Abstract:

Usually fire accidents are being common during summer. These are found in forests and
also in commercial buildings which leads to the loss of life in many cases.

Even after calling the Fire engine in many cases they also could not handle some
dangerous situations. So we have a solution for this problem. An autonomous robot is introduced
to detect the fire and react accordingly. This robot is driven and an IR sensor is fixed to detect
any obstacle and moves accordingly.

This can be pushed ahead and reverse direction utilizing outfitted motors of 60RPM.
Additionally this truck can make sudden turns in left and right headings. This truck utilizes
AT89S52 MCU as its controller. A highly delicate flame sensor is fixed to this truck. This truck
is additionally utilized as a flame extinguisher i.e. it can sprinkle the water or gas on the flame if
there should arise an occurrence of flame accidents. An IoT module is interfaced to the controller
to get the data about the status in web. This project uses 9V battery. This project is much useful
for mines detection and surveillance applications

ROBOT

INTRODUCTION
A Robot is a mechatronics gadget which likewise incorporates creativity or selfgovernance. A gadget with self-governance does its thing "all alone" without a human
straightforwardly directing it minute by-minute. A few writers would battle that all mechatronic
gadgets are robots, and this current book's limitation on robot involves just concentrated
programming.
Robotics can be depicted as the present apex of specialized improvement. . The study and use of
robotics will uncover an expert to many diverse avenues of study. For a few, the sentiments of
robotics delivers a practically supernatural interest in the world prompting them making great
machines.
Robotics can be characterized as the science or investigation of the innovation principally
connected with the outline, creation, hypothesis, and utilization of robots. While different fields
contribute the arithmetic, the strategies, and the parts, robotics makes the amazing finished item.
The actual utilizations of robots drive improvement of robotics and drive advancements in
different sciences.
Autonomous Fire fighter truck is an exclusice project where the robot navigates itself around
and if detects fire , then takes appropriate actions to extinguish it. It can also be manually
controlled using laptop.

Embedded System
Introduction
An Embedded System is a combination of computer hardware and software, and
perhaps additional mechanical or other parts, designed to perform a specific function. A good
example is the microwave oven. Almost every household has one, and tens of millions of them
are used everyday, but very few people realize that a processor and software are involved in the
preparation of their lunch or dinner.
This is in direct contrast to the personal computer in the family room. It too is comprised
of computer hardware and software and mechanical components (disk drives, for example).
However, a personal computer is not designed to perform a specific function rather; it is able to
do many different things. Many people use the term general-purpose computer to make this
distinction clear. As shipped, a general-purpose computer is a blank slate; the manufacturer does
not know what the customer will do wish it. One customer may use it for a network file server
another may use it exclusively for playing games, and a third may use it to write the next great
American novel.
Frequently, an embedded system is a component within some larger system. For
example, modern cars and trucks contain many embedded systems. One embedded system
controls the anti-lock brakes, other monitors and controls the vehicle's emissions, and a third
displays information on the dashboard. In some cases, these embedded systems are connected by
some sort of a communication network, but that is certainly not a requirement.
At the possible risk of confusing you, it is important to point out that a general-purpose
computer is itself made up of numerous embedded systems. For example, my computer consists
of a keyboard, mouse, video card, modem, hard drive. For example, the modem is designed to
send and receive digital data over analog telephone line. That's it and all of the other devices can
be summarized in a single sentence as well.

If an embedded system is designed well, the existence of the processor and software
could be completely unnoticed by the user of the device. Such is the case for a microwave oven,
VCR, or alarm clock. In some cases, it would even be possible to build an equivalent device that
does not contain the processor and software. This could be done by replacing the combination
with a custom integrated circuit that performs the same functions in hardware. However, a lot of
flexibility is lost when a design is hard-cooled in this way. It is much easier, and cheaper, to
change a few lines of software than to redesign a piece of custom hardware.

History and Future:

Given the definition of embedded systems earlier is this chapter; the first such systems
could not possibly have appeared before 1971. That was the year Intel introduced the world's
first microprocessor. This chip, the 4004, was designed for use in a line of business calculators
produced by the Japanese Company Busicom. In 1969, Busicom asked Intel to design a set of
custom integrated circuits-one for each of their new calculator models. The 4004 was Intel's
response rather than design custom hardware for each calculator, Intel proposed a generalpurpose circuit that could be used throughout the entire line of calculators. Intel's idea was that
the software would give each calculator its unique set of features.
The microcontroller was an overnight success, and its use increased steadily over the
next decade. Early embedded applications included unmanned space probes, computerized traffic
lights, and aircraft flight control systems. In the 1980s, embedded systems quietly rode the
waves of the microcomputer age and brought microprocessors into every part of our kitchens
(bread machines, food processors, and microwave ovens), living rooms (televisions, stereos, and
remote controls), and workplaces (fax machines, pagers, laser printers, cash registers, and credit
card readers).
It seems inevitable hat the number of embedded systems will continue to increase
rapidly. Already there are promising new embedded devices that have enormous market
potential; light switches and thermostats that can be central computer, intelligent air-bag systems
that don't inflate when children or small adults are present, pal-sized electronic organizers and
personal digital assistants (PDAs), digital cameras, and dashboard navigation systems. Clearly,

individuals who possess the skills and desire to design the next generation of embedded systems
will be in demand for quite some time.

MICROCONTROLLERS:
Microprocessors and microcontrollers are widely used in embedded systems products.
Microcontroller is a programmable device. A microcontroller has a CPU in addition to a fixed
amount of RAM, ROM, I/O ports and a timer embedded all on a single chip. The fixed amount
of on-chip ROM, RAM and number of I/O ports in microcontrollers makes them ideal for many
applications in which cost and space are critical.
The Intel 8052 is a Harvard architecture, single chip microcontroller (C) which was developed
by Intel in 1980 for use in embedded systems. It was popular in the 1980s and early 1990s, but
today it has largely been superseded by a vast range of enhanced devices with 8052/52compatible processor cores that are manufactured by more than 20 independent manufacturers
including Atmel, Infineon Technologies and Maxim Integrated Products.
8052/52 is an 8-bit processor, meaning that the CPU can work on only 8 bits of data at a
time. Data larger than 8 bits has to be broken into 8-bit pieces to be processed by the CPU.
8052/52 is available in different memory types such as UV-EPROM, Flash and NV-RAM.
The microcontroller used in this project is AT89S52. Atmel Corporation introduced this 89S52
microcontroller. This microcontroller belongs to 8052 family. This microcontroller had 256 bytes
of RAM, 8K bytes of on-chip ROM, two timers, one serial port and four ports (each 8-bits wide)
all on a single chip. AT89S52 is Flash type 8052/52.

The present project is implemented on Keil U vision. In order to program the device, proload
tool has been used to burn the program onto the microcontroller.
The features, pin description of the microcontroller and the software tools used are discussed in
the following sections.

FEATURES OF AT89S52:
8K Bytes of Re-programmable Flash Memory.

RAM is 256 bytes.

2.7V to 6V Operating Range.

Fully Static Operation: 0 Hz to 24 MHz

Two-level Program Memory Lock.

256 x 8-bit Internal RAM.

32 Programmable I/O Lines.

Two 16-bit Timer/Counters.

Eight Interrupt Sources.

Programmable Serial UART Channel.

 Low-power Idle and Power-down Modes.

Description:

The AT89S52 is a low-voltage, high-performance CMOS 8-bit microcomputer with 8K bytes of

Flash programmable memory. The device is manufactured using Atmels high-density
nonvolatile memory technology and is compatible with the industry-standard MCS-52
instruction set. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Atmel
AT89S52 is a powerful microcomputer, which provides a highly flexible and cost-effective
solution to many embedded control applications.
In addition, the AT89S52 is designed with static logic for operation down to zero frequency and
supports two software selectable power saving modes. The Idle Mode stops the CPU while
allowing the RAM, timer/counters, serial port and interrupt system to continue functioning. The
power-down mode saves the RAM contents but freezes the oscillator disabling all other chip
functions until the next hardware reset.

Fig: Pin diagram

Fig: Block diagram

PIN DESCRIPTION:
Vcc
Pin 40 provides supply voltage to the chip. The voltage source is +5V.
GND
Pin 20 is the ground.
XTAL1 and XTAL2
XTAL1 and XTAL2 are the input and output, respectively, of an inverting amplifier that can be
configured for use as an on-chip oscillator, as shown in Figure 11. Either a quartz crystal or
ceramic resonator may be used. To drive the device from an external clock source, XTAL2
should be left unconnected while XTAL1 is driven, as shown in the below figure. There are no
requirements on the duty cycle of the external clock signal, since the input to the internal
clocking circuitry is through a divide-by-two flip-flop, but minimum and maximum voltage high
and low time specifications must be observed.
RESET
Pin9 is the reset pin. It is an input and is active high. Upon applying a high pulse to this pin, the
microcontroller will reset and terminate all the activities. This is often referred to as a power-on
reset.
EA (External access)

Pin 31 is EA. It is an active low signal. It is an input pin and must be connected to either Vcc or
GND but it cannot be left unconnected.
The 8052/52 family members all come with on-chip ROM to store programs. In such cases, the
EA pin is connected to Vcc. If the code is stored on an external ROM, the EA pin must be
connected to GND to indicate that the code is stored externally.
PSEN (Program store enable)
This is an output pin.
ALE (Address latch enable)
This is an output pin and is active high.
Ports 0, 1, 2 and 3
The four ports P0, P1, P2 and P3 each use 8 pins, making them 8-bit ports. All the ports upon
RESET are configured as input, since P0-P3 have value FFH on them.
Port 0(P0)
Port 0 is also designated as AD0-AD7, allowing it to be used for both address and data. ALE
indicates if P0 has address or data. When ALE=0, it provides data D0-D7, but when ALE=1, it
has address A0-A7. Therefore, ALE is used for demultiplexing address and data with the help of
an internal latch.

When there is no external memory connection, the pins of P0 must be connected to a 10K-ohm
pull-up resistor. This is due to the fact that P0 is an open drain. With external pull-up resistors
connected to P0, it can be used as a simple I/O, just like P1 and P2. But the ports P1, P2 and P3
do not need any pull-up resistors since they already have pull-up resistors internally. Upon reset,
ports P1, P2 and P3 are configured as input ports.
Port 1 and Port 2
With no external memory connection, both P1 and P2 are used as simple I/O. With external
memory connections, port 2 must be used along with P0 to provide the 16-bit address for the
external memory. Port 2 is designated as A8-A15 indicating its dual function. While P0 provides
the lower 8 bits via A0-A7, it is the job of P2 to provide bits A8-A15 of the address.
Port 3
Port 3 occupies a total of 8 pins, pins 10 through 17. It can be used as input or output. P3 does
not need any pull-up resistors, the same as port 1 and port 2. Port 3 has an additional function of
providing some extremely important signals such as interrupts.

Table: Port 3 Alternate Functions

Machine cycle for the 8052/52
The CPU takes a certain number of clock cycles to execute an instruction. In the 8052/52 family,
these clock cycles are referred to as machine cycles. The length of the machine cycle depends on
the frequency of the crystal oscillator. The crystal oscillator, along with on-chip circuitry,
provides the clock source for the 8052/52 CPU.
The frequency can vary from 4 MHz to 30 MHz, depending upon the chip rating and
manufacturer. But the exact frequency of 11.0592 MHz crystal oscillator is used to make the
8052 based system compatible with the serial port of the IBM PC.
In the original version of 8052/52, one machine cycle lasts 12 oscillator periods. Therefore, to
calculate the machine cycle for the 8052/52, the calculation is made as 1/12 of the crystal
frequency and its inverse is taken.
The assembly language program is written and this program has to be dumped into
the microcontroller for the hardware kit to function according to the software. The
program dumped in the microcontroller is stored in the Flash memory in the
microcontroller.

IOT MODULE

WIFI MODULE

ESP8266EX

Introduction
Espressif Systems Smart Connectivity Platform (ESCP) is a set of high performance, high integration
wireless SOCs, designed for space and power constrained mobile platform designers. It provides
unsurpassed ability to embed WiFi capabilities within other systems, or to function as a standalone
application, with the lowest cost, and minimal space requirement.

ESP8266EX offers a complete and self-contained WiFi networking solution; it can be used to host the
application or to offload WiFi networking functions from another application processor.
When ESP8266EX hosts the application, it boots up directly from an external flash. In has integrated
cache to improve the performance of the system in such applications. Alternately, serving as a WiFi
adapter, wireless internet access can be added to any micro controller-based design with simple
connectivity (SPI/SDIO or I2C/UART interface). ESP8266EX is among the most integrated WiFi chip
in the industry; it integrates the antenna switches, RF balun, power amplifier, low noise receive
amplifier, filters, power management modules, it requires minimal external circuitry, and the entire
solution, including front-end module, is designed to occupy minimal PCB area. ESP8266EX also
integrates an enhanced version of Tensilicas L106 Diamond series 32-bit processor, with on-chip
SRAM, besides the WiFi functionalities. ESP8266EX is often integrated with external sensors and other
application specific devices through its GPIOs; sample codes for such applications are provided in the
software development kit (SDK).

Features

802.11 b/g/n

Integrated low power 32-bit MCU

Integrated 10-bit ADC

Integrated TCP/IP protocol stack

Integrated TR switch, balun, LNA, power amplifier and matching network

Integrated PLL, regulators, and power management units

Supports antenna diversity

WiFi 2.4 GHz, support WPA/WPA2

Support STA/AP/STA+AP operation modes

Support Smart Link Function for both Android and iOS devices

SDIO 2.0, (H) SPI, UART, I2C, I2S, IR Remote Control, PWM, GPIO

STBC, 1x1 MIMO, 2x1 MIMO

A-MPDU & A-MSDU aggregation & 0.4s guard interval

Deep sleep power <10uA, Power down leakage current < 5uA

Wake up and transmit packets in < 2ms

Standby power consumption of < 1.0mW (DTIM3)

+20 dBm output power in 802.11b mode

Operating temperature range -40C ~ 125C

FCC, CE, TELEC, WiFi Alliance, and SRRC certified

Parameters
Categories

Items

Values

Certificates

FCC/CE/TELEC/SRRC

WiFi Protocles

802.11 b/g/n

Frequency Range

2.4G-2.5G (2400M-2483.5M)
802.11 b: +20 dBm

Tx Power
WiFi Paramters

802.11 g: +17 dBm

802.11 n: +14 dBm
802.11 b: -91 dbm (11 Mbps)

Rx Sensitivity

802.11 g: -75 dbm (54 Mbps)

802.11 n: -72 dbm (MCS7)

Types of Antenna

PCB Trace, External, IPEX Connector,

Ceramic Chip
UART/SDIO/SPI/I2C/I2S/IR Remote Control

Peripheral Bus
Operating Voltage

GPIO/PWM
3.0~3.6V

Hardware

Operating Current

Average value: 80mA

Paramaters

Operating Temperature Range

-40~125

Ambient Temperature Range

Normal temperature

Package Size

5x5mm

External Interface

N/A

WiFi mode

station/softAP/SoftAP+station

Security

WPA/WPA2

Encryption

WEP/TKIP/AES

Firmware Upgrade

UART Download / OTA (via network)

Software
Parameters

Ssoftware Development
Network Protocols

Supports Cloud Server Development / SDK

for custom firmware development
IPv4, TCP/UDP/HTTP/FTP

Ultra Low Power Technology :

ESP8266EX has been designed for mobile, wearable electronics and Internet of Things
applications with the aim of achieving the lowest power consumption with a combination of
several proprietary techniques. The power saving architecture operates mainly in 3 modes:
active mode, sleep mode and deep sleep mode.
By using advance power management techniques and logic to power-down functions not
required and to control switching between sleep and active modes, ESP8266EX consumes about
than 60uA in deep sleep mode (with RTC clock still running) and less than 1.0mA (DTIM=3) or
less than 0.5mA (DTIM=10) to stay connected to the access point.
When in sleep mode, only the calibrated real-time clock and watchdog remains active. The
realtime clock can be programmed to wake up the ESP8266EX at any required interval. The
ESP8266EX can be programmed to wake up when a specified condition is detected. This
minimal wake-up time feature of the ESP8266EX can be utilized by mobile device SOCs,
allowing them to remain in the low-power standby mode until WiFi is needed. In order to
satisfy the power demand of mobile and wearable electronics, ESP8266EX can be programmed
to reduce the output power of the PA to fit various application profiles, by trading off range for
power consumption.

Major Applications :
Major fields of ESP8266EX applications to Internet-of-Things include:

Home Appliances

Home Automation

Smart Plug and lights

Mesh Network

Industrial Wireless Control

Baby Monitors

IP Cameras

Sensor Networks

Wearable Electronics

Hardware Overview
Pin Definitions

Table 2 Pin Definitions

Pin

Name

Type

VDDA

Function
Analog Power 3.0 ~3.6V
RF Antenna Interface. Chip Output Impedance=50

LNA

I/O

No matching required but we recommend that the -type

matching network is retained.

VDD3P3

Amplifier Power 3.0~3.6V

VDD3P3

Amplifier Power 3.0~3.6V

VDD_RTC

NC (1.1V)

ADC Pin (note: an internal pin of the chip) can be used to

6

TOUT

check the power voltage of VDD3P3 (Pin 3 and Pin4) or the

input voltage of TOUT (Pin 6). These two functions cannot be
used simultaneously.
Chip Enable.

CHIP_EN

XPD_DCDC

I/O

Deep-Sleep WakeupGPIO16

MTMS

I/O

GPIO14; HSPI_CLK

10

MTDI

I/O

GPIO12; HSPI_MISO

11

VDDPST

Digital/IO Power Supply (1.8V~3.3V)

12

MTCK

I/O

GPIO13; HSPI_MOSI; UART0_CTS

13

MTDO

I/O

GPIO15; HSPI_CS; UART0_RTS

14

GPIO2

I/O

UART Tx during flash programming; GPIO2

15

GPIO0

I/O

GPIO0; SPI_CS2

16

GPIO4

I/O

GPIO4

17

VDDPST

18

SDIO_DATA_2

I/O

Connect to SD_D2 (Series R: 200); SPIHD; HSPIHD; GPIO9

19

SDIO_DATA_3

I/O

Connect to SD_D3 (Series R: 200); SPIWP; HSPIWP; GPIO10

20

SDIO_CMD

I/O

Connect to SD_CMD (Series R: 200); SPI_CS0; GPIO11

21

SDIO_CLK

I/O

Connect to SD_CLK (Series R: 200); SPI_CLK; GPIO6

22

SDIO_DATA_0

I/O

Connect to SD_D0 (Series R: 200); SPI_MSIO; GPIO7

23

SDIO_DATA_1

I/O

Connect to SD_D1 (Series R: 200); SPI_MOSI; GPIO8

High: On, chip works properly; Low: Off, small current

Digital/IO Power Supply (1.8V~3.3V)

24

GPIO5

I/O

GPIO5

25

U0RXD

I/O

UART Rx during flash programming; GPIO3

26

U0TXD

I/O

UART Tx during flash progamming; GPIO1; SPI_CS1

27

XTAL_OUT

I/O

28

XTAL_IN

I/O

29

VDDD

Analog Power 3.0V~3.6V

30

VDDA

Analog Power 3.0V~3.6V

31

RES12K

32

EXT_RSTB

Connect to crystal oscillator output, can be used to provide BT

clock input
Connect to crystal oscillator input

Serial connection with a 12 k resistor and connect to the

ground
External reset signal (Low voltage level: Active)

MOTOR DRIVING UNIT

Description:
The L293 and L293D are quadruple high- current half-H drives. The L293 is designed to
provide bi-directional drive current of up to 1 A at voltage from 4.5V to 36 v. The L293D is
designed to provide bidirectional drive current of up to 600-mA at voltage from 4.5V to 36V.both
drives are designed to drive inductive load such as relay, solenoids, dc and bipolar stepping
motors, as well as other high-current/high-voltage loads in positive- supply applications. All
inputs are TTL compatible. Each output is a complete totem drive circuit, with a Darlington
transistor sink and a pseudo-Darlington source.

Drives are enabled in pairs, with drives 1 and 2 enabled by 1,2EN and drives 3 and 4
enabled by 3,4EN. When an enable input is high, the associated drives are enabled and their
outputs are active and in phase with their inputs. When the enable input is low, those are disabled
and their outputs are off and in the high-impedance state.
With the proper date inputs, each pair of drives from a full-H (or bridge) reversible derives
suitable for solenoid or motor applications. On the L293, external high- speed output clamp
diodes should by used for inductive transient suppression. A VCC1 terminal, separate from
VCC2, is provided for the logic input to minimize drives power dissipation. The L293 and
L293D are characterized for operation from 0C to 70C.

8.2 Features:
Wide supply-voltage range: 4.5V to 36V
Separate input- logic supply
Internal ESD protection
Thermal shutdown
High-Noise-Immunity input
Functional Replacements for SGS L293 and SGS L293D
Output current 1A per channel (600 mA for L293D)
Peak output current 2 A per channel (1.2 A for L293D)
Output clamp diodes for Inductive Transient Suppression(L293D)

FIRE Sensor

A flame detector is a sensor designed to detect and respond to the presence of a flame or fire.
Responses to a detected flame depend on the installation, but can include sounding an alarm,

deactivating a fuel line (such as a propane or a natural gas line), and activating a fire suppression
system. When used in applications such as industrial furnaces, their role is to provide confirmation
that the furnace is properly lit; in these cases they take no direct action beyond notifying the
operator or control system. A flame detector can often respond faster and more accurately than a
smoke or heat detector due to the mechanisms it uses to detect the flame.

Triple-IR flame detectors compare three specific wavelength bands within the IR spectral region
and their ratio to each other. In this case one sensor looks at the 4.4 micrometer range while the
other sensors look at reference wavelengths both above and below 4.4. This allows the detector
to distinguish between non-flame IR sources and actual flames which emit hot CO2 in the
combustion process. As a result, both detection range and immunity to false alarms can be
significantly increased. IR3 detectors can detect a 0.1m2(1 ft2) gasoline pan fire at up to 65 m
(215 ft) in less than 5 seconds. Triple IRs, like other IR detector types, are susceptible to blinding
by a layer of water on the detector's window.

Most IR detectors are designed to ignore constant background IR radiation, which is present in
all environments. Instead they are designed to detect suddenly changing or increasing sources of
the radiation. When exposed to changing patterns of non-flame IR radiation, IR and UV/IR

detectors become more prone to false alarms, while IR3 detectors become somewhat less
sensitive but are more immune to false alarms.

This sensor is working with the principle of IR. This module consists of a preset.
With this one can vary the sensitivity of sensor. At one point it will recognize the fire.