;
delay(40);
buzzer=1;
delay(20); buzzer=0;
delay(40);
buzzer=1;
delay(20);

while(sensor==1);

buzzer=0;

while(Input1==0 && Input2==0 && Input3==0 && Input4==0);

buzzer=1;

while(1)

{
if(Input1==1 && Input2==0 && Input3==0 && Input4==0) // one is pressed =0001

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 {

motor1=1;
motor2=0; motor3=1;
motor4=0;

while(Input1==1 && Input2==0 && Input3==0 && Input4==0);

motor1=0;
motor2=0; motor3=0;
motor4=0; delay(40);

if(Input1==0 && Input2==1 && Input3==0 && Input4==0)

//two is pressed =0010
{

motor1=0;
motor2=1; motor3=0;
motor4=1;

while(Input1==0 && Input2==1 && Input3==0 && Input4==0);

motor1=0;
motor2=0; motor3=0;
motor4=0; delay(40);

if(Input1==1 && Input2==1 && Input3==0 && Input4==0)

//two is pressed =0010
{

motor1=1;
motor2=0; motor3=0;
motor4=1; while(Input1==1 &&

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Input2==1 && Input3==0 && Input4==0);
motor1=0;
motor2=0;
motor3=0; motor4=0;
delay(40);

if(Input1==0 && Input2==0 && Input3==1 && Input4==0)

//two is pressed =0010
{

motor1=0;
motor2=1; motor3=1;
motor4=0;

while(Input1==0 && Input2==0 && Input3==1 && Input4==0);

motor1=0;
motor2=0;
motor3=0; motor4=0;
delay(40);
}

if(Input1==1 && Input2==0 && Input3==1 && Input4==0)

//two is pressed =0010
{

motor1=0;
motor2=0; motor3=0;
motor4=0;

while(Input1==1 && Input2==0 && Input3==1 && Input4==0);

motor1=0;
motor2=0; motor3=0;
motor4=0;

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delay(40);
}

if(Input1==0 && Input2==1 && Input3==1 && Input4==0)

//two is pressed =0010
{

relay=0;

while(Input1==0 && Input2==1 && Input3==1 && Input4==0);

relay=1;

delay(40);
}

delay(unsigned int k)
{ unsigned int i,j;
for(i=0;i<=k;i++) {
for(j=0;j<=1200;j++);
Applications

• It used fire controlling Department.

• Used in offices Used in
chemical industries.
• It is used in high explosive area.
Used in homes .

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 CONCLUSION

This system can be used in a difficult situation where destruction is more and to avoid
any problems in human life. We can even remove obstacles which can make easier for
Firemen.These days the robot era has a prime position inside the advancement of an era.
Maximum of the workers are shifting closer to the carrier region and no longer to
the economic region. As an end result, there exists a scope for automating all of the
operations executed by way of the workers in industries.The paradigm evolved is a lot
of consumer-friendly and fewer dearer. It'll perform the preferred operation very
smoothly. The device can be managed inside more than a few 10 meters the use of any
android smartphone, that allows you to be extra applicable in packages which include bomb
defusing, farflung choose and location, cleaning applications.In addition to
improvement, the robotic arm may be designed for different programs like in
gardening, agricultural programs, and many others. Exclusive sensors are accustomed have a
look at the location of the items and also the complete approach is automatic and it may
speak with person thru networking.

38
 REFERENCE

1] Jentsch and White Fire causes disruptions that are inherent, unavoidable, and affect all
levels of an ecosystem , according to 2001.
[2] S. Boopalan, G. Narendra Prasad, C. SwarajPaul, Kumar Narayanan, and R.
Anandan, G.
Narendra Prasad International Journal of Engineering and Technology, 2018, Firefighting
robot with vision camera and gas sensors .
[3] H. Anandakumar and K. Umamaheswari, A bio-inspired swarm intelligence technique
for social aware cognitive radio handovers, Computers & Electrical Engineering, vol.
71, pp. 925–937, Oct.
2018. doi:10.1016/j.compeleceng.2017.09.016

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40