Department of Mechanical Engineering, University Of Petroleum & Energy Studies

A
MAJOR PROJECT
REPORT
ON
FIRE FIGHTING ROBOT
REMOTELY OPERATED
Submitted in partial fulfillment of the requirements for the award of degree of
BACHELOR OF TECHNOLOGY
IN
MECHATRONICS ENGINEERING
Submitted by:
Mohit Keshav (R880211030)
Rohit Khanna (R880211036)
Siddique Akbar (R880211048)
Vaibhav Tanwar (R880211056)
Supervisor:
Mr. Natraj Mishra
Assistant Professor
(Mechanical Department)

UNIVERSITY OF PETROLEUM & ENERGY STUDIES

Dehradun- 248007

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

CERTIFICATE

This is to certify that Mr. MOHIT KESHAV, ROHIT KHANNA, SIDDIQUE

AKBAR, VAIBHAV TANWAR student of final B.Tech. Mechatronics
Engineering, VIII semester, College Of Engineering Studies, has satisfactorily
done major project on FIRE FIGHTING ROBOT and submitted for the
fulfillment for the award of the degree of Bachelor of Technology of University
of Petroleum & Energy Studies, Dehradun.
Date: 27/04/2015

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Declaration
PROJECT TITLE
FIRE FIGHTING ROBOT REMOTELY OPERATED
The Project Dissertation is submitted in partial fulfillment of
academic requirements for major project. This major project is a result of our
own investigation. All sections of the text and results, which has been obtained
from other sources, are fully referenced. T understand that cheating and
plagiarism constitute a breach of University regulations and will be dealt with
accordingly.

Signature:

Mentor:Mr. Natraj Mishra

(Assistant Professor, Mechanical Department)
Name of the students:
Mohit Keshav (R880211030)
Rohit Khanna (R880211036)
Siddique Akbar (R880211048)
Vaibhav Tanwar (R880211056)

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

DATE: 27/04/2015

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Acknowledgement

We would like to express our sincere gratitude to our veteran mentor Mr.
Natraj Mishra (Assistant Professor, Mechanical Department), for giving us
this opportunity to work on the project Fire Fighting Robot Remotely
Operated.
Thanks are due to our university- University of Petroleum & Energy Studies
for introducing the major project in our course curriculum. Also we would like
to thank the university for believing in us that we can complete this project
successfully.
Thanks are due to our Dean- Dr. Kamal Bansal for providing the students
this platform to present such reports while pursuing their graduation.
We would like to extend our thanks to all the faculty members of the
Mechanical Department who have helped us in some or the other way in
making our project.
Thanks are due to all our classmates, our parents and our colleagues without
whom the making of this project was not possible.
At last thanks are due for the researchers whose paper gave us the right
direction to work.

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Abstract
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. An 8051 series of microcontroller is used for the desired operation.
At the transmitting end using push buttons, commands are sent to the
receiver to control the movement of the robot 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. The RF transmitter acts
as a RF remote control that has the advantage of adequate range (up to 200
meters) with proper antenna, while the receiver decodes 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 an 8051
series microcontroller. A motor driver IC is interfaced to the microcontroller
through which the controller drives the motors.
Further the project can be enhanced by interfacing it with a wireless
camera so that the person controlling it can view operation of the robot
remotely on a screen.

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Need of the Project

Cultural property management is entrusted with the responsibility of
protecting and preserving an institution's buildings, collections, operations and
occupants. Constant attention is required to minimize adverse impact due to
climate, pollution, theft, vandalism, insects, mold and fire. Because of the speed
and totality of the destructive forces of fire, it constitutes one of the more
serious threats. Vandalized or environmentally damaged structures can be
repaired and stolen objects recovered. Items destroyed by fire, however, are
gone forever. An uncontrolled fire can obliterate an entire room's contents
within a few minutes and completely burn out a building in a couple hours.
Hence it has become very necessary to control and cease the fire to protect the
Life and costlier things. For that purpose we planned to design and fabricate the
fire-fighting robot.
Autonomous robots can act on their own, independent of any controller. The
basic idea is to program the robot to respond a certain way to outside stimuli.
The very simple bump-and-go robot is a good illustration of how this works.
This sort of robot has a bumper sensor to detect obstacles. When you turn
the robot on, it zips along in a straight line. When it finally hits an obstacle, the
impact pushes in its bumper sensor. The robot's programming tells it to back up,
turn to the right and move forward again, in response to every bump. In this
way, the robot changes direction any time it encounters an obstacle.
Advanced robots use more elaborate versions of this same idea. Roboticists
create new programs and sensor systems to make robots smarter and more
perceptive. Today, robots can effectively navigate a variety of environments.

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Table of Contents
1. Introduction
6
1.1. Statement of the Project ...7
1.2. The main objectives of the project ...7
1.3. The main building blocks of the project ...7
1.4. Methodology .9
2. Operation of Robot
10
2.1. Principle Operation ...10
2.2. Robot Actuators ....12
2.3.PROJECT SPECIFICATIONS ..12
3. Components of Robot
13
3.1. RF Transmitter . 13
3.2. 8051 Microcontroller 17
3.2.1.1. Pin Configuration ...18
3.2.1.2. Memory Organization.21
3.2.1.3. Memory architecture ..23
3.3. MOTOR DRIVER IC (L293D) 25
3.4. Brushless DC Pump ..25
3.5. Battery ...29
3.6. Sugar Cube Relay (JQC-3FC DC 12V) 30
4. Program and Software
32
4.1. Keil Software..32
4.2. Proteus Software ....33
4.3. Solid Works ...34
5. Working of Robot ..35
6. Different Phase of Project ..37
7. Components List and Price 38

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

8. Future Scope and Conclusion 41

References .42

Chapter 1: Introduction
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. An 8051 series of microcontroller is used for the desired operation.
At the transmitting end using push buttons, commands are sent to the
receiver to control the movement of the robot 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. The RF transmitter acts
as a RF remote control that has the advantage of adequate range (up to 200
meters) with proper antenna, while the receiver decodes 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 an 8051
series microcontroller. A motor driver IC is interfaced to the microcontroller
through which the controller drives the motors.
Further the project can be enhanced by interfacing it with a wireless
camera so that the person controlling it can view operation of the robot
remotely on a screen.

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Statement of the Project: The project is designed to develop a fire fighting robot using RF module
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 transmitting end using RF module, commands are sent to the
receiver to control the movement.
When the robot faces a fire then it extinguishes fire with the help of
pump motor connected to a water tank mounted on its body.
Remote operation is achieved by Radio Frequency technology.
The RF transmitter acts as a remote control that has the advantage of
adequate range.

The main objectives of the project

Construction of RF based intelligent fire extinguisher vehicle system.
Water Flow through wireless RF technology.
Movement of the Robot in all directions.

The project provides the following learnings:

Wireless Radio Frequency module operation.

Interfacing of transceiver modules to Microcontroller.
DC motors working and need for motor driver.
Interfacing RF module to Microcontroller
Pump and Water Flow characteristics.

The main building blocks of the project are:

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Regulated Power Supply.

Microcontrollers.
Wireless Radio Frequency module.
Wireless Transceiver modules.

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

12

DC motors with driver.

Brushless DC Pump.
Crystal oscillator.
Reset
5V Relay
5V and 12 V batteries.
Chassis
DC motors
Switches
Pipes
Container or Tank for water Storage
Electronic devices such as Resistors, Capacitors, Transistors

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Methodology
The project uses HT12E Encoder which converts 4 bit data to serial output
which is then fed to the RF module for transmitting the same to be received by
the receiver RF module the output of which is fed to HT12D the serial decoder
IC, the output of which is fed to controller.
The transmitting end MC is connected to a set of pushbutton. Thus while a
particular button is pressed the program executed delivers corresponding 4-bit
data which are then transmitted serially at port 1.
The data so received at the receiver end of port 1 operates the motor through
motor driver IC L293D as required being interfaced from the Microcontroller
output port 2.
The transmitter is powered by a 6v battery in series with a silicon diode to
finally develop required voltage for microcontroller circuit.
The receiver is powered by a 12v battery in series with a silicon diode to protect
the circuits from accidental reverse battery connection.
5V DC out of the 12V available from regulator IC 7805 is fed to the controller,
decoder, the motor driver IC L293D pin 8 for operation of the motor.
The receiving unit uses one more motor driver IC L293D for driving one DC
Motor for arm operation with a boom mounted on its shaft.
At the end of the shaft a nozzle is connected to a water tanks mounted water
pump which is powered from NO contacts of a relay that is driven by
transistor Q1 from the output of MC pin 15, thus in the event of a fire the
robotic vehicle is moved over to the location by operating the left, right,
forward & backward button etc.
After it reaches the site the nozzle mounted motor takes position through the
water on the fire from the water tank mounted DC pump actuated by the relay
RL1.
Thus the fire can be extinguished.

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Chapter2:

Operation of Robot

There are also several different ways to describe manipulator motions. The
major characteristics of motion description are the coordinate system in which
they are expressed, whether they are absolute or relative, and the complexity of
the motion description.

Principle Operation
Co-ordinate system
The two most important systems are joint angles and Cartesian (X, Y, Z)
coordinates. Y-axis, Z-axis, X-axis.
A few robots support cylindrical coordinates, but these are probable nod as
useful as Cartesian because they are manipulator-centered rather than work
space centered.
The form of a joint angle description is just a list of the joint angles in all
manipulator designs, any such list corresponds universally to one position &
orientation of the end effectors. This is typical of simple control systems.
If the reference frame in which the Cartesian coordinates are measured in
flexed in position in the work space, it is called an inertial reference. A
particular inertial frame is usually designated as the default reference frame. It
is often called the Base frame, which moves and turns with the object.
It is useful in assembly task to be able to specify positions and motions with
respect to a tool, fixture, or work piece. For this purpose, it should be possible
to define a new reference frame fixed in an object. These auxiliary reference
frames should not have to be aligned with the base frame.

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A frame fixed in the end effectors and rotating with it is also very
useful in assembly task for describing reaching motions. For ex. Animation
calls this the Tools Frame. Another useful moving frame moves with a
conveyor belt.
The industrial robot is a programmable mechanical manipulator, capable of
moving along several Direct sound equipped as its ends with a work device
called the end effectors (or tool) and capable of performing factory work
ordinarily done by human beings. The term robot is used for a manipulator that
has a built in control system and is capable of stand along operation.
Modern robotic systems consist of at two major parts:
1. The manipulator, which is mechanical moving structure.
2. The device to actuate the joints of the manipulator.
In general, the structure of a manipulator is composed of a main frame and a
wrist with a fool at its end. The tool can be a welding head, a spray gun, a
machining tool, or a gripper containing open shut jaws, depending upon the
specific applications of the robots. Each of arms practically consists of a
sequence or mechanical links connected by joint to the next link. The function
of the joints is to control the motion between the links.
The motion of the end effect or is generated by controlling the position and
velocity of the robots axes of motion. An axis of motion in robotics means
degree of freedom in which robot can move. Basically the robot needs six axes
of motion (or degree of freedom) to reach an arbitrary point with a specific
orientation in space. A different orientation might completely change the
position of robot arm. For example to place a weld on the top side of beam
requires completely different orientation from the required to place a weld at
almost the same point but on the beam and consequently the position of the arm
is changed. Typically the arm has three degrees of freedom, the linear or rotary
motion and the wrist section contents three rotary motion the combination of
these six motions will orient the robots end effectors and position it at the
required point in space nevertheless, with increase in the number of freedom,
the complexity of the machine increased and so also the cost. Most of the
industrial operations may be completed with only 3 to 6 degrees of freedom.

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Robot Actuators
These include pneumatic cylinders or motors, hydraulic cylinders or motors
and electric motors. Pneumatic cylinders are cheap and need little maintenance.
These are suited for high speed operation with light pay loads. Hydraulic
actuators are more costly & need more maintenance. These are ideally suited
for heavy loads. Electric motors have moderate

PROJECT SPECIFICATIONS:
The project specifications are given as below:
POWER SUPPLY:
7805 is a voltage regulation IC which is used to supply 5V Direct current to the
microcontroller.
Controller Used:
8051 microcontroller is used in this project. It is the central processing unit of
project. There are 40 pins in this controller in 16 pin are used as I/O pin. On
these pin motor driver IC and decoder is attached.
Motor Driver IC:
L293D is a dual H-bridge motor driver integrated circuit (IC). They are use to
control they the 4 motor used in project. There are 2 motor driver IC used in the
project one to control front motor and other for rear motors.
Pump:
5V Brushless DC Pump is act as a actuator for the constant supply of water
from the tank.
Motors:

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

200 Rpm DC Motors are used for the movement of the robot in forward/
backward and left/right.
Batteries:
There are five 4V rechargeable batteries are used in the bot. Three batteries are
connected in series to the L293D to supply 12V to the motor. Other two
batteries are connected in series to the power supply.

RF Module:
TX-RX 02 (433 MHz) is used to transmit and receive signal wirelessly to robot
and remote control.

Chapter3: Component of Robot

There are number of components are used for the working of the robot. These
system make the motion and functioning of system possible. Different
component perform different operation like actuation, transmission, control,
motion etc. To perform these function following component are used which is
explain in subsection.

RF Transmitter 433 MHz

TX-RX 02 (433 MHz) is used to transmit and receive signal wirelessly to robot
and remote control. They transmit encoded signal of the push button from the
remote control of the device.

Features of Tx-Rx 02 RF Module:

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Range in open space(Standard Conditions) : 100 Meters

RX Receiver Frequency : 433 MHz
RX Typical Sensitivity : 105 Dbm
RX Supply Current : 3.5 mA

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

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

Figure 3.1: Block diagram of the transmitter

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Figure 3.2: RF Transmitter 433 MHz

Figure 3.3: RF Receiver of 433 MHz

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Applications:

Remote Controls Here, in our Project we use this application.

Automation System
Wireless Security System
Sensor Reporting
Car Security System
Remote Keyless Entry

CIRCUIT DIAGRAM
Circuit diagram of the following transmitter and receiver are as follows

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Figure 3.4: circuit diagram of Rx-Tx

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

8051 Microcontroller
8051 microcontroller is used in this project. It is the central processing unit of
project. There are 40 pins in this controller in 16 pin are used as I/O pin. On
these pin motor driver IC and decoder is attached.
Features of Intel 8051 Microcontroller:

22

It is an 8bit microcontroller.

8bit accumulator, 8bit Register and 8bit ALU.

On chip RAM 128 bites (data memory).

On chip ROM 4 Kbytes (program memory).

Two 16bit counter/ timer.

A 16 bit dptr(data pointer)

Two levels of interrupt priority.

4 byte bi-directional input/ output port.

Power saving mode (on some derivatives).

16bit address bus:-it can access 2^16 memory locations:-64kb (65536)

each of RAM and ROM.

It is an inclusion of Boolean processing system, have an ability to allow

logic operations to be carried out on registers and RAM.

8bit data bus:-it can access 8bit of data in one operation.

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

UART (this serial communication port makes chip to use simply as a

serial communication interface).

It has four separate Register set. (Each contains 8 Registers (R0 to R7)).

Figure 3.5 Block diagram of controller

Pin Configuration
Pins 1-8:Port1 Each of these pins can be configured as an input or an output.
Pin 9: RS A logic one on this pin disables the microcontroller and clears the
contents of most registers. In other words, the positive voltage on this pin resets
the microcontroller. By applying logic zero to this pin, the program starts
execution from the beginning.
Pins 10-17: Port3 Similar to port 1, each of these pins can serve as general
input or output. Besides, all of them have alternative functions:

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Pin 10: TXD Serial asynchronous communication input or Serial synchronous

communication output.
Pin 11: RXD Serial asynchronous communication output or Serial synchronous
communication clock output.
Pin 12: INT0 Interrupt 0 input.
Pin 13: INT1 Interrupt 1 input.
Pin 14: T0 Counter 0 clock input.
Pin 15: T1 Counter 1 clock input.
Pin 16: WR Write to external (additional) RAM.
Pin 17: RD Read from external RAM.
Pin 18, 19: X2, X1 Internal oscillator input and output. A quartz crystal which
specifies operating frequency is usually connected to these pins. Instead of it,
miniature ceramics resonators can also be used for frequency stability. Later
versions of microcontrollers operate at a frequency of 0 Hz up to over 50 Hz.
Pin 20: GND Ground.
Pins 21-28: If there is no intention to use external memory then these port pins
are configured as general inputs/outputs. In case external memory is used, the
higher address byte, i.e. addresses A8-A15 will appear on this port. Even
though memory with capacity of 64Kb is not used, which means that not all
eight port bits are used for its addressing, the rest of them are not available as
inputs/outputs.
Pin 29: PSEN If external ROM is used for storing program then a logic zero (0)
appears on it every time the microcontroller reads a byte from memory.

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Pin 30: ALE Prior to reading from external memory, the microcontroller puts
the lower address byte (A0-A7) on P0 and activates the ALE output. After
receiving signal from the ALE pin, the external register (usually 74HCT373 or
74HCT375 add-on chip) memorizes the state of P0 and uses it as a memory
chip address. Immediately after that, the ALU pin is returned its previous logic
state and P0 is now used as a Data Bus. As seen, port data multiplexing is
performed by means of only one additional (and cheap) integrated circuit. In
other words, this port is used for both data and address transmission.
Pin 31: EA By applying logic zero to this pin, P2 and P3 are used for data and
address transmission with no regard to whether there is internal memory or not.
It means that even there is a program written to the microcontroller, it will not
be executed. Instead, the program written to external ROM will be executed. By
applying logic one to the EA pin, the microcontroller will use both memories,
first internal then external (if exists).
Pins 32-39: Similar to P2, if external memory is not used, these pins can be
used as general inputs/outputs. Otherwise, P0 is configured as address output
(A0-A7) when the ALE pin is driven high (1) or as data output (Data Bus) when
the ALE pin is driven low (0).
Pin 40: VCC +5V power supply.

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Figure 3.5: Architecture of controller 8051

Port 1
P1 is a true I/O port, because it doesn't have any alternative functions as is
the case with P0, but can be configured as general I/O only. It has a pull-up
resistor built-in and is completely compatible with TTL circuits.
Port 2
P2 acts similarly to P0 when external memory is used. Pins of this port
occupy addresses intended for external memory chip. This time it is about the
higher address byte with addresses A8-A15. When no memory is added, this
port can be used as a general input/output port showing features similar to P1.
Port 3

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All port pins can be used as general I/O, but they also have an alternative
function. In order to use these alternative functions, a logic one (1) must be
applied to appropriate bit of the P3 register. In tems of hardware, this port is
similar to P0, with the difference that its pins have a pull-up resistor built-in.

Figure 3.6: Input/ Output Ports

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Memory Organization
The 8051 has two types of memory and these are Program Memory and Data
Memory. Program Memory (ROM) is used to permanently save the program
being executed, while Data Memory (RAM) is used for temporarily storing data
and intermediate results created and used during the operation of the
microcontroller. Depending on the model in use (we are still talking about the
8051 microcontroller family in general) at most a few Kb of ROM and 128 or
256 bytes of RAM is used. However
All 8051 microcontrollers have a 16-bit addressing bus and are capable of
addressing 64 kb memory. It is neither a mistake nor a big ambition of
engineers who were working on basic core development. It is a matter of smart
memory organization which makes these microcontrollers a real programmers
goody.

Program Memory
The first models of the 8051 microcontroller family did not have internal
program memory. It was added as an external separate chip. These models are
recognizable by their label beginning with 803 (for example 8031 or 8032). All
later models have a few Kbyte ROM embedded. Even though such an amount
of memory is sufficient for writing most of the programs, there are situations
when it is necessary to use additional memory as well. A typical example are so
called lookup tables. They are used in cases when equations describing some
processes are too complicated or when there is no time for solving them. In
such cases all necessary estimates and approximates are executed in advance
and the final results are put in the tables (similar to logarithmic tables).
Data Memory
As already mentioned, Data Memory is used for temporarily storing data and
intermediate results created and used during the operation of the
microcontroller. Besides, RAM memory built in the 8051 family includes many
registers such as hardware counters and timers, input/output ports, serial data

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buffers etc. The previous models had 256 RAM locations, while for the later
models this number was incremented by additional 128 registers. However, the
first 256 memory locations (addresses 0-FFh) are the heart of memory common
to all the models belonging to the 8051 family. Locations available to the user
occupy memory space with addresses 0-7Fh, i.e. first 128 registers. This part of
RAM is divided in several blocks.
The first block consists of 4 banks each including 8 registers denoted by R0-R7.
Prior to accessing any of these registers, it is necessary to select the bank
containing it. The next memory block (address 20h-2Fh) is bit- addressable,
which means that each bit has its own address (0-7Fh). Since there are 16 such
registers, this block contains in total of 128 bits with separate addresses
(address of bit 0 of the 20h byte is 0, while address of bit 7 of the 2Fh byte is
7Fh). The third group of registers occupy addresses 2Fh-7Fh, i.e. 80 locations,
and does not have any special functions or features.
Additional RAM
In order to satisfy the programmers constant hunger for Data Memory, the
manufacturers decided to embed an additional memory block of 128 locations
into the latest versions of the 8051 microcontrollers. However, its not as simple
as it seems to be The problem is that electronics performing addressing has 1
byte (8 bits) on disposal and is capable of reaching only the first 256 locations,
therefore. In order to keep already existing 8-bit architecture and compatibility
with other existing models a small trick was done.
It means that additional memory block shares the same addresses with
locations intended for the SFRs (80h- FFh). In order to differentiate between
these two physically separated memory spaces, different ways of addressing are
used. The SFRs memory locations are accessed by direct addressing, while
additional RAM memory locations are accessed by indirect addressing.

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Memory architecture
The MCS-51 has four distinct types of memory internal RAM, special
function registers, program memory, and external data memory.
Internal RAM (IRAM) is located from address 0 to address 0xFF. IRAM from
0x00 to 0x7F can be accessed directly. IRAM from 0x80 to 0xFF must be
accessed indirectly, using the @R0 or @R1 syntax, with the address to access
loaded in R0 or R1. The 128 bits at IRAM locations 0x200x2F are bitaddressable.
Special function registers (SFR) are located in the same address space as
IRAM, at addresses 0x80 to 0xFF, and are accessed directly using the same
instructions as for the lower half of IRAM. They cannot be accessed indirectly
via @R0 or @R1. 16 of the SFRs are also bit-addressable.
Program memory (PMEM, though less common in usage than IRAM and
XRAM) is up to 64 KB of read-only memory, starting at address 0 in a separate
address space. It may be on- or off-chip, depending on the particular model of
chip being used. Program memory is read-only, though some variants of the
8051 use on-chip flash memory and provide a method of re-programming the
memory in-system or in-application. In addition to code, it is possible to store
read-only data in program memory, accessed by the MOVC A, @DPTR
instruction. Data is fetched from the address specified in the 16-bit special
function register DPTR.
External data memory (XRAM) is a third address space, also starting at address
0. It can also be on- or off-chip; what makes it "external" is that it must be
accessed using the MOVX (Move Xternal) instruction. Many variants of the
8051 include the standard 256 bytes of IRAM plus a few KB of XRAM on the
chip.
The 8051 is designed as a strict Harvard Architecture. The 8051 can only
execute code fetched from program memory. The 8051 does not have any
instruction to write to program memory. Most 8051 systems respect this
distinction, and so are unable to download and directly execute new programs.
The strict Harvard architecture has the advantage of making such systems
immune to most forms of malware. Some 8051 systems have (or can be
modified to have) some "dual-mapped" RAM, making them act somewhat more

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like Princeton Architecture. This (partial) Princeton architecture has the

advantage of making it possible for a Forth Boot Loader running on the 8051 to
write new native code to RAM and then execute it, leading to faster incremental
and interactive Programming cycles than strict Harvard systems.

MOTOR DRIVER IC (L293D)

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.

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Figure 3.7: Motor driver IC L293D

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.

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Figure 3.8: Pin Diagram of L293D

Brushless DC Pump
Specifications:
Operates on 12V supply
Head of 10m
Total Power generated 28W

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Technical Concept
Brushless DC Pump uses the principle of permanent magnet brushless DC
motor, coupled with the impeller in the rotor, the housing structure designed to
form the chamber for operating fluid flow, characterized by security, because
there is no brush friction, so there is no spark; high efficiency, low power
consumption (energy-efficient, effective power of 70%) than brush motors and
long life (up to 10,000 hours or more), low noise (below 40 dB in one meter).
Product Specification
1. Brushless DC pump series have 4.5V,5V, 6V, 9V, 12V, 13.8V, 24V.
2. All series can be based on customers specifications, pressure / flow and
matched with the required electrical design plus required In / out water
pipe.
3. General application can refer to standard parts.

Figure 3.9: Brushless DC Pump

Product performance
1. Liquids should be no residual, so as not to block the rotor to run, but the
capacity to exclude particles is stronger than the piston pump.

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2. Working environment: ambient temperature -40 to 125 degrees Celsius.

3. High temperature of working environment: according to customer
requirements, the water pump can be operated under 80-100 degrees;
these pumps need to change the material level, to enhance resistance to
temperature.
4. Flow stability: The Speed Control circuit technology is able to stabilize
the voltage changes and load changes, water flow is very stable. In
particular, it is suitable for users who have the demand for a steady flow,
the flow tolerance was <10%
5. Low noise: noise lower than the other type, between the 40-50db, based
on the volume of water flow.
6. Solar features: 30, 36 series and 45 series have DC power or solar power
option (solar water pumps can be connected to the solar cells).
7. Diving feature: according to customer requirements, the pump can
function with diving; motor in the chassis with the resin encapsulation,
waterproof performance, high dielectric strength, safety and reliability.
8. Provided with stainless steel or precise ceramic shaft, low wear ability
and corrosion free, either fresh water or sea water can be used, minimized
maintenance.
Appliances:
1. The supply of fluid features
Such as: Coffee machine, tea pot, water heater / kettle, water dispenser /
drinking machine, full bath, irrigation system / equipment.
2. Fuel efficient / energy-saving features
Such as: all kinds of machine tools, fuel and equipment.
3. Cooling / water circulatory function
Such as: medical systems / equipment, automation equipment, electronic

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

refrigerator, small indoor and outdoor fountains, solar fountain, hot and
cold mattress, cushion or care products.
4. Drainage
Such as: mobile air conditioner.
5. Wash function
Such as: various types of car wash systems / equipment.
Applications:
Used to transport water with high pressure from one end to the other.
In our project it is used as for throwing water

Battery
These are the main power source of the project. Five rechargeable 4V each
batteries are used in the project.
Specifications:
Sealed Lead Acid Battery
Produced 12 DC 1 Amp supply
Normal Capacity:4.5Ah
Uses:
In our project it is used as input power DC supply to drive the motor
using L293D.

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Figure 3.10: Battery

Uses:
For input and operating of 8051 microcontroller.
Figure 3.11: Regulated 5V Supply

Sugar Cube Relay (JQC-3FC DC 12V)

A relay is an electrically activated switch. It consists of a coil internally
which will creates a magnetic field that attracts a movable lever and then
changes switch contacts when a current is flowing through it. The typical usage
of relay is to allow a low DC voltage circuit to switch on or off a high voltage
(DC or AC) circuit without direct electrical connection between them. This
means circuit #1 and circuit #2 are magnetically and mechanically linked but
not electrically connected.

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Figure 3.12 Relay front & back side

Specifications:
MAX. SWITCHING CURRENT:7A,
10A MAX. SWITCHING VOLTAGE:28V DC/ 250V AC
DIELECTRIC STRENGTH VR.M.S: BETWEEN OPEN CONTACTS
=750VAC;
BETWEEN COIL AND CONTACTS =1000VAC;
BETWEEN CONTACTS FORM =1000VAC;
AMBIENT TEMPERATURE: -40-+85oC;
OPERATION/RELEASE TIME:=10/8MS
CONTACT CAPACITY: 10A 125V, 7A 250V
Single Pole Double Throw (SPDT) Such relay has 5 terminal pins which
consists of a pair of coil pins, a common pin, a normally open (NO) pin and a
normally closed (NC) pin. When the relay is not activated, the common pin is in
contact with the NC pin and when it is activated, the common pin will break
away from contact with the NC pin and subsequently makes contact with the
NO pin. Also, when the relay is deactivated (from activated state), the common
pin will conversely break away from contact with the NO pin and return back in
contact with the NC pin.

Application:

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Used as a switching device in our project.

Figure 3.13: Pin Diagram of Relay

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Chapter4: Program and Software

Keil Software
It is most commonly used compiler software. It allows to do
programming in c and compiling as well. It supports the all avr and
Intel families.
Keil implemented the first C Compiler designed from the ground-up
specifically for the 8051 microcontroller.

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Figure 4.1: Keil software

Proteus Software (for Simulation of Electronic Circuit)

Proteus professional is a software combination of ISIS schematic capture
program and ARES PCB layout program. This is a powerful and integrated
development environment. Tools in this suit are very easy to use and these tools
are very useful in education and professional PCB designing. As professional
PCB designing software with integrated space based auto router, it provides
features such as fully featured schematic capture, highly configurable design
rules, interactive SPICE circuit simulator, extensive support for power planes,
industry standard CADCAM & ODB++ output and integrated 3D viewer.

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Figure 4.2: Proteus

Solid Works
For initial designing and structuring of the robot solid work software is used. It
help in animating the 3D model of the bot in the computer. This software is
useful for understanding the fabrication of the project

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Figure 4.3: Model of robot in solid works

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Chapter 5: Working of Robot

Working Of Module: Fire Fighting Robot

There are several possibilities a fire can start in any remote area or in an
industry. For instance, in garments, cotton mills, fuel storages electric leakages
will result in immense harm. Also, its a worst case scenario, causing heavy
losses not only financially, but also conjointly destroying areas surrounding it.
Robotics is the rising answer to guard the human lives, wealth and
surroundings. A Firefighting robot is designed and built will be designed with
an embedded system. It should be able to separately navigate through a
modeled floor plan, whereas actively scanning for a flame. The robot will even
act as a path guide in normal case associated as a fireplace device in an
emergency.
These robots are designed to search out a fireplace, before it ranges out of
control, will sooner or later work with firefighters greatly reducing the danger
of injury to victims. The Firefighting robot project will help generate interest as
well as innovations within the fields of robotics while operating towards a
sensible and obtainable solution to save lives and mitigate the danger of
property harm.
Fire Fighting Robot Remotely Operated by Android Applications
The main intention of this project is to design a fire fighting robot using android
application for remote operation. The fire fighting robot includes a water tanker,
that is used to pump the water on fire and it is controlled over wireless
communication. For the desired operation, 8051 microcontroller is used.

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In the proposed system, RF module application is used to send commands from

the transmitter end to the receiver end to control the movement of the robot
either to move forward, backward, right or left. At the receiver side, two motors
are interfaced to the 8051 microcontroller where two of them are used for the
movement of the vehicle and the remaining one to place the arm of the robot.
The main goal of this project is to design a fire fighting robot using RF
technology for remote operation. This robot is loaded with a water tanker with a
pump which is controlled over wireless communication to sprinkle water. For
the
desired
operation,
an
8051
microcontroller
is
used.
At the transmitter end, push buttons are used to send commands to the
receiver end to control the robot movement, either to forward, backward & right
or left. The RF transmitter acts as an RF remote control that has the benefit of
adequate range up to 200 meters with apposite antenna, while the decoder
decode before feeding it to another microcontroller to drive DC motors via
motor driver IC for necessary work.
A water tank with pump is placed on the robot body and its operation is carried
out from the microcontroller o/p through the proper signal from the transmitting
end. The entire operation is controlled by a microcontroller. A motor driver IC
is interfaced to the microcontroller through which the controller drives the
motor.
In future, this project can be developed by interfacing it with a wireless camera
so that the person can view the controlling operation of the robot remotely on a
display.

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Chapter 6: Different Phase of Project

PHASE I (Done between Sep 2014- Oct 2014)
Study Of Basics about 8051 Microcontroller
Study Of different components: (Done between Sep 2015-Oct 2015)
L293D:- Motor driver IC
5V Power Supply
Wireless Module
Circuit Of Transmitter And Receiver
PHASE II (Done between Nov 2014- Dec 2014)
Detailed list of all the components used in the project.
Cost Estimation All the components with the help of ROBOMART
Website.
PHASE III (Done Between Dec 2014- Feb 2015)
Procurement of all the components which are used in our project.
Design Of the Circuit according to our circuit diagram(Receiver).
PHASE IV (Done Between March 2015-April 2015)
Remaining part of the design of the circuit diagram(Transmitter).

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Programming for our project circuit diagram- Keil Software.

Stimulation of the circuit diagram on Proteus Software.
PHASE V (Done Between April 2015-May 2015)
Fabrication/ Finalization of the project.
Demonstration of the Project.

Chapter 7: Components List and Price

Sr. no.

Name of component

Price(Rs)

Intel 8051Microcontroller
(Bought from Gupta Electronics,
Dehradun

220

Motor driver (L293D)

(Gupta Electronics)
JQC- 3FC DC 12V Relay
(Gupta Electronics)
Dc motor (9V, 200rpm)
(Gupta Electronics)
Batteries (5V and 12V)

150

3
4
5

80
1200
500

(Gupta Electronics)
6

Crystal Oscillator
(Gupta Electronics)

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10

Resistor (10k, 1k)

(Gupta Electronics)
Capacitor (0.1uf, 10uf)
(Gupta Electronics)
RF Module
(Gupta Electronics)
Brushless DC Pump
(Bought online from Ebay.in)

11

Tank

30

12

Pipes
7805 IC
(Gupta Electronics)
Connecting Pins, Wires, PCB Board,
Chasis,Transistors, Diodes
(Gupta Electronics)

20

Some other accessories

100

TOTAL

3300

8
9

13
14
15

Structure of Complete Fire Fighting Robot

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3
3
300
500

5
150

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

The vehicle is propelled as per the location of the fire point destination.
The up and down motion is applied to the water spray gun
As per the location of the fire point along Z- axis. The vehicle is propelled
along X-axis and Y- axis as per the pre-selected programmed.
The signals are sent by the transmitter and receiver via interfacing
hardware and software in embedded C.

Complete Model Of Fire Fighting Robot:

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Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Chapter 8: Future Scope and Conclusion

FUTURE SCOPE:
The practical application domains where robotic technology is most likely to be
used are
Civil defence

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Search and rescue

Domestic services like cleaning , arranging.
Security/surveillance patrol, observation etc.
War machines
Exploration (oceans, space, deserts etc.)
By an organization.
Private agencies
Government

CONCLUSION
This Project presents a firefighting robot using RF communication and it
is designed and implemented with Atmel 89S52 or 8051 microcontroller
(MCU) in embedded system domain. Experimental work has been carried out
carefully. The result shows that higher efficiency is indeed achieved using the
embedded system. The proposed method is verified to be highly beneficial for
the security purpose and industrial purpose.
At present the robot is capable of throwing water with high flow rate only. At
future the robot will also capable of throwing water with controlled robotic
arms and the object detection using cameras on it. It can be used as further
extension of the project to achieve all the features.

REFERENCES
1. www.atmel.com
2. Zadeh Lotfi, Fuzzy Sets, Information Control, Vol. 8, 1965, pp.
338-353.

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3. www.alldatasheet.com
http://www.alldatasheet.com/view.jsp?
Searchword=8051A
4. Paul, Richard P., Robot Manipulators, Mathematics,
Programming, and Control, The MIT Press, 1981.
5. Shahinpoor, Mohsen, A Robot Engineering Textbook, Harper &
Row, 1987.
6. Korean, Yoram, Robotics for Engineers, McGraw-Hill,1985.
7. ieeexplore.ieee.org
8. ebay.in

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