1

CHAPTER 1
INTRODUCTION

Conventionally Wireless-controlled Robots use RF circuits, which have limited working

range, limited frequency range and limited control. Use of a mobile phone for robotic
control can overcome these limitations. It provides the advantage of robust control,
working range increases and depends on the service providers, no interference with other
controllers. Although the appearance and capabilities of robot vary vastly, all robots share
feature of a mechanical, movable structure under some form of control. The robotic vehicle
control is based on three different phases: perception, processing and action. Generally, the
preceptors are sensors loaded on the robot, processing is done by the Microprocessor used
or the processor, and the task is performed using driving motors or gear motors or with
some other actuators. In this project the robot is connected to gsm modem which is
controlled by user mobile phone. With the help of commands we can move our robot in
desired direction as per our requirement.
The project is designed to develop a fire fighting robot using RF technology for remote
operation. The robotic vehicle is loaded with water tanker and a pump which is controlled
over wireless communication to throw water.
At the controlling end using keypad buttons, commands are sent to the receiver to control
the movement of the robot whether to move forward, backward, left or right. At the
receiving end three motors are interfaced to the microcontroller where two of them are
used for the movement of the vehicle. The transmitter acts as a remote control that has the
advantage of adequate range, while the IC at the receiver end decodes it before feeding it
to another microcontroller to drive DC motors via motor driver IC for necessary work. 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 a microcontroller. A motor driver IC is interfaced to
the microcontroller through which the controller drives the motors.

1.1

DESCRIPTION

There are two sections in this model1.

VEHICLE CONROL SECTION

2.

FIRE CONROL SECTION

1.1.1

VEHICLE CONROL SECTION-

In this project, the robot is controlled by a mobile phone that makes a call to the mobile
phone attached to the robot. During the call, if any button is pressed, a tone corresponding
to the button pressed is received at the other end of the call. This tone is called "Dual Tone
Multiple-Frequency" (DTMF) tone. The robot understands this DTMF tone with the help
of the phone attached on the robot. The received tone is processed by the microcontroller
with the help of DTMF decoder. The microcontroller then transmits the decoded signal to
the motor driver ICs to operate the driving motors &the robot starts moving.

1.1.2 FIRE CONTROL SECTION

The fire fighting robot made under this project can have its movement in forward,
backward direction and can turn left and right. The movement of the robot is controlled by
using mobile phones, i.e., using a radio link. Thus the robot can be controlled keeping a
safe distance from the fire and there is no need for humans to go even near the area on
fire. The sensor used for detecting the fire is Light Dependent Resistor which is capable of
detecting even a small fire too. The robot accommodates a water tank and a sprinkler on
itself to extinguish fire. It can also be provided with a webcam and the operator can have a
view on the monitor connected to the webcam.
Thus, this robot can move around the place of fire, view the conditions around and give us
with the exact situation at the place on fire. Then it can be suitably moved around fire, its
movements being controlled using the cell phone. It extinguishes fire by sprinkling water
or other extinguishing agents. Thus, the fire fighting robot provides a safe means to fight
fire, without any risk to human life.

CHAPTER 2
VEHICLE CONROL SECTION

The Vehicle control is the major section which control all the functioning and movement of
the vehicle. The received tone is processed by the atmega32 microcontroller with the help
of DTMF decoder, the decoder decodes the DTMF tone in to its equivalent binary digit and
this binary number is send to the microcontroller, the microcontroller is preprogrammed to
take a decision for any give input and outputs its decision to motor drivers in order to drive
the motors for forward or backward motion or a turn.
The mobile that makes a call to the mobile phone stacked in the robot acts as a remote. So
this simple robotic project does not require the construction of receiver and transmitter
units. DTMF signaling is used for telephone signaling over the line in the voice frequency
band to the call switching center. The version of DTMF used for telephone dialing is
known as touch tone.
DTMF assigns a specific frequency (consisting of two separate tones) to each key s that it
can easily be identified by the electronic circuit. The signal generated by the DTMF
encoder is the direct algebraic submission, in real time of the amplitudes of two sine
(cosine) waves of different frequencies, i.e., pressing 5 will send a tone made by adding
1336 Hz and 770 Hz to the other end of the mobile. The important components of this robot
are DTMF decoder, Microcontroller and motor driver. An MT8870 series DTMF decoder is
used here. All types of the mt8870 series use digital counting techniques to detect and
decode all the sixteen DTMF tone pairs in to a four bit code output. The built -in dial tone
rejection circuit eliminated the need for pre- filtering. When the input signal given at pin2
(IN-) single ended input configuration is recognized to be effective, the correct four bit
decode signal of the DTMF tone is transferred to Q1 (pin11) through Q4(pin14) outputs.

2.1 MAIN COMPONENTS IN THE VEHICLE CONTROL SECTION

The vehicle control section is divided into sub sections1. MICROCONTROLLER SECTION
2. MOBILE SECTION
3. MOTOR CONTROL SECTION
4. LIQUID CRYSAL DISPLAY

2.1.1

MICROCONTROLLER SECTION

In these days, there have been many advancement in the field of Electronics and many
cutting important technologies are being developed and adopted every day, but still 8 bit
microcontrollers have its own role in the digital electronics market and is dominating the
16-32 & 64 bit digital devices.Although powerful microcontrollers with more processing
abilities exist in the market but 8 bit microcontrollers have its importance because of its
easy to understand operation, very much high popularity, can simplify digital circuits, have
low cost compared, have many new feature in a single IC.

PIN count: Atmega32 has got 40 pins. Two for Power (pin no.10: +5v, pin no. 11:ground),
two for oscillator (pin 12, 13), one for reset (pin 9), three for providing necessary power
and reference voltage to its internal ADC, and 32 (48) I/O pins.
About I/O pins: ATmega32 is capable of handling analogue inputs. Port A can be used
aseither DIGITAL I/O Lines or each individual pin can be used as a single input channel to
the internal ADC of ATmega32, plus a pair of pins AREF, AVCC & GND (refer to
ATmega32 datasheet) together can make an ADC channel.

Digital I/O pins: ATmega32 has 32 pins (4portsx8pins) configurable as Digital I/O pins.
Timers:3 Inbuilt timer/counters, two 8 bit (timer0, timer2) and one 16 bit (timer1).
ADC: It has one successive approximation type ADC in which total 8 single channels
areselectable. They can also be used as 7 (for TQFP packages) or 2 (for DIP packages)
differential channels. Reference is selectable, either an external reference can be used or
the internal 2.56V reference can be brought into action. There external reference can be
connected to the AREF pin.

Communication Options: ATmega32 has three data transfer modules embedded in it.
They are

Two wire

Interface USART

Serial Peripheral Interface

Fig. 2.1- Pin Diagram of MC ATMega32

Analog comparator: On-chip analog comparator is available. An interrupt is assigned

fordifferent comparison result obtained from the inputs.
External Interrupt: 3External interrupt is accepted. Interrupt sense is configurable.
Memory: It has 32Kbytes of In-System Self-programmable Flash program memory,
1024Bytes EEPROM, 2Kbytes Internal SRAM. Write/Erase Cycles: 10,000 Flash /
100,000 EEPROM.
Clock: It can run at a frequency from 1 to 16 MHz. Frequency can be obtained
fromexternal Quartz Crystal, Ceramic crystal or an R-C network. Internal calibrated RC
oscillator can also be used.
More Features: Up to 16 MIPS throughput at 16MHz. Most of the instruction executes ina
single cycle. Two cycle on-chip multiplication. 32 8 General Purpose Working Registers
Debug: JTAG boundary scan facilitates on chip debug.
Programming:For the programming of the robot the software used for it was WINAVR and the burner
used to transfer the program to robot was EXTREME BURNER. The program is as
follows:
#include<avr/io.h>
#include<util/delay.h>
#include<lcd.h>
#define setb(x,b) x=x|b
#define clrb(x,b) x=x&(~b)
#define chkb(x,b) (x&b) /*

0000=NC, 0001=1, 0010=2, 0011=3, 0100=4, 0101=5, 0110=6,

0111=7, 1000=8, 1001=9, 1010=0, 1011=*, 1100=# */

void main()
{
DDRA=0x00;
DDRB=0xff;
DDRC=0xff;
PORTA=0xff;
lcd_init();
send_command(0x80);
dispslogan("Mobile Base Robo");
send_command(0xc0);
dispslogan("Waiting ........");
_delay_ms(3000);
send_command(0x80);
dispslogan("Press Any Key ");
while(1)
{
if(chkb(PINA,0x01)==0)
{
send_command(0xc0);
dispslogan("Stop...........");
setb(PORTC,0x01);
setb(PORTC,0x02);

setb(PORTC,0x04);
setb(PORTC,0x08);
}
if(chkb(PINA,0x02)==0&&chkb(PINA,0x04)!=0&&chkb(PINA,0x08)==0&&c
hkb(PINA,0x10)==0)//0100-2
{
send_command(0xc0);
dispslogan("Forward........");
setb(PORTC,0x01);
clrb(PORTC,0x02);
setb(PORTC,0x04);
clrb(PORTC,0x08);
}
if(chkb(PINA,0x02)==0&&chkb(PINA,0x04)==0&&chkb(PINA,0x08)!=0&&c
hkb(PINA,0x10)==0)//0010-4
{
send_command(0xc0);
dispslogan("Left...........");
setb(PORTC,0x01);
clrb(PORTC,0x02);
clrb(PORTC,0x04);
clrb(PORTC,0x08);
}

if(chkb(PINA,0x02)==0&&chkb(PINA,0x04)!=0&&chkb(PINA,0x08)!=0&&c
hkb(PINA,0x10)==0)//0110-6
{
send_command(0xc0);
dispslogan("Right..........");
clrb(PORTC,0x01);
clrb(PORTC,0x02);
setb(PORTC,0x04);
clrb(PORTC,0x08);
}
if(chkb(PINA,0x02)==0&&chkb(PINA,0x04)==0&&chkb(PINA,0x08)==0&&c
hkb(PINA,0x10)!=0)//0001-8
{
send_command(0xc0);
dispslogan("Backward.......");
clrb(PORTC,0x01);
setb(PORTC,0x02);
clrb(PORTC,0x04);
setb(PORTC,0x08);
}
if(chkb(PINA,0x02)==0&&chkb(PINA,0x04)!=0&&chkb(PINA,0x08)==0&&c
hkb(PINA,0x10)!=0)//0101-5
{
send_command(0xc0);

1
0

dispslogan("Stop...........");
setb(PORTC,0x01);
setb(PORTC,0x02);
setb(PORTC,0x04);
setb(PORTC,0x08);
}
if(chkb(PINA,0x02)==0&&chkb(PINA,0x04)!=0&&chkb(PINA,0x08)!=0&&c
hkb(PINA,0x10)!=0)//0111-7
{
send_command(0xc0);
dispslogan("Stop...........");
setb(PORTC,0x01);
setb(PORTC,0x02);
setb(PORTC,0x04);
setb(PORTC,0x08);
setb(PORTC,0x10);
}
if(chkb(PINA,0x02)==0&&chkb(PINA,0x04)!=0&&chkb(PINA,0x08)==0&&c
hkb(PINA,0x10)!=0)//1001-9
{
send_command(0xc0);
dispslogan("Stop...........");
setb(PORTC,0x01);

11

setb(PORTC,0x02);
setb(PORTC,0x04);
setb(PORTC,0x08);
clrb(PORTC,0x10);
}
}
}

2.1.2

MOBILE SECTION-

In mobile control section, the command coming from the operators phone is a numeric
command is received by the phone connected to DTMF IC using a 3.5 mm jack then that
signal is decoded by the IC being used.

Integrated Circuit (MT 8870)This circuit detects the key tone from a phone line and decodes the key and number pressed
on the remote telephone. two distinct frequency tones make up the DTMF. The dialer and
the telephone exchange communicate one way through the DTMF communication. the tone
generator and the tone decoder consist of a complete communication setup. Here we have
used IC MT8870 is used to decode the input dial tone to the dialled numbers.

Pin Diagram-

Fig 2.2- Pin Diagram of DTMF IC MT8870-01 & MT8870-01

DTMF :Dual-tone multi-frequency signaling (DTMF) is used for communication signaling over
analog telephone lines in the audio frequency band between telephone handsets and other
communication devices and the switching center. The DTMF version used for the push
button telephone tone is known as touch tone.
When a button is pressed in the telephone set keypad, a connection is made that produces a
resultant signal of two tones at the same time. These two tones are taken from a row
frequency and a column frequency. The resultant of those two frequency signal is called
Dual Tone Multiple Frequency. These tones are identical and unique.
A DTMF signal is the algebraic sum of two different audio frequencies, and can be
expressed as follows:

f(t) = A0sin(2**fa*t) + B0sin(2**fb*t) +

(1)

Where fa and fb are two different audio frequencies with A and B as their peak amplitudes
and f as the resultant DTMF signal. fa belongs to the low frequency group and fb belongs
to the high frequency group.
Each of the low and high frequency groups comprise four frequencies from the various
keys present on the telephone keypad two different frequencies, one from the high
frequency group and another from the low frequency group are used to produce a DTMF
signal to represent the pressed key.
The amplitudes of the two sine waves should be such that
(0.7 < (A/B) < 0.9)V -------- (2)
The frequencies are chosen such that they are not the harmonics of each other. The
frequencies associated with various keys on the keypad are shown in figure.
When you send these DTMF signals to the telephone exchange through cables, the services
in the telephone exchange identifies these signals and makes the connection to the person
you are calling.

Dual Tone Multiple Frequency (DTMF)

Table of frequency combinations
High Group Frequencies [Hz]
1209
Lo
w
Gro
up
Fre
que
nci
es
[Hz
]

1336

1477

1633

697

770

852

941

(Row 1)

(Row 2)

(Row 3)

(Row 4)
(Column 3) (Column 4)

Fig 2.3- DTMF Frequency Combination table

(C
olu
mn
1)
(C
olu
mn
2)

2.1.3 MOTOR SECTIONThere are two types of DC motors, unidirectional and bidirectional. Unidirectional motor
have the ability to move only in one directionand is specially meant for some specific
application while the bidirectional motor can be revolved in both direction i.e. clockwise
and anticlockwise direction. This the most widely used for industrial applications. There
are two parameters to be considered in controlling the movements of a DC motor.
1. DIRECTION
2. SPEED
Direction of rotation of the motor is the first thing which can be controlled. It can be
controlled by taking control on the polarity of the current flowing through motor. Usually,
a DC motors are driven by using a H-Bridge circuits made up of either transistors or the
buffers or any other suitable methods. For moving the robot forward, both the motors are
made to rotate clockwise. For moving in the reverse direction, both of them are moved anti
-clockwise. For turning right, the right side motor is turned clockwise while the left side
motor is turned anticlockwise. For turning left, the left side motor is rotated clockwise and
right side motor is rotated anticlockwise.

POWER SUPPLY:
The power required for functioning the robot is supplied through the batteries. In the robot
two batteries are used. One in the motor driving section and other for the main power
supply which turn the robot ON/OFF that is in the microcontroller section.
Both the batteries are of same voltage and power. The batteries used are of 9V
which gives the output of 5V. In the project higher voltage battery is note used because
using high power battery may damage the microcontroller.

DC MOTOR:
DC Motor has two leads. It has bidirectional motion
1. If we apply (+) ve to one lead and ground to another motor will rotate in one direction, if
we reverse the connection the motor will rotate in opposite direction.
2. If we keep both leads open or both leads ground it will not rotate (but some inertia will be
there).
3. If we apply +ve voltage to both leads then braking will occurs.
Working principle of a DC motor: A motor is an electrical which is used to convert
electrical energy to mechanical energy. The principle of working of a DC motor is that
"whenever a current carrying conductor is placed in a magnetic field, it experiences a
mechanical force".
When armature windings are connected to a DC supply, current sets up in the winding.
Magnetic field may be provided by field winding (electromagnetism) or by using
permanent magnets. In this case, current carrying armature conductors experience force
due to the magnetic field, according to the principle stated above.

H-BRIDGE:
The whole power supply to motor and the basic principle on which the motor section is
based on the H-Bridge
This circuit is known as H-Bridge because it looks like H. Working principle of HBridge.
1. If switch (A1 and A2) are on and switch (B1 and B2)

are off

then motor rotates in

are off

then motor rotates in

clockwise direction.
2. If switch (B1 and B2) are on and switch (A1 and A2)
Anti clockwise direction.
3. We can use Transistor, mosfets as a switch (Study the transistor as aa switch).

A H bridge is an electronic circuit that enables a voltage to be applied across a load in

either direction. These circuits are used to control the movement of rotation of DC motor.
Most DC-to-AC converters (power inverters), most AC/AC converters, the DC-to-DC
pushpull converter, most motor controllers, and many other kinds of power electronics use
H bridges. In particular, a bipolar stepper motor is almost invariably driven by a motor
controller containing two H bridges.

Fig. 2.4- H-Bridge

H.B ridge I.C (L293D):

The Project is based on the H-Bridge IC L293D. L293D is a H-Bridge I.C. It contain two
H-Bridge pair. L293D is a typical motor driver or Motor Driver IC which allows DC Motor
to drive on either direction. L239D is a 16 pin IC which can Control a set of two Dc motor
simultaneously in any direction. It means that you can control two DC motor with a single
L293D IC.
L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act as
current amplifiers since they take a low-current control signal and provide a higher-current
signal. This higher current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two
DC motors can be driven simultaneously, both in forward and reverse direction. The motor
operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input

logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in
clockwise and anticlockwise directions, respectively.
Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start
operating. When an enable input is high, the associated driver gets enabled. As a result, the
outputs become active and work in phase with their inputs. Similarly, when the enable
input is low, that driver is disabled, and their outputs are off and in the high-impedance
state.
Truth Table of Motor driving IC L293D:

INPUT 1

INPUT 2

RESULT

No Rotation

Clockwise Rotation

Anticlockwise Rotation

Break

Pin Diagram:

Fig. 2.5- Pin Diagram of Motor IC L293D

PIN Description of motor IC L293D:

PIN no.

Function

Name

Enable pin for Motor 1 active high

Enable 1,2

Input 1 for Motor 1

Input 1

Output 1 for Motor 1

Output 1

Ground (0V)

Ground

2
0

Ground (0V)

Ground

Output 2 for Motor 1

Output 2

Input 2 for Motor 1

Input 2

Supply voltage for Motors 9-12V (up to 36V)

Vcc2

Enable pin for Motor 2 active high

Enable 3,4

10

Input 1 for Motor 1

Input 3

11

Output 1 for Motor 1

Output 3

12

Ground (0V)

Ground

13

Ground (0V)

Ground

14

Output 2 for Motor 1

Output 4

15

Input2 for Motor 1

Input 4

16

Supply voltage 5V (up to 36V)

Vcc1

Note:1. Connect motors pins on output 1 and output 2 and control signal at input 1 and
input 2 will control the motion.
2. Connect another motor pins on output 3 and output 4 and control signal at
input3and input 4.
3. Truth table for i/p 3 and i/p 4 is means High or +5V
4. In Enable 1 and Enable 2 if you give high then you observe hard stop in condition 0
0 and 11. Unless slow stop of motor on low signal.
5. Required Motor voltage has given on pin 8 (Vs) i.e 12V DC 24V DC.

21

SCHEMATIC OF L293D WITH DC MOTOR

Fig. 2.6- Schematic of L293D with motor

2.1.4 LIQUID CRYSTAL DISPLAY

LCD stands for Liquid Crystal Display. LCD is finding wide spread use replacing LEDs
because of the following reasons:
1. The decreasing prices of LCDs.
2. They can display numbers, characters and graphics. This is in contrast to LEDs,
which are limited to numbers and a few characters.
3. Incorporation of a refreshing controller into the LCD, thereby relieving the CPU of
the task of refreshing the LCD. In contrast, the LED must be refreshed by the CPU
to keep displaying the data.
4. Ease of programming for characters and graphics.

24

LCD SCREEN

LCD screen consists of two lines with 16 characters each. Each character consists of 5x7
dot matrix. Contrast on display depends on the power supply voltage and whether
messages are displayed in one or two lines. For that reason, variable voltage 0-Vdd is
applied on pin marked as Vee. Trimmer potentiometer is usually used for that purpose.
Some versions of displays have built in backlight (blue or green diodes). When used during
operating, a resistor for current limitation should be used (like with any LE diode).In this
system ASCII 16X2 lcd is being used.

Fig.2.7- Liquid Crystal Display

CHAPTER 3
FIRE FIGHTING SECTION

The fire fighting robot designed by us is an amateur attempt at creating a moving machine,
to aid us in fighting the emergency of fire. When fire occurs in buildings, factories or any
other closed spaces, fighting it is quite risky for us as one may get trapped in such closed
spaces.
In such cases, a robot, on the lines as designed by us, can be very efficiently used for fire
fighting, with least risky human intervention.
The fire fighting robot made under this project can have its movement in forward,
backward direction and can turn left and right. The movement of the robot is controlled by
using mobile phones, i.e., using a radio link. Thus the robot can be controlled keeping a
safe distance from the fire and there is no need for humans to go even near the area on fire.
The sensor used for detecting the fire is Light Dependent Resistor which is capable of
detecting even a small fire too. The robot accommodates a water tank and a sprinkler on
itself to extinguish fire. It can also be provided with a webcam and the operator can have a
view on the monitor connected to the webcam.

Thus, this robot can move around the place of fire, view the conditions around and give us
with the exact situation at the place on fire. Then it can be suitably moved around fire, its
movements being controlled using the cell phone. It extinguishes fire by sprinkling water
or other extinguishing agents. Thus, the fire fighting robot provides a safe means to fight
fire,

without

any

risk

to

human

life.

3.1

COMPONENTS OF FIRE FIGHTING SECTION1. FIRE SENSOR

2. WATER PUMP
3. WATER STORAGE TANK

3.1.1 FIRE SENSORSmoke and fire detection equipment is an integral part of any buildings safety. When
working properly, they alert the occupants in a building of a fire before it spreads, giving
them enough time to evacuate. This type of equipment comes in many forms: heat
detectors, smoke detectors, flame detectors, and CO gas detectors.
Here is an overview of the different types of fire detection equipment.

Heat detector

Unlike other types of alarm systems, heat detectors are not early warning devices. These
devices are typically found in spots with fixed temperature, including heater closets, small
rooms, and kitchen facilities. They should not be installed in areas with fluctuating ambient
temperature. This is because the alarm on heat detectors is set to go off if there is a rise in
the temperature.
Flame Detector

Like their name suggests, these detectors are used to detect flames. When working
properly, they detect fire nearly at the point of ignition. They are very useful for buildings
involving with hazardous processes, as well as gas and oil refineries and manufacturing
industries.
There are three subcategories of flame detectors: optical, UV, and IR.

Optical detectors: The most commonly used, these feature optical sensors for detecting
flames.

UV detectors: These work very quickly. They can detect open flames, explosions, and fires
within four milliseconds, due to the UV radiation emitted at the instant of ignition.
However, to prevent accidental triggers, some UV detectors are designed to integrate a
three second time delay.

IR detectors: Infrared detectors monitor the head radiation that is generated by open flames
and fire. They have a response time of three to five seconds. Accidental triggers can be
caused by nearby hot surfaces and background thermal radiation. False alarms can be
decreased with the use of special programming algorithms, which are designed to
recognize the frequency of flame flickering.
Smoke detector

Smoke alarms are designed to detect fires quickly. Like flame detectors, this fire detection
equipment is divided into three subcategories.

Photoelectric alarms: These operate with the use of a light source, photoelectric sensor, and
beam collimating system. When smoke begins to enter the optical chamber, it crosses the
light beam path. This results in light being scattered by the particles in the smoke. The
scattered light is then directed to the sensor, after which the alarm is activated and sounded.

Ionization alarms: A small amount of radioactive material, which passes through the
ionization chamber, is contained inside of these alarms. There are two electrodes inside the
chamber, with empty space in between. The radiation permits a small current between the
two electrodes. If smoke enters the chamber, it absorbs the alpha particles, which results in
an interrupted current and ionization reduction. When this occurs, the alarm is set off.

Combination alarms: These have the features of both ionization and photoelectric alarm
technologies. The photoelectric function responds to low energy smoldering fires, and the
ionization function responds to rapid, high-energy fires.
If youre unsure which type of fire detection equipment to get, have a professional come in
to assess your building to determine your requirements. Regardless of which

The one used in the firefighting device of the project is the heat detecting sensor-

Thermostat:
A thermostat is a component of which senses the temperature of a system so that the
system's temperature is maintained near a desired set point. The thermostat does this by
switching heating or cooling devices on or off, or regulating the flow of a heat transfer
fluid as needed, to maintain the correct temperature.

A thermostat is often the main control unit for a heating or cooling system, through setting
the target temperature. Thermostats can be constructed in many ways and may use a
variety of sensors to measure the temperature, commonly a thermistor or bimetallic strip.
The output of the sensor then controls the heating or cooling apparatus. A thermostat is
most often an instance of a "bang-bang controller" as the heating or cooling equipment
interface is not typically controlled in a proportional manner to the difference between
actual temperature and the temperature set point. Instead, the heating or cooling equipment
runs at full capacity until the set temperature is reached, then shuts off. Increasing the
difference between the thermostat setting and the desired temperature therefore does not
shorten the time to achieve the desired temperature. A thermostat may have a maximum
switching frequency, or switch heating and cooling equipment on and off at temperatures
either side of the set point. This reduces the risk of equipment damage from frequent
switching.

Sensor Types:

Early technologies included mercury thermometers with electrodes inserted directly

through the glass, so that when a certain (fixed) temperature was reached the contacts
would be closed by the mercury. These were accurate to within a degree of temperature.

Common sensor technologies in use today include:

Bimetallic mechanical or electrical sensors.

Expanding wax pellets

Electronic thermistors and semiconductor devices

Electrical thermocouples

These may then control the heating or cooling apparatus using:

Direct mechanical control

Electrical signals

Pneumatic signals

Mechanical Thermostat:

Mechanical thermostat is used in the sensor mounted on robot. This covers only devices
which both sense and control using purely mechanical means. Further a sub category of
mechanical thermostat is used called bimetal thermostat.

Bimetal Thermostat:

Domestic water and steam based central heating systems have traditionally been controlled
by bi-metallic strip thermostats, and this is dealt with later in this article. Purely mechanical
control has been localisedsteam or hot-water radiator bi-metallic thermostats which
regulated the individual flow. However, Thermostatic Radiator Valves (TRV) are now
being widely used.

Purely mechanical thermostats are used to regulate dampers in some rooftop turbine vents,
reducing building heat loss in cool or cold periods.

Some automobile passenger heating systems have a thermostatically controlled valve to

regulate the water flow and temperature to an adjustable level. In older vehicles the
thermostat controls the application of engine vacuum to actuators that control water valves
and flappers to direct the flow of air. In modern vehicles, the vacuum actuators may be
operated by small solenoids under the control of a central computer.

3.1.2 WATER PUMP

A water pump is fitted inside the water tank. It is a 6 volt submersible centrifugal pump
which works on dc source. This is lightweight, small size, high efficiency, low
consumption and low noise water pump. It has been used widely used in household and
small experimental purpose.
Feature:
self-priming pump
Optimal For Voltage: 6V

Specification
Working Voltage: 4v-12V
Working Current: 0.8A
Motor Diameter: 27mm
Water Pump lenght: 52mm
Drain Hole: 4mm
Weight:70g

3.1.3 WATER STORAGE TANK

Water storage tank is a plastic container in which water is filled in order to extinguish fire.
It contains a submersible pump inside it in order to pump water with force automatically.
Container has the capacity of around 300ml of water.

CHAPTER 4
WORKING

The working of the robot is based on the three section as discussed. The first section is the
Mobile section, the second is the Microcontroller section and the third is the Motor driving
section.

The first section i.e. the Mobile section, it takes input as the frequency coming from
the phone at the senders end to the phone at receivers end which is connected to the
vehicle using a 3.0 mm jack. The frequency of both the phones are matched and an
equivalent frequency is emitted which gives the instruction to the Microcontroller that a
command is received.

The second section, which is the Microcontroller section takes the output of the
mobile section and manipulates the robot to work according to the commands received. In
this section a LCD is connected which shows the commands given to the robot i.e. Right,
Left, Forward, Reverse and Stop. The manipulated frequency from this section is delivered
as the input to the Motor driving section. In this section a capacitor is used which help to
deliver the proper output to the microprocessor so that it does not let the microcontroller
damaged.

The third section, the motor driving section takes the output of the microcontroller
as input and work accordingly. When command for the forward movement is given both
the motors start moving in forward motion. When command for reverse movement is given
then both motors rotate in backward direction. When command for left turn is given then
the left motor is stationary means doesnt rotate only right motor drives in forward

3
0

direction leading vehicle to take a left turn. When command for right turn is given then the
right motor is stationary means doesnt rotate only left motor drives in forward direction
leading vehicle to take a right turn.

I/P from Senders phone

O/P of Mobile Section & Input of MC section

Mobile

Microcontroller

Section

Section
O/P MC

Section & I/P of motor

section

Motor Driving Section

Fig: 4.1- Robot Operation flow chart

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4.1

Circuit Diagram:
This diagram shows the complete flow and operation performing on the robot. The
input of the Mobile section is the frequency received from the senders phone. And
the output of this section becomes the input of the microcontroller section which
manipulates the signal frequency and sends resultant signal which operate the robot
movements and functioning. Then the output of the microcontroller section
becomes the input of the motor driving section and the movements are done
according to the frequency received.

Fig. 4.2- Circuit diagram

CHAPTER 5
DISCUSSION AND CONCLUSION

After completing this project we can conclude that this project can be proved a helpful and
useful for the fire fighters at the place where fire is beyond the limits where there is danger
to human life. The main advantage provided with the help of this project is to control a
machine with no range limit and without any human casualty. It provides the ease of
operating the robot from anywhere irrespective of the distance between operator and the
robot. Further it can be modified with the help of a web camera to have a glance of the
operating area and carry out the work effectively. It can be the future alternative in
firefighting and can be widely used for special operations.
There are some limitations too with this project that if the area in which it has to be
used is not having a proper connectivity with the network operator (as this phone is controlled
with the help of Network service) than it cannot be controlled properly according to the needs.

Now, to overcome this problem instead of a network service a satellite modem

can be used so there will not be any network issue.

In this project more advancements can be made like mounting a webcam on the
vehicle this could be used as an eye for the vehicle or say for the operator. As this
wireless camera is connected to the monitor of a laptop or computer which will guide the
operator about its movement. Moreover, a mechanical arm can also be mounted on it so
that it becomes capable to carry or to lift something.

5.1 FUTURE SCOPE

This can be implemented on a large scale easily without facing much problems. This
would be effective if mass manufactured. This could be loaded with different fire
extinguishing fluids other than water.

REFERENCES

1. M.Nithiya&E.Muthamizh, Sensors and GSM Modem B.tech Report, IFET

College of Enginnering, Tamil Nadu, 2011.
2. Kuldeep Sharma, Private Communication, 2014.
3. Raj Chauhan, Parts and Programming Help, 2015
4. Microcontroller ATMega32, http://www.circuitstoday.com/atmega32-avrmicrocontroller-an-introduction
5. Sensors, Motor IC, Electric Circuits Fundamentals, Frenco, 1994.
6. Programming,

Make:

AVR

Programming,

Elliot

Williams,

2013

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