ABSTRACT

In real life, fire accidents can happen anytime and anywhere that
usually hardly controllable. Fire accidents can damage the buildings,
kill human and may cause unpredictable losses. In addition, death not
only due to the fire but also from smoke inhalation and toxic gases.
Therefore the fire security is important to human life. Note that the
human is difficult to detect the fire in the location that is hard to reach
or see by a human. Moreover, the human also may take a lot of time
to extinguish fire due to the fact that finding a water source can be
troublesome. Therefore, an automatic firefighting robot has been
designed and proposed in this study. This robot used 3 flame sensors
to detect the fire. It also equipped with 3 ultrasonic sensors for
obstacle avoiding which protecting the robot and the internal
components from any obstacles. Each sensor on the robot is
controlled by the Arduino. Apart from the sensors, the robot is also
equipped with the water tank that provides water once the fire is
detected. The robot will move randomly in the room when the power
is on. When the flame sensors detected the fire, the robot will move
to the fire source and send a warning message to the user. Once the
robot reached the burning area, it will stop at a certain distance and
extinguish the fire by using water.

6
CONTENTS

CHAPTER
PAGE NO.
1) Introduction-------------------------------------------------------------
-----------------------------08
2) Review of
literature-----------------------------------------------------------------
---------------09
3) System
requirements------------------------------------------------------------
------------------10
4) Process flow
chart-----------------------------------------------------------------------
-----------11
5) Block
diagram-------------------------------------------------------------------
--------------------12
6) Individual block
explanation--------------------------------------------------------------
-------12
7) Conclusion---------------------------------------------------------------
----------------------------37

7
 8) Reference
------------------------------------------------------------------------------
-------------37

INTRODUCTION:-
The fire security of the home, office, and building is important to human life. A
fast response to detect the small fire can avoid unpredictable damage and
losses to human. However, it is difficult to detect the small fire in the location
that is hard to reach or see by a human. The human also takes more time to find
the water source to extinguish the fire. This will cause the fire to be spread
quickly, which can increase death. Hence, to extinguish the fire within a short
period of time and reduce the damage, an automatic fire fighting robot is
proposed.
Today the use of robots is becoming more common than before and it is no
longer exclusively used by the heavy production industries. A firefighting robot
that is able to detect and extinguish the fire has been developed and used
before. With the invention of such a device, people and property can be saved
at a much higher rate with relatively minimal damage caused by the fire. To
begin with, it is essential to design an autonomous robot and build a prototype
system that could detect and extinguish fires automatically. The designed robot
also able to move in a room with obstacle avoidance, detect the fire, extinguish
it by using water and send a warning message to the user.

8
REVIEW OF LITERATURE
Among those involved in the project were Hossain, Md Anowar, Himaddri Shakhar Roy, and
others. [1] The Automatic Fire Extinguisher Robot is a hardware-based device designed to
move in the direction of fire power. The robot's shield is made of calcium silicate boards that
can withstand temperatures up to 300 ° C. The ends of the thermocouple are heated to a
reduced temperature when the robot begins to respond to fire. The robot is used in rescue
efforts during a fire when there is little chance that the military will be able to reach the
affected areas. This Robot has the advantage of being able to OPEN automatically as it detects
the surrounding fire, uses a thermocouple, attempts to extinguish the fire by moving through
the fire. As a backup to Thermocouple, a temperature sensor is used. To pump water, IC741 is
used both as an amplifier and a simulator, in combination with a thermocouple and a water
pump. Robotic movement is expected using a barrier and a sensor. The image is captured and
processed with the help of MATLAB.
Hemalatha K N [2], Pramod B N IoT-based robot is designed to support firefighters in critical
situations. A fire sensor is used to detect the presence of a fireplace. The presence of
flammable gases is detected by a gas sensor. Human presence is verified by the Passive
Infrared Sensor. Temperature sensor transmits temperature and humidity. The main
advantage of this project is that the robot can operate on both manual and independent
control systems. An IoT-based communication system is used to monitor the affected area via
Wi-Fi, and detailed functions of each module are also discussed. All data is transferred to a
cloud server for further analysis. Based on its performance, it has been thoroughly tested. In
an emergency, do your best to put out the fire. Sreesruthi, Ramasubramanian, Senthil
Arumugam Muthukumaraswamy,[3] et al., the ability to provide, and a single Android phone
The server is designed to manage the robot on a web page and is able to monitor different
web server settings. The video streaming robot will continue to take pictures with the
Android phone camera. The temperature sensor will be used by a temperature monitor to
monitor the temperature. In addition to rising temperatures, fires are detected using a smoke

9
sensor. The IR sensor detects obstacles in the path of the robot. All data from the robot is
delivered to the Android phone via a Bluetooth module connected to the controller, and later
to a web server via remote control via a web browser. Adjustable firefighting system with
small controller introduced. Test results have shown that a small controller may be the most
reliable tool for controlling an institutional device.

SYSTEM REQUIREMENTS:-
These are the requirement needed to run the new system and be sure that it
meets up to the purpose for which it was developed.

Hardware Requirements
 Microcontroller board (ARDUINO)
 Power supply
 DC Motor
 Water pump
 Flame sensor
 Motor driver
 Relay module

10
 Bluetooth module

11
BLOCK DIAGRAM

12
INDIVIDUAL BLOCK EXPLANATION
ARDUINO IDE:
Arduino IDE is a computer software written in Java and is used to write codes
and program the various Arduino processers. It’s basically designed for people
who are A. Verma et al. / Design and Construction of Automatic Fire Fighting
Robot 495 new to this field and lack the experience of coding and programming.
It is designed to have a code editor that has various abilities such as syntax
highlighting and etc. And with a single click of a button, it can transfer the code
to the Arduino board. This software includes various libraries including a C/C++
library called "Wiring", which makes the input/output operation easier for the
user. The programming on the microprocessor has been done using this
software and code is available on the full report.

13
14
POWER SUPPLY

In this project the power supply required is very much precession and also requires
different level of power supply. Basically the power supply used for the transmitter and
receiver is arranged from a battery. Along with the battery the power supply requirement
are +12 Volts and +5 Volts.
Description
The power supply designed for catering a fixed demand connected in this project. The
basic requirement for designing a power supply is as follows,
 The different voltage levels required for operating the devices. Here +5 Volts
required for operating microcontroller. And +12 Volts required for drivers
etc.
 The current requirement of each device or load must be added to estimate
the final capacity of the power supply.

The power supply always specified with one or multiple voltage outputs along with a
current capacity. As it is estimate the requirement of power is approximately as follows,
OUTPUT CURRENT CAPACITY

+5 Volts, +12 Volts 1000 mA

The power supply is basically consisting of three sections as follows,

1. Step down section
2. Rectifier Section
3. Regulator section

15
Design principle:
There are two methods for designing power supply, the average value method and peak
value method. In case of small power supply peak value method is quit economical, for a
particular value of DC output the input AC requirement is appreciably less. In this method
the Dc output is approximately equal to V m. The rectifier output is approximately charged
to Vcc due to charging of the capacitor. The capacitance provides the backup during the
discharge period. So, the value of the capacitor is calculated

16
Circuit connection: - In this we are using Transformer (0-12) V, 1 Amp, IC 7805 &
7812, diodes IN 4007, LED & resistors.
Here 230V, 50 Hz ac signal is given as input to the primary of the transformer and the
secondary of the transformer is given to the bridge rectification diode. The o/p of the diode
is given as i/p to the IC regulator (7805 &7812) through capacitor (1000mf/35v). The o/p of
the IC regulator is given to the LED through resistors.

Circuit Explanations: - When ac signal is given to the primary of the transformer,

due to the magnetic effect of the coil magnetic flux is induced in the coil (primary) and
transfer to the secondary coil of the transformer due to the transformer action.”
Transformer is an electromechanical static device which transformer electrical energy
from one coil to another without changing its frequency”. Here the diodes are connected in
a bridge fashion. The secondary coil of the transformer is given to the bridge circuit for
rectification purposes.
During the +ve cycle of the ac signal the diodes D2 & D4 conduct due to the forward bias of
the diodes and diodes D1 & D3 does not conduct due to the reversed bias of the diodes.
Similarly during the –ve cycle of the ac signal the diodes D1 & D3 conduct due to the
forward bias of the diodes and the diodes D2 & D4 does not conduct due to reversed bias of

17
the diodes. The output of the bridge rectifier is not a power dc along with rippled ac is also
present. To overcome this effect, a capacitor is connected to the o/p of the diodes (D2 &
D3). Which removes the unwanted ac signal and thus a pure dc is obtained. Here we need a
fixed voltage, that’s for we are using IC regulators (7805 & 7812).”Voltage regulation is a
circuit that supplies a constant voltage regardless of changes in load current.” This IC’s are
designed as fixed voltage regulators and with adequate heat sinking can deliver output
current in excess of 1A. The o/p of the bridge rectifier is given as input to the IC regulator
through capacitor with respect to GND and thus a fixed o/p is obtained. The o/p of the IC
regulator (7805 & 7812) is given to the LED for indication purpose through resistor. Due to
the forward bias of the LED, the LED glows ON state, and the o/p are obtained from the
pin no3.
LED INDICATOR:
The indicator section consists of a light emitting diode and its driver circuit is designed on
the basis of current required to glow the light emitting diode. Here the driver circuit is
required for the following functionality.
 The comparator cannot provide adequate current for glowing the LED. The LEDs
requires a current between 10mA to 20mA of current to glow.
 The driver circuit provides current to the load from a separate source, so the load
current used not pass through the Microcontroller.
 The driver circuit activates the load on receipt of a logic signal from the
Microcontroller and of the load in the absence of the signal as he current
requirement Is very less to glow

18
 LED INDICATOR

V CC

330E

L ED

68k
DATA
INPUT BC 5 4 7

COMPONENT DESCRIPTION

NodeMCU :-is a low-cost open source IoT platform. It initially included firmware which
runs on the ESP8266 Wi-Fi SoC from Espressif Systems, and hardware which was based
on the ESP-12 module. Later, support for the ESP32 32-bit MCU was added

NodeMCU is an opensource firmware for which open source prototyping board designs are
available. The name "NodeMCU" combines "node" and "MCU" (micro-controller unit).
The term "NodeMCU" strictly speaking refers to the firmware rather than the
associated development kits.

ESP8266 Arduino Core

As Arduino.cc began developing new MCU boards based on non-

AVR processors like the ARM/SAM MCU and used in the Arduino Due, they
needed to modify the Arduino IDE so that it would be relatively easy to
change the IDE to support alternate toolchains to allow Arduino C/C++ to be
compiled for these new processors. They did this with the introduction of the

19
Board Manager and the SAM Core. A "core" is the collection of software
components required by the Board Manager and the Arduino IDE to compile
an Arduino C/C++ source file for the target MCU's machine language. Some
ESP8266 enthusiasts developed an Arduino core for the ESP8266 Wifi So,
popularly called the "ESP8266 Core for the Arduino IDE". This has become a
leading software development platform for the various ESP8266-based
modules and development boards, including NodeMCUs.

Motor Driver

The D.C. Motor used in this project operates at 12 volt and carries approximately 400mA
of current. The motor driver is designed to inter face the motor with micro controller. The
micro controller out put is +5volt and can maximum give a current of 5mA. The driver
stage changes the current and voltage level suitably to drive the motor. The driver stage
not only drives the motor but also helps to control the direction of rotation. As the output

20
current (Ic) is large the driver section requires a Darlington pair to switch the load. The
Darlington pair I.C. TIP 122 is used here for designing. There are four ICs used here but
two of those switched for one direction and other two will be switched for opposite
direction rotation of the D.C. motor. The design principle of the driver section is as follows.

The motor takes approximately 400mA at 12 volt D.C., The power transistors can have
amplification factor maximum 60 to 70 as per this assumption the base current required to
switch on the transistor is approximately

Ib= (Ic/beta) =400mA/60 =6.7 mA

This current is too high to supply as a base current, more over the Microcontroller can not
supply that much current to drive the transistor so, a darling ton pair is required to limit
the base current with in 100 micro amp. To 2 mA.

DC MOTOR
The motor being dissected here is a simple PMDC electric motor that is typically find applications in
robotics and control systems also used for techo generator in the industries.
Bidirectional motor driver
Here we drive the PMDC motor in both the direction using transistor h-bridge of ICs l293d .
An H-bridge is an arrangement of transistors that allows a circuit full control over a standard
electric DC motor. That is, with an H-bridge a microcontroller, logic chip, or remote control
can electronically command the motor to go forward, reverse, brake, and coast.
The L293 is an integrated circuit motor driver that can be used for simultaneous, bidirectional
control of two small motors. Small means small. The L293 is limited to 600 mA, but in reality
can only handle much small currents unless you have done some serious heat sinking to keep
the case temperature down. Unsure about whether the L293 will work with your motor?
Hook up the circuit and run your motor while keeping your finger on the chip.

21
22
Circuit Diagram

V CC

1 16
9
15
A 2 C
3 14
4 L 293D 13
M M
5 12
6 11
B 7 10 D

Vcc 8

Bi-directional motor driver

RELAY DRIVER
The relay driver is design by using a BC547 transistor .The relay used here having the
specification as follows
 Coil resistance =400ohm
 Coil voltage=12Vdc
 Contact capacity=230V, 7A

The above specification indicates that the coil requires 12V dc and 200mA current dc. The
Microcontroller can’t supply more then 10mA current. So driver section is very much
required. BC547 has a typical current gain of 200 and maximum current capacity of 1A. So
a typical base current of 200 A can trigger to on the relay.

23
 RELAY DRIVER

V CC

5
3
4
1
2
IN 4 0 0 7
10u F REL A Y S P DT

1 .5 K
DATA
INPUT BC 5 4 7

IR transmitter and receiver

ABOUT INFRARED

We experience infrared light every time we feel the heat of the sun on our skin or the
warmth of a camp fire. Technically, what we are experiencing in these instances is thermal
infrared light. Scientists call waves of electromagnetic energy that travel through space
light.

IR RECEIVER:

The IR detector diode is the device, which sense the IR signal. This diode is normally
connected in reverse biased condition in series with a resistance to limit the PIV. The

24
resistance connected in series develops an I x R drop across it and that drop increases as
the intensity of IR signal. There is coupling capacitor to couple IR Data and reject the
ambient signals. The coupled signal is feed to a comparator to shape the signal between
+Vsat and –Vsat . The comparator out put is not at all compatible with CMOS logic
standard so the output transistor section converts 0 an+12v into 0v and +5 Volt.

A PHOTO DIODE is light sensitive device the junction of the photo diode is such that it
generates carriers when the lights fall on it. There are different type of diodes, which
generates carriers in different magnitudes at different frequency this depends on the nature
and doping of the junction. The liberation of carriers are very small in magnitude which is
very much dependant on the frequency and intensity of the light signal falling on the
junction. In the forward biased condition the majority carrier current is so high that the
current generated due to fall of light signal is very negligible. The photon bombardment
cause the avalanche break down of the junction and generate current which is in the order
of 100s micro ampere to few 10s of mA, due to the above mentioned causes the photo diodes
to connected in the reverse biased condition. In the reverse biased condition the normal
current is always in the order of few microamperes, the current generated due to fall of
light signal on the junction is also in the order of microampere so the net current through
the diode is appreciably increased. The same current pass through the resistance connected
in series and drop across the resistance is increased. There are two types of arrangements
very much widely used in the circuits, as shown in the Fig.1 and Fig.2.

VCC VCC

R D1

D1 Vout R Vout

Fig.1 Fig.2

If the diode junction is exposed with visible light or invisible light like Infrared / Laser in
the circuit shown in fig.2, the diode current will rise, possibly to as high as 1mA,producing

25
a significant output across R. In use, the photodiode is reversed biased and the output
voltage is taken from across a series-connected load resistor.

Operation:

In this project in the data receiving section, the photodiode is used as signal (data) detector
purpose to detect the IR signal (data) from the IR transmitter LED section. Whenever the
signal is transmitted from the IR transmitter LED, the signal is received at the photodiode
receiving section. The receiving signal is very weak in strength, for that we used an
amplifier. The output as a comparator and the reference voltage is set at non-inverting
terminal of the operational amplifier. There is a 10K variable resistor which is connected
between +12 Volt Ground and the variable terminal is connected to the OP-AMP for
providing the threshold value. The out put of the LM393 swings in between +Vsat and –
Vsat, even for a small variation of signal across the threshold value. That output signal is
not compatible with the Microcontroller because of the high current; that output from the
Op-amp is given to the signal conditioning i.e. the signal is given to the base of the
transistor through a base resistance between 1K – 43K and the collector is connected to
Vcc = +5Volt in series with a 10K resistance and the output is taken from the collector. The
output of the photo diode voltage (3v) goes to the input of the comparator. In the
comparator we have set the voltage say 3.5Vto the inverting terminal. In this case inverting
terminal is greater than the non-inverting terminal. That means output of the comparator
is LOW i.e, the infrared is absent at the photodiode. If the infrared is present at the photo
diode, the corresponding voltage will increase. That voltage goes to the input of the non-
inverting terminal(which is a reference voltage) of the OP-amp (lm393) which is configured
as a voltage comparator. In this comparator we have set the voltage say 3.5V to the
inverting terminal. In this case non- inverting terminal is greater than the inverting
terminal. That means output of the comparator goes to +Vsat is HIGH. We have connected
a led indicator ckt at the o/p of the comparator to indicate the high low condition of
comparator.

26
DESCRIPTION (LM393-dual comparator):-

These devices consist of two independent low voltage comparators designed

specifically to operate from a single supply over a wide range of voltages. Operation from
split power supplies is also possible. These comparators also have a unique characteristic in
that the input common mode voltage range includes ground even though operated from a
single power supply voltage.

Features

1 - WIDE SINGLE SUPPLY VOLTAGE RANGE OR DUAL SUPPLIES :( +2V TO +36V OR

±1V TO ±18V)

2 - VERY LOW SUPPLY CURRENT (0.4mA) INDEPENDENT OF SUPPLY VOLTAGE (1mW

/ comparator at +5V)

3 - LOW INPUT BIAS CURRENT : 25nA TYP

4 - LOW INPUT OFFSET CURRENT : ±5nA TYP

5 - LOW INPUT OFFSET VOLTAGE : ±1mV TYP

6 - INPUT COMMON-MODE VOLTAGE RANGE INCLUDES GROUND

7 - LOW OUTPUT SATURATION VOLTAGE : 250mV TYP. (Io = 4mA)

8 - DIFFERENTIAL INPUT VOLTAGE RANGE EQUAL TO THE SUPPLY VOLTAGE

9 - TTL, DTL, ECL, MOS, CMOS COMPATIBLE OUTPUTS

27
Block diagram

28
 V CC V CC
330E

1 5 0 E/2 W

10K
P HO T O DIO DE L M 393

8
15k IR L ED
3 + 68K
1
IR L ED 2 - BC 5 4 7

100k 10K V CC

4
O/P

IR Transmitter IR Receiver

IR Transmitter and Receiver

BUZZER DRIVER
This section interfaces one audible piezo electric buzzer with the controller. The
controller activates the buzzer whenever there is any fault appears in any of the channel.

PIEZO ELECRTIC BUZZER:

It is a device that converts electrical signal to an audible signal (sound signal).The

Microcontroller cannot drive directly to the buzzer, because the Microcontroller cannot
give sufficient current to drive the buzzer for that we need a driver transistor (BC547),
which will give sufficient current to the buzzer. Whenever a signal received to the base of
the transistor through a base resistance (1.5k) is high, the transistor comes to saturation
condition i.e. ON condition thus the buzzer comes to on condition with a audible sound.
Similarly, whenever the signal is not received to the base of the transistor, thus the
transistor is in cut-off state i.e. is in OFF state thus the buzzer does not gets activated.

29
 BUZZER DRIVER

V CC

BUZZER

1 .5 K
DATA
INPUT BC 5 4 7

FLAME SENSOR
For a fire detection system like FireSentinel, the most commonly used fire sensor is the
flame detector sensor. Here are the details about this type of sensor:

30
 1. **Sensor Type**: Flame detector sensors are designed to detect the presence of
flames or fire by sensing the electromagnetic radiation emitted by the flames.

2. **Working Principle**: Flame detector sensors typically use one of the following
principles:

a. **Infrared (IR) Sensing**: These sensors detect the infrared radiation emitted
by flames, which have a specific wavelength range in the IR spectrum.
b. **Ultraviolet (UV) Sensing**: Some flame detectors are designed to sense the
ultraviolet radiation emitted by flames, which is not present in most other light
sources.
c. **Combined IR/UV Sensing**: Advanced flame detectors combine both IR and
UV sensing mechanisms to improve accuracy and reduce false alarms.

3. **Sensor Components**:

a. **IR or UV Sensor Element**: The core component is a specialized sensor element that
is sensitive to the infrared or ultraviolet radiation emitted by flames.

b. **Optical Filter**: An optical filter is often used to filter out unwanted wavelengths
and focus on the specific wavelengths associated with flames.

c. **Signal Processing Circuit**: The sensor output is processed by a circuit that

amplifies and filters the signal to distinguish between actual flames and other
sources of IR or UV radiation.

4. **Output Signal**: Flame detector sensors typically provide a digital output signal,
indicating the presence or absence of a flame. Some sensors may also provide an analog
output proportional to the intensity of the detected flame.

5. **Sensitivity and Range**: The sensitivity and detection range of flame detectors can
vary depending on the sensor model and design

. Some sensors can detect flames from several meters away, while others may have a
shorter detection range.

31
6. **Advantages**:

a. **Early Fire Detection**: Flame detectors can detect fires at an early stage, before
smoke or heat becomes significant, allowing for a quicker response.

b. **Immunity to Dust and Humidity**: Unlike smoke detectors, flame detectors are not
affected by dust or humidity, reducing the chances of false alarms

7. **Disadvantages**:

a. **Line-of-Sight Requirement**: Flame detectors typically require a clear line-of-sight

to the flame, which can be obstructed by objects or walls.

b. **Limited Coverage Area**: Each flame detector has a limited coverage area, and
multiple detectors may be required to monitor a larger area effectively.

8. **Interfacing**: Flame detector sensors can be easily interfaced with the NodeMCU

using digital input pins or analog input pins, depending on the sensor's output type.

9. **Power Requirements**: Most flame detector sensors operate within the voltage range
of 5V to 12V DC, making them compatible with the NodeMCU's power supply. When
integrating a flame detector sensor into the Fire Sentinel system, it's essential to follow the
manufacturer's instructions for proper installation, positioning, and calibration.
Additionally, combining flame detectors with other types of fire sensors, such as smoke
detectors or heat detectors, can improve the overall reliability and accuracy of the fire
detection system.

Smoke Sensor
The MQ-2 is a flammable gas and smoke sensor detects the concentrations of
combustible gas in the air and outputs its reading as an analog voltage.The
sensor can measure concentrations of flammable gas of 300 to 10,000 ppm.The

32
MQ-2 gas sensor is sensitive to LPG, i-butane, propane, methane, alcohol,
Hydrogen and smoke.They are used in gas leakage detecting equipments in
family and industry and in portable gas detector.For details

Specification

 Supply Voltage:5V
 Sensitive to H2, LPG, CH4, CO, Alcohol, Smoke or Propane
 Analog and Digital Output
 Digital Out is High or Low based on a adjustable preset threshold.

H - Out of the two H pins, one pin is connected to supply and the
1
Pins other to ground

A- The A pins and B pins are interchangeable. These pins will be

2
Pins tied to the Supply voltage.

B- The A pins and B pins are interchangeable. One pin will act as
3
Pins output while the other will be pulled to ground.

33
Smoke detection.

This is a section on Smoke detection and alarming system. The proposed

system is very useful for home and industrial environment. The system detects
the Smoke and control alarm works automatically. The main part of the
project is the GAS sensor and a controller circuit. The GAS sensor
communicates with the controller through a voltage comparator circuit to
adjust the response time. The output of the sensor is feed to a comparator
designed using Op-Amp. The comparator input from the voltage divider
network is compared with a reference voltage correspond to the voltage of set
GAS intensity. The output of the comparator is feed to a motor driver through
a timer, to start the motor.

LED INDICATOR (this definition for EPS, PLC):

34
The indicator section consists of a light emitting diode and its driver circuit is
designed on the basis of current required to glow the light emitting diode. Here
the driver circuit is required for the following functionality.
1) The Microcontroller cannot provide adequate current for glowing the LED.
The LEDs requires a current between 10mA to 20mA of current to glow.
2) The driver circuit provides current to the load from a separate source, so
the load current used not pass through the Microcontroller.
3) The driver circuit activates the load on receipt of a logic signal from the
Microcontroller and of the load in the absence of the signal as he current
requirement Is very less to glow a LED a single stage driver is sufficient to
drive the load. The driver circuit is nothing other than a perfect a transistor
switch. The driver transistor goes in to saturation on receipt of base signal
and drives into cut-off region, in absence of base signal.
The driver designs around a BC548/BC547 transistor and designed for a
working voltage of +5 V dc and 10mA current.

Rc= Vcc-VCEsat = 5-0.2V

IC 10mA
= 4.8K
Ib=Ic/=10mA/200=5x10-5 A=0.5x10-6A
=0.5A

As per the design a 0.5A current is sufficient to trigger the driver circuit. As
this current is very small and to avoid mistriggering a base current of 100A is
assumed
VB-IBRB-VBE=0
 IBRB = 5-0.7
RB= 5-0.7V/100A = 4.3/100 M
= 0.043x10-6
= 43K

35
 On approximation 68K is connected by calculating back
IB = 4.3/68K = 60 70A
Which is adequate to avoid mis-triggering level also this amount of current
can be drawn from the Microcontroller without any problem.
The indicator section consists of 8 no of driver with 8 no of LED as indicator
load. The circuit diagram is enclosed.
Whenever there is a fault in any of the condition (parameter) it indicates a high
output at the Microcontroller, which is given to the base of the driver
transistor(BC547/BC548) with a base resistance (68k/56k) & thus transistor
comes to saturation condition i.e. ON condition, thus the emitter current flows
to the collector of the transistor at which the LED is connected through a
current limiting resistor (330E/470E) thus the LED gets forward biased which
turns ON the LED it indicates the channels fault .

LED INDICATOR (this definition for general):

The indicator section consists of a light emitting diode and its driver circuit is
designed on the basis of current required to glow the light emitting diode. Here
the driver circuit is required for the following functionality.
1) The comparator cannot provide adequate current for glowing the LED. The
LEDs requires a current between 10mA to 20mA of current to glow.
2) The driver circuit provides current to the load from a separate source, so
the load current used not pass through the Microcontroller.
3) The driver circuit activates the load on receipt of a logic signal from the
Microcontroller and of the load in the absence of the signal as he current
requirement Is very less to glow a LED a single stage driver is sufficient to
drive the load. The driver circuit is nothing other than a perfect a transistor
switch. The driver transistor goes in to saturation on receipt of base signal
and drives into cut-off region, in absence of base signal.
The driver designs around a BC548/BC547 transistor and designed for a
working voltage of +5 V dc and 10mA current.

36
 Rc= Vcc-VCEsat = 5-0.2V
IC 10mA
= 4.8K
Ib=Ic/=10mA/200=5x10-5 A=0.5x10-6A
=0.5A
As per the design a 0.5A current is sufficient to trigger the driver circuit. As
this current is very small and to avoid mistriggering a base current of 100A is
assumed
VB-IBRB-VBE=0
 IBRB = 5-0.7
RB= 5-0.7V/100A = 4.3/100 M
= 0.043x10-6
= 43K
On approximation 68K is connected by calculating back
IB = 4.3/68K = 60 70A
Which is adequate to avoid mis-triggering level also this amount of current
can be drawn from the Microcontroller without any problem.
The indicator section consists of 8 no of driver with 8 no of LED as indicator
load. The circuit diagram is enclosed.
The signal from the (555,LM393) which is given to the base of the driver
transistor (BC547/BC548) with a base resistance (68k/56k) when ever the base
voltage is high, transistor comes to saturation condition i.e. ON condition, i.e.
the emitter current flows to the collector of the transistor at which the LED is
connected through a current limiting resistor (330E/470E) thus the LED gets
forward biased which turns ON the LED, it indicates the presence of the
output.

37
 LED INDICATOR

V CC

330E

L ED

68k
DATA
INPUT BC 5 4 7

WATER PUMP
For optimal coverage, a water spraying nozzle is
attached to a servo motor. A water pump is used to
transfer water from the main water tank to the water
nozzle. So in this project we are going to make a fire

38
 fighting robot with the help of Arduino, flame sensor
and servo motors.

CONCLUSION

All these operations makes our project a complete one stop solution for the
real implementations. Flexibility with the technical customization and
economy are the main advantages of the design. This project will have a large
effect to the living standard of human being. In the system, a lot of other
features can be added to the user's requirement depending upon the situation.

39
 REFERENCE
[1].M.A.Mazidi, J.G.Mazidi and R.D.McKinlay, The 8051 Microcontroller and
Embedded Systems.

[2]. National Semiconductor Corporation, “ADC 0808”, journal published,

America, October 1999.

[3]. R.P.Jain, “Modern Digital Electronics”, TMH Publication 2003

[4]. Atmel Corporation, “ AT 89S51”, literature journal published, CA.

[5].Op-Amp and Linear integrated Circuits by Ramakant A. Gayakwad.

[6].Electronic device and Circuit Theory by Robert L. Boylestad and Louis

Nashelsky.

[7]. Yuksekkaya, B., Kayalar, A.A., Tosun, M.B., Ozcan, M.K., Alkar, A.Z., “A
GSM, Internet and Speech Controlled Wireless Interactive Home Automation
System”, IEEE Transactions Consumer Electronics, vol. 52, no. 3, pp. 837-843,
2006.

[8]. Y. Zhao and Z. Ye, “A Low Cost GSM/GPRS Based Wireless Home
Security System”, IEEE Transactions on Consumer Electronics, vol. 54, no. 2,
pp. 567-572, 2008.

[9]. GSM Based Home Automation with Security (Using Microcontroller) Dr.
ShaikMeeravali 1, P. Sai Prasad 2 International Journal of Engineering
Research &Technology (IJERT) Vol. 2 Issue 9, September -2013ISSN: 2278-
0181.

[10].Principal of Mobile Computing By Hansmann,Merk,Springer,2nd Edition.

40
41