Remote controlled robotic car with cellphone

Name of member’s id.no

Addisu Alemayehu……………………………………………………………………..R/1504/01

Abraham kabe….……………………………………………………………………….R/1463/01

Alemayehu Tariku.…………………………………………………………………… R/ /01

Abraham Abeje….……………………………………………………………………. R/1457 /01

Nigusu Teshome………………………………………………………………………, R/3109/01

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 Remote controlled robotic car with cellphone

Table of contents page no.

Abstract………………………………………………………………...…………3

Chapter one-Introduction…………………………………….………………….5

1.1 Problem statement …………………………………………………………….6

1.2 Objective……………………………………………………………………….6
1.3 Significance…………………………………………………………………….6
1.4 Technology used……………………………………………………………….7
1.5 Scope…………………………………………………………………………...7

1.6-How to design………………………………………………………………….8

1.7-Principle of operation………….……………………………………………….9

Chapter Two-Methodology…..……………………………………….…………11

Chapter Three- Literature Review

3.1-8870 DTMF Decoder…………………………………………………………12

3.2-Microcontroller PIC 16F877A………………………………………………..13

3.3-Motor Drive…………………………………………………………………...13

3.4- Dc motor……………………………………………………………………...15

Chapter Four-Modeling and Design analysis……...............................................16

4.1-Modeling……………………………………………………………………….16

4.2-Design ……………………………………………....…………………………16

4.2.1- DTMF Decoder ……………………………………………………………..16

4.2.2- H-Bridge …………………………………………………………………….17

4.2.3- Microcontroller……………………………………………………………….18

Chapter Five- Result, Conclusion and Recommendation

5.1- Result…………………………………………………………………………….21
5.2- Conclusion……………………………………………………………………….21
5.3- Recommendation………………………………………………………………...21
Appendix……………………………………………………………………..22
Reference……………………………………………………………………..23

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 Remote controlled robotic car with cellphone

ACKNOWLEDGEMENT

We would like to take this opportunity to thank our project advisor Mr. Endalew Habtu
who painstakingly guided us during this Semester Project. Without his insightful suggestions as
well as enlightening discussions with him, we would not have been able to complete this
Semester project 2. This project can’t be thought without the internet access of Adama
University ICT. We also appreciate our dormitory friends for their continuous will in providing
comfortable environment to finish this project. We also like to express our great thanks to our
classmates those who shared their knowledge that helped us in accomplishing this project.
We like to express our great gratitude for our department for containing this semester project
within the curriculum as it makes us practically oriented and familiar with a lot of materials. And
also this project which is prepared by our department (Department of Electrical and Computer
Engineering) is more helpful for the coming senior project.

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 Remote controlled robotic car with cellphone

ABSTRACT:

Conventionally, wireless-controlled robots use RF circuits, which have the drawbacks of limited
working range, limited frequency range and limited control. Use of a mobile phone for robotics
control can overcome these limitations. It provides the advantages of robust control, working
range as larger as the coverage area of the service provider (range all over the world), no
interference with other controllers.

“DTMF Controlled Wireless Robotic Car” is capable of receiving a set of command

(instructions) in the form of DTMF tones and performs the necessary actions such as left, right,
back, forward etc. Here DTMF stands for “Dual tone multiple frequency”. We can control
robotic car by mat lab software through speech recognition system or DTMF tones generator in
PC. It is also called “Programmable Robotic Car”. Because recording DTMF tones and play back
will be able to control robotic car automatically.

In this paper, we present controlling of a Robotic car using DTMF technique. Reliable
surveillance is a need of the current environment. The system should be easy to operate,
efficient, cost effective & flexible for further improvements.

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 Remote controlled robotic car with cellphone

CHAPTER ONE

INTRODUCTION

A robot is a re-programmable multifunctional manipulator designed to move material,

parts, tools, or specialized devices through variable programmed motions for the performance of
a variety of tasks. A remote controlled device 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 project
includes a robotic car consisting of a cell phone, DTMF decoder and microcontroller. The
transmitter is a handheld mobile phone.

The DTMF tone for each key is sum of two sinusoidal waves of frequencies as given in
following table. Thus each key has unique frequency pair and thus unique DTMF tone. For
example, DTMF tone for key 6 is sum of two sinusoidal waves of frequency 1477 Hz and
770Hz.The extra keys A, B, C and D are not present on cell phone. They are actually specially
used for special purposes. For example, public payphones that accept credit cards use these
additional codes to send the information from the magnetic strip.

Table 1 tones and Assignments in a DTMF System

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 Remote controlled robotic car with cellphone

For example, in order to generate the DTMF tone for "1", you mix a pure 697 Hz signal with a
pure 1209 Hz signal, like so:

+ =
697 Hz Sine Wave 1209 Hz Sine Wave

DTMF Tone "1"1

1.1-PROBLEM STATEMENT
Our project is a remote controlled robotic car with cellphone using the DTMF technology. We
have chosen this project because it has a lot of application in home like monitoring small robotic
devices from different location in our absence.
To perform this task we have used the DTMF technology which uses the mobile network. It
works all over the world where there is a network access regardless of the distance between the
transmitting cellphone and the controlling cellphone.

1.2-OBJECTIVE:

The objective of this project is to introduce an idea of controlling a personal robot via cell phone
for practical applications in our daily life. This project is divided into two sections:
i) Conduct research on various applications of robotic systems and their feasibility.
ii) Focusing on the design and actual implementation of a control mechanism of the
Robot with cell phone

1.3-SIGINIFICANCE

Remote control vehicles have various scientific uses including hazardous environments. Remote
control vehicles are used in law enforcement and military engagements for some of the same
reasons. Exposure to hazards is mitigated to the person who operates the vehicle from a location
of relative safety. Remote controlled vehicles are used by many police department bomb-squads
to defuse or detonate explosives.

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 Remote controlled robotic car with cellphone

1.4-TECHNOLOGY USED
1.1.1Dual tone multiple-frequency (DTMF)
DTMF Mobile ROBO 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 Multiple-Frequency" (DTMF) tone.
The standard defines the DTMF tones for 16 keys, but telephones only use 12 of these 16 keys.
The remaining 4 tones are sometimes used within the telephone networks, but unless you are a
telecommunication geek working for a telephone company or the military, you will probably
never get to hear one of these tones. 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. The microcontroller then transmits the signal to the motor driver to operate
the motors & our robot starts moving.

1.5- FUTURE SCOPE

1.5.1- 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.

1.5.2- 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
and increases security to a great extent.

1.5.3- Alarm Phone Dialer

By replacing DTMF Decoder IC MT8870 by a 'DTMF Transceiver IC MT8880, 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 (usually by triggering a
relay). 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.

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 Remote controlled robotic car with cellphone

1.6- How to design

Fig. block diagram representation of the whole system

We need two cellphones one as a transmitting the control signal the other is used as a receiver.
On the robotic car we have a cellphone stacked on the car which is used as a receiver. We also
need a microcontroller which is used to control the motion of the robotic car as per the loaded
program.

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 Remote controlled robotic car with cellphone

1.7-Principle of operation

The DTMF signal is sent from the remote controller cellphone over the wireless mobile network.
This sent signal is then detected by the cellphone which is stacked on the robot. The output of
this cellphone is taken from the output of the earphone and then given to the decoder IC.

Table 3 DTMF decoder output

The output of this decoder after being filtered is fed to the microcontroller which performs the
major job the robotic system. Now the output of this microcontroller IC is then given to the
motor drive which controls the direction of movement of the two motors. The received tone is
processed by the microcontroller with the help of DTMF decoder MT8870. The
Decoder decodes the DTMF tone into its equivalent binary digit and this binary number is sent to
the microcontroller.

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 Remote controlled robotic car with cellphone

The microcontroller is preprogrammed to take a decision for any given input and outputs its
decision to motor drivers in order to drive the motors for forward or backward motion or a turn.
The mobile that makes a call to the mobile phone stacked in the robot acts as a remote. So this
simple robotic project does not require the construction of receiver and transmitter units. DTMF
signaling is used for telephone signaling over the line in the voice frequency band to the call
switching center. The version of DTMF used for telephone tone dialing is known as ‘Touch-
Tone.’ DTMF assigns a specific frequency (consisting of two separate tones) to each key so that
it can easily be identified by the electronic circuit.
The signal generated by the DTMF encoder is a direct algebraic summation, in real time, of the
amplitudes of two sine (cosine) waves of different frequencies.

Key pressed Decoder O/P Motor 1 Motor 2 Robot Action

1 0001 Forward Forward Forward
2 0002 Forward Stop Turn left
3 0003 Stop Forward Turn right
4 0004 Reverse Reverse Backward
Other than the Depends on the Stop Stop Stop
above key pressed
Table 2 robotic car action for each key pressed

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 Remote controlled robotic car with cellphone

CHAPTER TWO
METHODOLOGY
Considering the fast paced modern technology the new generation of engineers need to look a
step ahead. From the beginning of this project we focused primarily on communication with
Robot. Our main objective was, and is, to make the robots more users friendly and be able to
communicate with them as we can communicate with other people around the globe. Thus we
decided to design a simple prototype of a robot that can be controlled via cell phone.
4.1-System flowchart

Start

Read data from key

pressed

NO NO
Is a key Connector
pressed?

YES
Send data to the
receiver phone

NO NO NO NO
Is it Is it Is it Is it Is it
key 1? key 2? key 4? key 8? key 0?

YES YES YES YES YES

Turn Rever
Run the car Turn Stop
left se
forward right

End End End End End

Flow chart of the overall operation or our robotic car

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 Remote controlled robotic car with cellphone

CHAPTER THREE
LITERATURE REVIEW

3.1- 8870 DTMF decoder

It is an IC that takes DTMF signal as input and decodes it and shows the corresponding key as
four bit output. An MT8870 series DTMF decoder is used here. All types of the MT8870 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 for pre-filtering.

Fig. 8870 DTMF decoder

3.2- Microcontroller PIC 16F877A

Is a low power, high performance CMOS 8-bit microcomputer with 8kX16 bit word flash
program memory with data memory 368 bytes and EEPROM data memory of 256 bytes. It has
four ports (i.e. port A, B, C and D) and has a total of 40 pins.

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 Remote controlled robotic car with cellphone

U1
13 33
OSC1/CLKIN RB0/INT
14 34
OSC2/CLKOUT RB1
35
RB2
2 36
RA0/AN0 RB3/PGM
3 37
RA1/AN1 RB4
4 38
RA2/AN2/VREF-/CVREF RB5
5 39
RA3/AN3/VREF+ RB6/PGC
6 40
RA4/T0CKI/C1OUT RB7/PGD
7
RA5/AN4/SS/C2OUT
15
RC0/T1OSO/T1CKI
8 16
RE0/AN5/RD RC1/T1OSI/CCP2
9 17
RE1/AN6/WR RC2/CCP1
10 18
RE2/AN7/CS RC3/SCK/SCL
23
RC4/SDI/SDA
1 24
MCLR/Vpp/THV RC5/SDO
25
RC6/TX/CK
26
RC7/RX/DT
19
RD0/PSP0
20
RD1/PSP1
21
RD2/PSP2
22
RD3/PSP3
27
RD4/PSP4
28
RD5/PSP5
29
RD6/PSP6
30
RD7/PSP7
PIC16F877A

3.3- Motor Drive (H-Bridge)

H-bridge driver has four switches with each switch being transistor switch. For motor driving
application each switch should be Darlington. Making Darlington pair is mainly important to get
high current gain which is enough to drive the load. A small base current in a transistor brings
up a larger collector current, in turn makes a circuit. A Darlington can generate even more
current by cascading two transistors. So a transistor (regular or MOSFET (Metal-Oxide
Semiconductor Field-Effect Transistor) makes a good electronic switch. However, a DC motor
control requires more than just a switch: it needs a combination of switches to change the
polarity of the motor terminals for direction control. The most famous transistor control scheme
is to use so-called H-bridge. H-bridge is a combination of four transistors, and the name H-
bridge came from the shape of the overall circuit with a DC motor at the center.

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Remote controlled robotic car with cellphone

VCC

Q6

R7 Q5 R5
FMMT625
470 D5 D6 470
DIODE DIODE
FMMT625
LEFT MOTOR

Q8
D7 D8
R8 Q7 DIODE DIODE R6
FMMT625
470 470

FMMT625

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 Remote controlled robotic car with cellphone

3.4-DC Motor
A DC motor usually means a permanent-magnet, direct-current (DC) motor of the sort used in
toys, models, cordless tools, and robots. These motors are particularly versatile because both
their speed and direction can be readily controlled; speed by the voltage or duty cycle of their
power supply, and direction by its polarity.

Fig. DC motor
Torque is a measurement of the motors power. The higher the torque of the motor the more
weight it can move. DC motors provide different amounts of torque depending on their running
speed, which is measured in RPM (revolutions per minute). At low RPM DC motors produce
poor torque, and generally the higher the RPM, the better the motors torque. However, in high
torque, the speed may be too high for an application. That's why we have to use gears (or geared
motor) to reduce the overall speed of the motor and running at the top speed to get the most
power to, say, a wheel attached to the shaft of the motor. DC motors can be applied to movement
and locomotion Specifications of most DC motors show high revolutions per minute (rpm) and
low torque. Robotics need low rpm and high torque.

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 Remote controlled robotic car with cellphone

CHAPTER FOUR
MODELING, DESIGN ANALYSIS

4.1-MODELING-
Our system is an open loop system. The system is controlled manually so it is not a closed loop
system.
Kc
Human eye direction of movement

-Kc is a constant that relates the angle of rotation of the dc motor.

4.2-Design

4.2.1-DTMF Decoder

Fig. Single ended input configuration

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 Remote controlled robotic car with cellphone

4.2.2-H-Bridge

VCC

Q6

R7 Q5 R5
FMMT625
470 D5 D6 470
DIODE DIODE
FMMT625
LEFT MOTOR

Q8
D7 D8
R8 Q7 DIODE DIODE R6
FMMT625
470 470

FMMT625

Fig H-Bridge

The resistors R5-R8 are current limiting resistors. From the data sheet the output from the
microcontroller pic 16F877A is about 4.8v. The current of the microprocessor has to be limited
to 10mA. There is a voltage drop across the transistor which is 0.7V.

R5-R8= (4.8-0.7)/10mA=410Ω

The resistor with a resistance of 470Ω is taken in our case because of the availability of the
resistor.

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 Remote controlled robotic car with cellphone

4.2.3-Microcontroller

The microcontroller design uses a much more limited set of single and double byte instructions
that are used to move the code and data from internal memory to ALU Many instructions are
coupled with pins on integrated circuit package, the pins are “Programmable” – that is capable of
having several different functions depending on the wishes of the programmer. The micro
controller is concerned with getting data from and to its own pins.

Criteria of Choosing a Microcontroller:

1. The first and foremost criteria for choosing a microcontroller are that it must meet task at
hands efficiently and cost effectively. In analyzing the needs of a microcontroller based
project we must first see whether it is an 8-bit, 16-bit or 32-bit microcontroller and how
best it can handle the computing needs of the task most effectively. The other
considerations in this category are:
a. Speed: The highest speed that the microcontroller supports.
b. Power consumption: This is especially critical for battery-powered products.
c. The amount of the RAM and ROM on chip.
d. Packing: Is it 40-pin or some other packaging format?
e. This is important in terms of space, assembling and prototyping the end product.
f. The number of I/O pins and timers on the chip.
g. How easy it is to upgrade to higher-performance or lower-power consumption
versions.
h. Cost per unit: This is important in terms of final product in which a
microcontroller is used.
2. The second criteria in choosing a microcontroller are how easy it is to develop product
around it. Key considerations including the availability of an assembler, debugger, a
code efficient ’C’ language compiler, emulator, technical support and both in house and
outside expertise. In many cases third party vendor support for chip is required.
3. The third criteria in choosing a microcontroller is it readily available in needed quantities
both now and in future.

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 Remote controlled robotic car with cellphone

U1
13 33
OSC1/CLKIN RB0/INT
14 34
OSC2/CLKOUT RB1
35
RB2
2 36
RA0/AN0 RB3/PGM
3 37
RA1/AN1 RB4
4 38
RA2/AN2/VREF-/CVREF RB5
5 39
RA3/AN3/VREF+ RB6/PGC
6 40
RA4/T0CKI/C1OUT RB7/PGD
7
RA5/AN4/SS/C2OUT
15
RC0/T1OSO/T1CKI
8 16
RE0/AN5/RD RC1/T1OSI/CCP2
9 17
RE1/AN6/WR RC2/CCP1
10 18
RE2/AN7/CS RC3/SCK/SCL
23
RC4/SDI/SDA
1 24
MCLR/Vpp/THV RC5/SDO
25
RC6/TX/CK
26
RC7/RX/DT
19
RD0/PSP0
20
RD1/PSP1
21
RD2/PSP2
22
RD3/PSP3
27
RD4/PSP4
28
RD5/PSP5
29
RD6/PSP6
30
RD7/PSP7
PIC16F877A

In our case we have chosen pic 16F877A because of the availability of the microcontroller.

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 Remote controlled robotic car with cellphone

U1 VCC
13 33
OSC1/CLKIN RB0/INT
14 34
OSC2/CLKOUT RB1
35
RB2 Q3
2 36
RA0/AN0 RB3/PGM
3 37
RA1/AN1 RB4
4
RA2/AN2/VREF-/CVREF RB5
38 R3 Q1 R1
5 39 FMMT625
RA3/AN3/VREF+ RB6/PGC
6
RA4/T0CKI/C1OUT RB7/PGD
40
470 D1 D2 470
7 DIODE DIODE
RA5/AN4/SS/C2OUT
15
RC0/T1OSO/T1CKI
8 16 FMMT625
9
RE0/AN5/RD RC1/T1OSI/CCP2
17
LEFT MOTOR
RE1/AN6/WR RC2/CCP1
10 18
RE2/AN7/CS RC3/SCK/SCL
23
RC4/SDI/SDA
1 24
MCLR/Vpp/THV RC5/SDO
25
RC6/TX/CK
26
RC7/RX/DT Q4
RD0/PSP0
19 D3 D4
RD1/PSP1
20 R4 Q2 DIODE DIODE R2
21 FMMT625
RD2/PSP2
22
RD3/PSP3 470 470
27
RD4/PSP4
28
RD5/PSP5
29 FMMT625
RD6/PSP6
30
RD7/PSP7
PIC16F877A

VCC

Q6

R7 Q5 R5
FMMT625
GND 470 D5 D6 470
DIODE DIODE
FMMT625
LEFT MOTOR
VCC
DSW1
OFF ON
8 1
7 2
6 3
5 4 Q8
D7 D8
DIPSW_4 R8 Q7 DIODE DIODE R6
FMMT625
470 470

FMMT625

Fig Overall circuit diagram on preteus

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 Remote controlled robotic car with cellphone

CHAPTER FIVE

RESULT, CONCLUSION AND RECOMMENDATION

5.1- RESULT
Our goal is to develop a robotic car which is being controlled from a distant location with a
cellphone. We have got the needed response from the simulation for our project as per the
requirement. When we press key 1 our robotic car moves forward; when key 3 is pressed the car
will turn left; when key 4 is pressed the car turns left and if key 8 is pressed our robotic car will
move in the reverse direction. If any other key is pressed other than this four keys the robotic car
will stop.
5.2- CONCLUSION
By developing a cell phone operated robotic car, we have overcome the drawbacks of the
conventionally used RF circuits. This RCV includes advantages such as robust control, minimal
interference and a large working range. The car requires four commands for motion control. The
remaining twelve controls are available to serve purposes dependent on the area of application of
the RCV.

5.3- RECOMMENDATION
From the simulation we have got the response of the system as per the expectation but to
implement it with hard-wares there were some obstacles. The major obstacle is there is no
enough supply of components in our lab that we need to accomplish our project. If the materials
needed are provided fully the project could have been implemented with hard-wares
successfully.

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 Remote controlled robotic car with cellphone

//Source Code with Mikro C for PIC

Void main ()

{
PORTB=0;

PORTD=0;

TRISB=0X00;
TRISD=0XFF;

While (1)
{

If (PORTD=1)
PORTB=5;

Delay_ms (1000);
If (PORTD=2)

PORTB=4;

Delay_ms (1000);

If (PORTD=3)
PORTB=1;

Delay_ms (1000);
If (PORTD=4)
PORTB=6;

Delay_ms (1000);
PORTB=0;

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 Remote controlled robotic car with cellphone

REFERENCES

-Cellphone-Operated Land Rover by P. Raghavendra PRASAD and K. Susram Rahul

-WWW.GOOGLE.COM

-WWW.ENGINEERSGARAGE.COM
-WWW.EDABOARD.COM

-WWW.WIKIPEDIA.COM

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