PROJECT REPORT ON MOBILE CONTROLLED ROBOT

Submitted in the partial fulfillment of the requirement for the award of degree of

BACHELORS OF TECHNOLOGY IN Electronics & Communication Engineering

UNDER THE GUIDANCE OF MR. SONIT SINGH LECTURER

SUBMITTED BY HIMANSHU SINGH 10807352

Department of Electronics & Communication Engineering

Lovely Professional University Phagwara140 401, Punjab (India)
1 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Ph. (01824-506960-61) Department of Electronics & Communication Engineerin Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Reference:

Dated: 26th December 2011

Certificate
Certified that this project entitled MOBILE CONTROLLED ROBOT submitted by HIMANSHU SINGH (10807352), students of Electronics & Communication Engineering Department, Lovely Professional University, Phagwara Punjab in the partial fulfillment of the requirement for the award of Bachelors of Technology (Electronics & Communication Engineering) Degree of LPU, is a record of students own study carried under my supervision & guidance. This report has not been submitted to any other university or institution for the award of any degree.

MR. SONIT KUMAR LECTURER

2 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

ACKNOWLEDGEMENT
History of all great works is to witness that no great work was ever done without either the active or passive support of a person's surroundings and one's close quarters. Thus it is not hard to conclude how active assistance from seniors could positively impact the execution of a project. I am highly thankful to our learned faculty MR. SONIT KUMAR for his active guidance throughout the completion of project. Last but not the least, I would also want to extend my appreciation to those who could not be mentioned here but have well played their role to inspire me behind the curtain.

HIMANSHU SINGH

3 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

ABSTRACT
In this project we present controlling of a Robot using DTMF technique. The robot is controlled by a mobile phone that makes call to the other mobile phone attached to the robot. In the course of the call, if any button is pressed, tone corresponding to the button pressed is heard at the other end of the call. This tone is called dual tone multi frequency tone (DTMF). Using DTMF code, direction of motion of the robot can be controlled by mobile phone. In this project the robot, is controlled by a mobile phone that makes call to the mobile phone attached to the robot in the course of the call, if any button is pressed control corresponding to the button pressed is heard at the other end of the call. This tone is called dual tone multi frequency tome (DTMF) robot receives this DTMF tone with the help of phone stacked in the robot. The received tone is processed by the atmega16 microcontroller with the help of DTMF decoder MT8870 the decoder decodes the DTMF tone in to its equivalent binary digit and this binary number is send to the microcontroller, the microcontroller is preprogrammed to take a decision for any give input and outputs its decision to motor drivers in order to drive the motors for forward or backward motion or a turn. Being able to achieve reliable communication is an important open area of research to robotics as well as other technology areas. As interest in robotics continues to grow, robots are increasingly being integrated in everyday life. The results of this integration are end-users possessing less and less technical knowledge of the technology. Currently, the primary mode for robot communication uses RF (radio frequency). The overall goal of the project is to control robot over a long distance using DTMF technology efficiently.

4 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

CONTENTS.Page 1. INTRODUCTION.6 1.1 DTMF ROBOT............6 1.2 TECHNOLOGY USED.6 1.2.1 Dual-Tone Multi-Frequency (DTMF)..6 1.2.2 Telephone Keypad..7 1.2.3 Tones #, *, A, B, C, and D.7

1.3 GSM..7 2. DESIGN OF THE PROJECT...8 2.1 BLOCK DIAGRAM.8 2.2 DESCRIPTION.8 3. CIRCUIT DIAGRAM.9 3.1 COMPONENTS USED.10 PIN CONFIGURATION.11 4.1 IC- 8870..11 4.2 IC-8051...15 4.3 IC-7404...17 4.4 L293D.18 4.5 IC.7805

4.

5. CIRCUIT DESCRIPTION....21 6. PROBLEAM KACED...22 7. FINAL DESIGN.23 7.1 PROGRAM CODE.23 7.2 FLOW CHART..24 8. SOFTWARES USED..25 9. SCOPE OF PROJECT (APPLICATION AREA)..31 9.1 FURTHER IMPROVEMENTS & FUTURE SCOPE...32 10. REFERENCEs...32

5 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

1. INTRODUCTION
Radio control (often abbreviated to R/C or simply RC) is the use of radio signals to remotely control a device. The term is used frequently to refer to the control of model vehicles from a hand-held radio transmitter. Industrial, military, and scientific research organizations make [traffic] use of radio-controlled vehicles as well. A remote control vehicle is defined as any mobile device that is controlled by a means that does not restrict its motion with an origin external to the device. This is often a radio control device, cable between control and vehicle, or an infrared controller. A remote control vehicle (Also called as RCV) differs from a robot in that the RCV is always controlled by a human and takes no positive action autonomously. One of the key technologies which underpin this field is that of remote vehicle control. It is vital that a vehicle should be capable of proceeding accurately to a target area; maneuvering within that area to fulfill its mission and returning equally accurately and safely to base. Recently, Sony Ericsson released a remote control car that could be controlled by any Bluetooth cell phone. Radio is the most popular because it does not require the vehicle to be limited by the length of the cable or in a direct line of sight with the controller (as with the infrared set-up). Bluetooth is still too expensive and short range to be commercially viable.

1.1 DTMF ROBOT DTMF Mobile ROBOT is a machine that can be controlled with a mobile. In this project, the robot is controlled by a mobile phone that makes a call to the mobile phone attached to the robot. In the course of a call, if any button is pressed, a tone corresponding to the button pressed is heard at the other end of the call. This tone is called "Dual Tone MultipleFrequency" (DTMF) tone. The robot perceives this DTMF tone with the help of the phone stacked on the robot. The received tone is processed by the microcontroller with the help of DTMF decoder.

1.2 TECHNOLOGY USED 1.2.1 Dual-Tone Multi-Frequency (DTMF) Dual-tone multi-frequency (DTMF) signaling is used for telecommunication signaling over analog telephone lines in the voice-frequency band between telephone handsets and other communications devices and the switching centre. Other multi-frequency systems are used for signaling internal to the telephone network. The version of DTMF used for telephone tone dialing is known by the trademarked term Touch-Tone (cancelled March 13,1984), and is standardized by ITU. It is also known in the UK as MF4. . Other multifrequency systems are used for signaling internal to the telephone network. As a method of in-band signaling, DTMF tones were also used by cable television broadcasters to indicate the start and stop times of local commercial insertion points during station breaks for the benefit of cable companies. Until better out-of-band signalling equipment was developed in the1990s, fast, unacknowledged, and loud DTMF tone sequences could be heard during the commercial breaks of cable channels in the United States and elsewhere. 6 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

1.2.2 Telephone Keypad The contemporary keypad is laid out in a 34 grid, although the original DTMF keypad had an additional column for four now-defunct menu selector keys. When used to dial a telephone number, pressing a single key will produce a pitch consisting of two simultaneous pure tone sinusoidal frequencies. The row in which the key appears determines the low frequency, and the column determines the high frequency. For example, pressing the '1' key will result in a sound composed of both a 697 and a 1209 hertz (Hz) tone. The original keypads had levers inside, so each button activated two contacts. The multiple tones are the reason for calling the system multi frequency. These tones are then decoded by the switching centre to determine which key was pressed. 1.2.3 Tones #, *, A, B, C, and D The engineers had envisioned phones being used to access computers, and surveyed a number of companies to see what they would need for this role. This led to the addition of the number sign (#, sometimes called 'octothorpe' in this context) and asterisk or "star" (*) keys as well as a group of keys for menu selection: A, B, C and D. In the end, the lettered keys were dropped from most phones, and it was many years before these keys became widely used for vertical service codes such as *67 in the United States and Canada to suppress caller ID. The U.S. military also used the letters, relabeled, in their now defunct Auto von phone system. Here they were used before dialing the phone in order to give some calls priority, cutting in over existing calls if need be. The idea was to allow important traffic to get through every time. The levels of priority available were Flash Override (A), Flash (B), Immediate (C), and Priority (D), with Flash Override being the highest priority. Table 1.: Cell Phone keypad frequencies:

1.3 GSM: Global System for Mobile (GSM) is a second generation cellular standard developed to cater voice services and data delivery using digital modulation. Radio spectrum is very limited, thats why we have only 10-25MHz dedicated to wireless communication. Such narrow bandwidth allows 100-400 channels of reasonable quality, which is not rational and commercially not profitable to develop network for such small number of mobile subscribers. Genius idea lead to division of the whole geographical area to relatively small cells, and each cell may reuse the same frequencies by reducing power of transmission. Each cell has its own antenna (base station), and all base stations are interconnected using microwave or cable communication. Global System for Mobile communications (GSM) is that it is an international standard. If you travel in Europe and many other parts of the world, GSM is the only type of 7 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

cellular service available. Originally, the acronym GSM stood for Groupe Spcial Mobile, a group formed by the Conference of European Posts and Telegraphs (CEPT) in 1982 to research the merits of a European standard for mobile telecommunications. Commercial service using the GSM system did not actually start until 1991. Instead of using analog service, GSM was developed as a digital system using TDMA technology. Using TDMA, a narrow band that is 30 kHz wide and 6.7 milliseconds long is split time-wise into three time slots. Narrow band means channels in the traditional sense. Each conversation gets the radio for one-third of the time. This is possible because voice data that has been converted to digital information is compressed so that it takes up significantly less transmission space. Therefore, TDMA has three times the capacity of an analog system using the same number of channels.

2. DESIGN OF THE PROJECT

2.1 BLOCK DIAGRAM

Figure 1: Block diagram of mobile controlled robot

2.2 DESCRIPTION As shown in the above block diagram, first block is the Cell Phone. So, it acts as a DTMF generator with tone depending upon key pressed. DTMF Decoder, that is IC CM8870 decodes the received tone and gives binary equivalent of it to the microcontroller. The controller is programmed such that appropriate output is given to Motor Driver IC L293D which will drive the two DC Motors connected to it. The concept used for driving is differential drive. So, ultimately the two motors rotate according to the key pressed on the keypad of the cell phone. 8 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

3. CIRCUIT DIAGRAM

Figure 2. Circuit diagram of mobile controlled robot 9 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

3.1 COMPONENTS USED 3.1.1 Resistors VALUE 56K 150K 10K 47K 68K 330K 3.1.2 Capacitors VALUE 0.1 MIRO FARAD 33 PICO FARAD 10 IRO FARAD QUANTITY 3 2 1 QUANTITY 4 1 4 1 1 1

3.1.3 Oscillators VALUE 3.57 MHz 11 Hz 3.1.4 ICs VALUE CM 8870 HD7404 LS P89V51 RD2 L293D 7805 QUANTITY 1 1 1 1 1 QUANTITY 1 1

10 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

3.1.5 Others COMPONENT MOTOR ZENER DIODE, 5.6V RESET SWITCH 9V DC BATTERY CONNECTING WIRES 4. PIN CONFIGURATION 4.1 IC-CM8870 (DTMF DECODER) QUANTITY 2 2 1 2 -

Figure 3. pin connections of 8870 11 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure:4: pin assignments of 8870 Full DTMF receiver Less than 35mW power consumption Industrial temperature range Uses quartz crystal or ceramic resonators Adjustable acquisition and release times 18-pin The MT-8870 is a DTMF Receiver that integrates both band split filter and decoder functions into a single 18-pin DIP or SOIC package. It is manufactured using CMOS process technology. The MT-8870 offers low power consumption (35 mW max) and precise data handling. Its filter section uses switched capacitor technology for both the high and low group filters and for dial tone rejection. Its decoder uses digital counting techniques to detect and decode all 16 DTMF tone pairs into a 4-bit code. External component count is minimized by provision of an on-chip differential input amplifier, clock generator, and latched tri-state interface bus. Minimal external components required includes a low-cost 3.579545 MHz color burst crystal, a timing resistor, and a timing capacitor. The filter section is used for separation of the low-group and high group tones and it is achieved by applying the DTMF signal to the inputs of two sixth order switched capacitor band pass filters, the bandwidths of which corresponds to the low and high group frequencies. The filter section also incorporates notches at 350 and 440 Hz for exceptional dial tone rejection. Each filter output is followed by a single order switched capacitor filter section which smoothes the signals prior to limiting. Limiting is performed by high-gain comparators which are provided with hysteresis to prevent detection of unwanted low-level signals. The outputs of the comparators provide full rail logic swings at the frequencies of the incoming DTMF signals. Following the filter section is a decoder employing digital counting techniques to 12 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

determine the frequencies of the incoming tones and to verify that they correspond to the stard DTMF frequencies.

Figure 5. block diagram of 8870

13 Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Table: Functional diode table of 8870

14

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

4.2 IC -P89V51 RD2 (8051)

Figure 6. Pin assignments of IC -P89V51 RD2

The 89V51RD2 is a 8-bit 80C51, 5V low power 64 kB Flash microcontroller with 1 kB RAM. it provides the following features: 64 kB of on-chip Flash program memory with ISP (In-System Programming) and IAP (In-Application Programming), Four 8-bit I/O ports with three high-current Port 1 pins (16 mA each),Three 16-bit timers/counters.

15

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure 7. Block diagram of IC -P89V51 RD2

16

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

4.3 IC-HD7404 LS (HEX INVERTOR)

Fig. pin assignments of 7404

Figure 8. I/O diagram of 7404

The 7404 is an inverting buffer, especially useful when the output of one circuit cannot sink much current. A computer's parallel port is a notorious example and can easily be damaged by excessive current draw. Each of the parallel ports outputs can be connected to

17

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

one of the six inputs on the 7404 hex inverter chip. However, more than one 7404 will be needed to interface all of the parallel port pins. The output is the inverse of the input, in other words if the input is HIGH then the output is LOW and if the input is LOW the output is HIGH. 4.4 IC-L293D NE (MOTOR DRIVER) L293 is a dual h-bridge motor driver , so with one IC we can interface with two DC motors with can be controlled in both clockwise and counter clockwise direction if you have motor with fix direction of motion. You can make use for all the four I/Os connect up to four dc motors. L293 has output current 600mA and peak output current is 1.2A per channel. Moreover for protection of circuit form back EMF output diode are included with in the IC. The output supply (VCC2) has wide range from 4.5V to 36V which has made to L293 a best choice of DC motors.

Figure 9. pin assignments of L293

18

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure 11. I/O Diagram of L293

19

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure 12. Bidirectional DC Motor Control Table: 3. Motor rotate function

4.5 IC-7805 (voltage regulator)

Figure13 . logic diagram of 7805

The 7805 is a VOLTAGE REGULATOR. It looks like a transistor but it is actually an integrated circuit with 3 legs. It can take a higher, crappy DC voltage and turn it into a nice, smooth 5 volts DC. You need to feed it at least 8 volts and no more than 30 volts to do this. It can handle around .5 to .75 amps, but it gets hot. Use a heatsink. Use it to power circuits than need to use or run off of 5 volts.

20

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure 14. pin assignments of 7805

Figure 15. internal structure of 7805

5. CIRCUIT DESCRIPTION The important components of this robot are a DTMF decoder, microcontroller and motor driver. A CM8870 series DTMF decoder is used here. All types of the CM8870 series use digital counting techniques to detect and decode all the 16 DTMF tone pairs into a 4-bit code output. The built-in dial tone rejection circuit eliminates the need of pre-filtering. When the input signals are given at pins 1(IN+) & 2(IN-), a differential input configuration is recognized to be effective, the correct 4-bit decode signal of the DTMF tone is transferred to (pin11) through (pin14) outputs. The pin11 to pin14 of DTMF decoder are connected to the pins of microcontroller (P1.0 to P1.3). The 89V51RD2 is a 8-bit 80C51, 5V low power 64 kB Flash microcontroller with 1

21

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

kB RAM. it provides the following features: 64 kB of on-chip Flash program memory with ISP (In-System Programming) and IAP (In-Application Programming), Four 8-bit I/O ports with three high-current Port 1 pins (16 mA each),Three 16-bit timers/counters. Outputs from port pins P2.0 through P2.3 and P2.7 of the microcontroller are fed to the inputs IN1 through IN4 and enable pins (EN1 and EN2) of motor driver L293D IC, respectively to drive two geared dc motors. Switch S1 is used for manual reset. The microcontroller output is not sufficient to drive the dc motors, so current drivers are required for motor rotation. The L293D is a quad, high-current, half-h driver designed to provide bidirectional drive currents of up to 600mA at voltages from 4.5V to 36V. It makes it easier to drive the dc motors. The L293D consists of four drivers. Pins IN1 through IN4 and OUT1 through OUT4 are the input and output pins, respectively of driver 1 through driver 4. Drivers 1 and 2, and driver 3 and 4 are enabled by enable pin 1(EN1) and pin 9 (EN2), respectively. When enable input EN1 (pin1) is high, drivers 1 and 2 are enabled and the outputs corresponding to their inputs are active. Similarly, enable input EN2 (pin9) enables drivers 3 and 4. The motors are rotated according to the status of IN1 to IN4 pins of L293D which in turn are depending on output pins of microcontroller, P2.0 P2.3.

6. PROBLEMS FACED Although the concept & design of the project seemed perfect, there were some problems faced while actual implementation: Connecting Hands Free of cell phone to DTMF decoder IC input: There were several types of Hands Free cords available in the market, the right one had to be chosen from them. Several ways to break up the cords and connect them to the input of IC 8870 were tried & some were newly developed by us (e.g. Connecting Audio Jack of PC's speakers to the cell phone with help of an extender). Solution: Finally Hands Free cord's 'Earplugs' were removed & resulting set of wires were connected in an appropriate manner to the Decoder IC's input.

Selection of Mobile Phone We used some phones like Samsung galaxy. But they couldn't give any output. Several cell phones were tested with their respective Hands free cords. Solution: The older version phones like Nokia 1100, Nokia 2300 were found to be more

22

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

suitable for the purpose. Finally Nokia 1200 was used.

7. FINAL DESIGN: a. PROGRAM CODE //Project_Final.asm; CELL PHONE OPERATED ROBOT //P1.4-P1.7 ---> 8051 i/p ---> Connected to DTMF o/p //P2.0-P2.3 ---> 8051 o/p ---> Connected to L293D

org 0000h mov sp, #70h mov p1,#0ffh mov p2, #00h repeat: mov a , p1 mov R0 ,a cjne R0, #00001101b, NEXT1 mov p2,#00000101b // 0101 NEXT1: cjne R0, #00000111b, NEXT2 mov p2, #00001010b //1010

NEXT2:cjne R0, #00001011b, NEXT3 mov p2 ,#00001001b //1001

NEXT3:cjne R0, #00001001b, NEXT4 MOV P2,#00000110b NEXT4:cjne R0, #00001010b, EXIT mov p2,#0000000b EXIT: sjmp repeat //0000 //0110

23

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

End

b. FLOW CHART:

24

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure 16. Flow chart of the project

25

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

8. SOFTWARES USED: 1. Vision Keil

In this project we are using Vision Keil to run the program. ROLE IN THE DESIGN:- Vision Keil provides IDE for 8051 programming & is very easy to use. When starting a new project, simply select the microcontroller you use from the Device Database and the Vision IDE sets all Compiler, Assembler, Linker, and Memory options. Its device database is large which supports many ICs of the 8051 family. A HEX file can be created with the help of Keil which is required for burning onto chip. It has a powerful debugging tool which detects most of the errors in the program.

WORKING WITH Vision Keil

Figure. Selecting the controller snap shot

26

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure. Copy standard codes snap shot

27

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure. Creating HEX file

Figure: Adding files to group

28

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure. Compiling the source code 2. UPROG-MCU In this project we are using UPROG-MCU to load the data on micro-controller.

Figure. UPROG-MCU software

29

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure.Sselecting the microcontroller P89C51RD2 which has to be load with the program

Figure. Loading HEX file in the controller

30

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

Figure: hex code generation

Figure. Burning the HEX file in the controller

31

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

9. SCOPE OF PROJECT (APPLICATION AREA) Why build a DTMF ROBOT? Conventionally, Wireless-controlled robots use RF circuits, which have the drawbacks of limited working range, limited frequency range and the limited control. Use of a mobile phone for robotic control can overcome these limitations. It provides the advantage of robust control, working range as large as the coverage area of the service provider, no interference with other controllers and up to twelve controllers. Although the appearance and the capabilities of robots vary vastly, all robots share the feature of a mechanical, movable structure under some form of control. The Control of robot involves three distinct phases: perception, processing and action. Generally, the preceptors are sensors mounted on the robot, processing is done by the on-board microcontroller or processor, and the task is performed using motors or with some other actuators.

9.1. FURTHER IMPROVEMENTS & FUTURE SCOPE:

9.1.1 IR Sensors IR sensors can be used to automatically detect & avoid obstacles if the robot goes beyond line of sight. This avoids damage to the vehicle if we are maneuvering it from a distant place. 9.1.2 Password Protection Project can be modified in order to password protect the robot so that it can be operated only if correct password is entered. Either cell phone should be password protected or necessary modification should be made in the assembly language code. This introduces conditioned access & increases security to a great extent. 9.1.3 Alarm Phone Dialer By replacing DTMF Decoder IC CM8870 by a 'DTMF Transceiver IC CM8880, DTMF tones can be generated from the robot. So, a project called 'Alarm Phone Dialer' can be built which will generate necessary alarms for something that is desired to be monitored. For example, a high water alarm, low temperature alarm, opening of back window, garage door, etc. When the system is activated it will call a number of programmed numbers to let the user know the alarm has been activated. This would be great to get alerts of alarm conditions from home when user is at work. 9.1.4 Adding a Camera If the current project is interfaced with a camera (e.g. a Webcam) robot can be driven beyond line-of-sight & range becomes practically unlimited as GSM networks have a very large range.

32

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001

10. REFERENCES

Schenker, L (1960), "Pushbutton Calling with a Two-Group Voice-Frequency Code", The Bell system technical journal 39

DTMF Tester , Electronics For You Magazine , Edition (June 2003) Muhammad Ali Mazidi, The 8051 Microcontroller And Embedded System, Secon

THANK YOU

33

Lovely Professional University Phagwara (Distt. Kapurthala) Punjab India-144001