Coal mine detection robot

It is mandatory to check the coal mine weather conditions prior to workers entry. If the weather conditions are normal then workers can enter , otherwise they will not go inside the mine. To check the weather conditions all over the mine we will send one robot which will monitor CO (carbon monoxide) in the mine, temperature and light intensity in the mine. After reading each parameter it will compare with threshold readings and produces output depending the readings taken. This robot is also an obstacle avoidance robot, it uses IR sensors to control its movement in the mine.

here is the flow chart

to download C-code
  to see video output

Schematic Diagram:
case'1':  when the light intensity is less in the mine
pulse width to the light is 0.1sec. and obstacle detected on left side. robot moving to right side 
                          A Reference book to learn about robots in hazardous environments here

case'2': when light intensity is less, high temperature and CO gas exceeded in the mine
 pulse width to the light is varying 0.1s, 0.25s and 0.5 sec to indicate 3 parameters are not in normal condition. and no obstacle detected

NOTE: 
push button at P1.3 has to be replaced by CO Gas sensor,
push buttons at P1.4 and P1.4 are to be replaced by IR sensors.  
Green LED will be replaced by Buzzer.
Threshold values may vary in practical