VOICE OPERATED FIRE EXTINGUISHER VEHICLE

ISWARYA.R
iswaryasekar1@gmail.com

ANU BALA.D
anubala.jaslda@gmail.com

DR.SIVANTHI ADITANAR COLLEGE OF ENGINEERING

TIRUCHENDUR

Abstract
The voice operated fire extinguishing
robotic vehicle can be controlled wirelessly through RF
communication. The vehicle is controlled through
connected speech input. The language input allows a user
to interact with the robot which is familiar to most of the

people. The advantages of speech activated robots are

hands-free and fast data input operations. The speech
recognition system is trained in such a way that it
recognizes defined commands and the designed robot
navigates based on the instruction through the Speech

Commands. The medium of interaction between humans

and computers is on the processing of speech. The
Robotic vehicle has a camera mounted on it whose
direction can also be controlled using voice commands.
The proposed vehicle has a water jet spray which is
capable of sprinkling water. The sprinkler can be moved
towards the required direction. The advent of new highspeed technology provided realistic opportunity for new
robot controls and realization of new methods of control
theory. This technical improvement together with the need
for high performance robots created faster, more accurate
and more intelligent robots using new robots control
devices, new drivers and advanced control algorithms.
This project describes a new economical solution of robot
control systems. The presented robot control system can
be used for different sophisticated robotic applications.
Speech is the primary and most convenient means of
communication between humans. Whether due to
technological curiosity to build machines that mimic
humans or desire to automate work with machine,
research in speech recognition as a first step towards
human-machine communication. Speech recognition is
the process of recognizing the spoken word to take
necessary actions accordingly. The controlling devices of
the whole system are Microcontrollers. Speech
recognition module, wireless transceiver modules,
obstacle detector, lamp, water jet spray, DC motors and
buzzer are interfaced to Microcontroller. When the user
fed the voice commands to the speech recognition
module, the microcontroller interfaced to it reads the
command and sends relevant data of that command
wirelessly using transceiver module. This data is received
by the transceiver module on the robotic vehicle and feds
it to microcontroller which acts accordingly on motors,
pump and lamp. The vehicle is mounted with a camera
which helps in viewing the live images on TV. Also, the
vehicle is capable of detecting obstacles and alerts the
user through buzzer. To perform this intelligent task,
Microcontroller is loaded with a program written in
embedded C language. The complete system consists of
three subsystems, the speech recognition system,
transmitter section and the receiver section (on vehicle).
We have studied the various factors such as noise which
interferes speech recognition and distance factor. The
results prove that proposed robot is capable of controlling
fire, avoiding obstacles and understanding the meaning of
speech commands. A suggested application was for
hospitalized patients who usually are dependent on
someone else for to switch on/off the lights, fan etc. But
what if the patient's hands are broken. Obviously a voice
based system ought to be used in such a case. A voice
recognition unit built around a high speed processor that
ensures various operations of the system to be performed
by voice command. The Program of the project is also
written in Visual basic language for controlling robot
motor from the PCs parallel port termed as printer port
(LPT). The Program accepts the input in decimal numbers
and outputs at the data output pins of the PCs parallel
port for controlling the connected devices. This project

controls left, right, forward and backward movement of

robot wirelessly within 500m range using 433 MHz RF
frequency. The special feature of the project is that our
visual basic program control window based voice
recognizing software. So for controlling any movement of
robot we have to just speak name of movement. The voice
recognizing software compare our voice with already
stored voice, if match found robot start executing
command according to voice command, otherwise it give
error massage. At the receiver side of robot 8051
microcontroller is also used. The microcontroller takes
command wirelessly transmitted by PC. The role of
microcontroller is to drive 7 segments, drive DC motor,
take input from temperature sensor and night light sensor
and drive relays. Speech recognition is the process of
recognizing the spoken word to take necessary actions
accordingly. The controlling devices of the whole system
are Microcontrollers. Speech recognition module,
wireless transceiver modules, obstacle detector, lamp,
water jet spray, DC motors and buzzer are interfaced to
Microcontroller. When the user fed the voice commands
to the speech recognition module, the microcontroller
interfaced to it reads the command and sends relevant
data of that command wirelessly using transceiver
module. This data is received by the transceiver module
on the robotic vehicle and feds it to microcontroller which
acts accordingly on motors, pump and lamp.

The main objectives of the system are:

1. Construction of speech based intelligent fire
extinguisher vehicle system.
2. Live images feed back through wireless video camera.
3. Obstacle detection capability.
4. Night vision capability.
The project provides the following learnings:
1. Speech recognition module operation.
2. Interfacing of transceiver modules to Microcontroller.
3. DC motors working and need for motor driver.
4. Interfacing speech recognition module to microcontroller.
5. Obstacle detector characteristics.
The main building blocks of the circuit are:
1. Regulated Power Supply.
2. Microcontrollers.
3. Speech recognition module.
4. Wireless Transceiver modules.
5. DC motors with driver.
6. Obstacle detector.
7. Night vision lamp
8. Crystal oscillator.
9. Reset.
10. LED indicators.
INTRODUCTION:

The Main objective of voice controlled

intelligent fire extinguisher vehicle is to provide a voice
controlled or speech controlled system.
SPEECH RECOGNITION MODULE:
Speech recognition (SR) is the translation of spoken
words into text. It is also known as "automatic speech
recognition", "ASR", "computer speech recognition",
"speech to text", or just "STT".
Some SR systems use "speaker independent speech
recognition", while others use "training" where an
individual speaker reads sections of text into the SR
system. These systems analyze the person's specific voice
and use it to fine tune the recognition of that person's
speech, resulting in more accurate transcription. Systems
that do not use training are called "speaker independent"
systems. Systems that use training are called "speaker
dependent" systems.

Unit matching system - It provides likelihoods of a

match of all sequences of speech recognition units to the
input speech. These units may be phones, diphones ,
syllables or derivative units such as fenones and acoustic
units. They may also be whole word units or units
corresponding to group of 2 or more words. Each such
unit is characterized by some HMM whose parameters are
estimated through a training set of speech data.
Lexical Decoding constraints the unit matching system to
follow only those search paths sequences whose speech
units are present in a word dictionary.
Apply a "grammar" so the speech recognizer knows
what phonemes to expect. This further places constraints
on the search sequence of unit matching system. A
grammar could be anything from a context-free grammar
to full-blown English.
Figure out which phonemes are spoken This is a
quite dicey task as different words sound differently as
spoken by different persons. Also, background noises
from microphone make the recognizer hear a different
vector. Thus a probability analysis is done during
recognition. A hypothesis is formed based on this
analysis. A speech recognizer works by hypothesizing a
number of different "states" at once. Each state contains a
phoneme with a history of previous phonemes. The
hypothesized state with the highest score is used as the
final recognition result.

Where we use speech recognition? In Dictation , System

control/navigation ,Commercial/Industrial applications
and in Hand held digital recorders. This process
fundamentally functions as a pipeline that converts PCM
(Pulse Code Modulation) digital audio from a sound card
into recognized speech. The elements of the pipeline are:
Transform the PCM digital audio into a better
acoustic representation The input to speech recognizer
is in the form of a stream of amplitudes, sampled at about
16,000 times per second. But audio in this form is not
useful for the recognizer. Hence, Fast-Fourier
transformations are used to produce graphs of frequency
components describing the sound heard for 1/100th of a
second. Any sound is then identified by matching it to its
closest entry in the database of such graphs, producing a
number, called the feature number that describes the
sound.

But, nowadays, a lot of speech aware applications are

already there in the market. Various dictation softwares
have been developed by Dragon [12], IBM and Philips
[13]. Genie [11] is an interactive speech recognition
software developed by Microsoft. Various voice
navigation applications, one developed by AT&T, allow
users to control their computer by voice, like browsing the
Internet by voice. Many more applications of this kind are
appearing every day. The SPHINX speech recognizer of
CMU [1] provides the acoustic as well as the language
models used for recognition. It is based on the Hidden
Markov Models (HMM). The SONIC recognizer [2] is
also one of them, developed by the University of
Colorado. There are other recognizers such as XVoice [4]
for Linux that take input from IBMs via voice which,
now, exists just for Windows. Background noise is the
worst part of a speech recognition process. It confuses the
recognizer and makes it unable to hear what it is supposed
to. One such recognizer has been devised for robots [17]
that, despite of the inevitable motor noises, makes it
communicate with the people efficiently. This is made

possible by using a noise-type-dependent acoustic model

corresponding to a performing motion of robot.
Optimizations for speech recognition on a HP Smart
Badge IV embedded system [19] has been proposed to
reduce the energy consumption while still maintaining the
quality of the application. Another such scalable system
has been proposed in [18] for DSR (Distributed Speech
recognition) by combining it with scalable compression
and hence reducing the computational load as well as the
bandwidth requirement on the server. Various capabilities
of current speech recognizers in the field of
telecommunications are described in [20] like Voice
Banking and Directory Assistance. In the system which
we explained, speech recognition module is controlled by
the microcontroller.
MICROCONTROLLERS:
Microcontrollers have only been with us for a few
decades but their impact (direct or indirect) on our lives is
profound. Usually these are supposed to be just data
processors performing exhaustive numeric operations. But
their presence is unnoticed at most of the places like
At supermarkets in Cash Registers, Weighing Scales, etc.
At home in Ovens, Washing Machines, Alarm Clocks,
etc.
At play in Toys, VCRs, Stereo Equipment, etc.
At office in Typewriters, Photocopiers, Elevators, etc.
In industry in Industrial Automation, safety systems, etc.
On
roads
in
Cars,
Traffic
Signals,
etc.
What inside them makes these machines smart? The
answer is microcontroller. Creating applications for the
microcontrollers is different than any other development
job in electronics and computing. Before selecting a
particular device for an application, it is important to
understand what the different options and features are and
what they can mean with regard to developing the
application. A controller is used to control some process.
At one time, controllers were built exclusively from logic
components, and were usually large, heavy boxes. Later
on, microprocessors were used and the entire controller
could fit on a small circuit board. Ok. What is a
microcontroller? What does it contain? It is a highly
integrated chip, which includes on single chip, all or most
of the parts needed for a controller. The microcontroller
typically includes: CPU (Central Processing Unit), RAM
(Random Access Memory), EPROM/PROM/ROM
(Erasable Programmable Read Only Memory), I/O
(input/output) serial and parallel, timers, interrupt
controller. For example, Intel 8051 is 8-bit
microcontroller and Intel 8096 is 16-bit microcontroller.
By only including the features specific to the task
(control), cost is relatively low. A typical microcontroller

has bit manipulation instructions, easy and direct access

to I/O (input/output), and quick and efficient interrupt
processing.

ALU: Arithmetic & Logical Unit (ALU) is capable of

operating on byte level and bit level.ALU performs
arithmetic functions like addition, subtraction ,
multiplication and division. It is also capable of
performing logical functions normally called Boolean
functions.
Register A: The register A is also called as accumulator.
It is Used for many Operations, particularly mathematical
and logical operations and Boolean bit manipulations. The
register A is also used for all data transfers between the
8051 and any external memory.
Register B: The register B is used with the A register for
multiplication and division operations and has no other
function than data storage.
Program Counter(PC): The 8051 contain a 16-bit
register called as Program Counter, which is used to hold
the address of a byte in program memory. The PC is
automatically incremented after every instruction bye is
fetched. The PC is only register that does not have an
internal address.
Data Pointer: This Is also 16-bit register, made up of two
8-bit registers, named DPH and DPL. They are used when
memory addresses for internal and external code access
and external data access. DPTR does not have a single
internal address; DPH and DPL are each assigned an

address. Normally it can be used in lookup table accessing

method.
Nowadays, microcontrollers are used extensively in
robotics. In this application, many specific tasks might be
distributed among a large number of microcontrollers in
one
system.
Communications
between
each
microcontroller and a central, more powerful
microcontroller (or microcomputer, or even large
computer) would enable information to be processed by
the central computer, or to be passed around to other
microcontrollers in the system. A special application that
microcontrollers are well suited for is data logging. By
stick one of these chips out in the middle of a corn field or
up in a balloon, one can monitor.Introduction to
Microcontroller and record environmental parameters
(temperature, humidity, rain, etc). Small size, low power
consumption, and flexibility make these devices ideal for
unattended data monitoring and recording.

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 motor.

OBSTACLE DETECTION:
Even robot has more intelligence than human it does not
have any sense. So, to detect the obstacle in the way of
robot IR rays are used. The IR transmitter in the robot
continuously generate an Infrared signal of 38KHz, when
an obstacle comes in the path the infrared signal reflected
back from the object and is received by the IR sensor
which generates a positive high signal with the help of the
receiver circuit that is there is an obstacle in the path. In
such a way the robot is able to detect obstacles of
provided space and able to avoid obstacles coming in
between the path of ROBOT with the help
microcontroller board and complete its task.
WORKING OF THE SYSTEM:
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 , 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 500 meters) with proper antenna, while the
receiver decodes before feeding it to another
microcontroller to drive DC motors via motor driver IC

A. TRANSMITTER SECTION:
Optocouplers are used which consists of an infrared lightemitting diode (LED) and an npn phototransistor.
When a high going pulse is available on the data pin, the
internal LED drives the phototransistor of optocoupler
MCT2E and it provides an enable pulse to HT12E
encoder. All address pins of HT12E is grounded. Thus the
data encoded by HT12E will be 0111. This encoded data
is available at pin 17 of HT12E. The RF transmitter
frequency modulate data signal and transmits using
antenna. For RF transmission purposed it is needed to
encode the signal generated at computer parallel port with
the help visual basic code.
B.RECEIVER SECTION:
HT 12D Receive and decode 12 bit encoded data
transmitted by HT12E, for further processing. The
HT12D is 12 bit decoders are a series of CMOS LSIs for
remote control system applications. They are paired with
Holteks 2^12 series of encoders. For proper operation, a
pair of encoder/decoder with the same number of
addresses and data format should be chosen. The decoders
receive serial addresses and data from a programmed
2^12 series of encoders that are transmitted by a carrier
using an RF transmission medium. They compare the
serial input data three times continuously with their local
addresses.
C.SPEECH RECOGNITION SYSTEM:
The speech is received by a microphone and processed on
a PC. When a command for the robot is recognized, the
PC sends a command message to the robot, built-in
computer using RF signals. The robot computer analyzes
the message and takes appropriate actions. For the speech

processing we will focus on Microsoft SDK5.1 for

VISUAL BASIC 6.
D.VOICE CAPABILITIES IN VISUAL BASIC:
I. Text-to-Speech Capabilities- One feature of the voice
engine, with immediate application for experimental
procedures, is the capability it provides to program a
computer to read text aloud. What follows is a step-bystep example that illustrates how straightforward it is to
implement this capability using the Speech SDK within
Visual Basic.
II. Voice Recognition Capabilities- Apart from the textto-speech capabilities described above, the Speech SDK
offers a powerful human speech recognition system.
Although a simple example may readily be built using
Visual Basic, its use is more complex than the Text-ToSpeech capability, and thus some knowledge of Visual
Basic programming is required to fully understand the
example.
E.8051 MICROCONTROLLER:
We are using 8 bit microcontroller but our data is 4 bit so
thelower nibble of port ie P 1.0-P 1.3 are connected to D0D3 and in higher nibble of port i.e. P1.4 P1.7 all bit are
CMOS 8-bit microcontroller with 8K bytes of in-system
programmable Flash memory. The device is manufactured
using Atmels high-density nonvolatile memory
technology and is compatible with the industry-standard
8051 instruction set and pin out. The on-chip Flash allows
the program memory to be reprogrammed in-system or by
a conventional nonvolatile memory programmer.
F.OBSTACLE SENSOR:
The infrared intruder sensor is used to sense some
unknown person like thief entering in your house without
your permission. The board can be used in two modes
as an obstacle sensor and in the other as an IR signal
receiver and transmitter. The two modes can be selected
with the mode selector jumper. Putting the jumper in one
position (SNS) will make the sensor work as an obstacle
sensor and putting it in the other position (Tx) will put the
sensor in the IR signal receiving and transmitting mode.
H.FIRE SENSOR:
Here thermistor is used as fire sensor. Usually the
temperature sensor produces a voltage signal that
increases as the temperature increases. The inverted
temperature sensor (cold sensor) produces a voltage
signal that increases as the temperature decreases. If the
temperature sensor is being used with a digital process
unit then it needs to be followed by a comparator or
Schmitt inverter to give a sharp change of signal from low

to high. The temperature sensing circuit uses an NTC

(negative-temperature coefficient) thermistor to monitor
temperature. The resistance of a NTC thermistor falls as
its temperature increases.
OTHER APPLICATIONS:
1.It guides the blind persons to reach a particular
destination by using the voice feature.
2. It is used in hazardous places.
3.The photo-electric sensor in the robot will sense the
obstacles and it will make decisions according to the
obstacles it encounters.
4. It warns the person against the intruders.
5.Useful in controlling fire at extreme places where
human being cannot reach.
6.Live images of the incident can be seen through
wireless camera.
LIMITATIONS:
Speech has difficulties to be recognized by an
application. Because speech is different for every speaker,
May be fast, slow, or varying in speed. May have high
pitch, low pitch, or be whispered. Have widely-varying
types of environmental noise. Can occur over any number
of channels. Changes depending on sequence of
phonemes, May not have distinct boundaries between
units (phonemes), Boundaries may be more or less
distinct depending on speaker style and types of
phonemes, Changes depending on the semantics of the
utterance, has an unlimited number of words, has
phonemes that can be modified, inserted, or deleted.
REFERENCES:
http://www.docstoc.com/docs/160477938/VoiceOperated-Intelligent-Fire-Extinguisher-Vehicle
http://www.sharepdf.com/2014/1/20/792398a46898458d9ecd7f8b058c869
d/2.htm
http://www.authorstream.com/Presentation/abhinavvaidya
12-1948247-robotics/
http://www.slideshare.net/maastech/robotics-projectsabstractfire-fighting-robot-with-ai
https://www.academia.edu/
http://seminarprojects.net/index.php