OBSTACLE DETECTOR AND AVOIDER WITH DTMF CONTROL

A PROJECT SUBMITTED IN FULFILMENT OF REQUIREMENTS FOR THE INDUSTRIAL TRAINING

BACHELOR OF TECHNOLOGY
(ELECTRONICS AND COMMUNICATION) BY

KAPIL RANA (0951312808)

UNDER THE GUIDANCE OF MR. PRAVEEN TO

DEPARTMENT OF ELECTRONICS AND COMMUNICATION GURU PREMSUKH MEMORIAL COLLEGE OF ENGINEERING BUDHPUR, DELHI-110036 AUGUST 2011

ACKNOWLEDGEMENT
The success of this project can be attributed to a number of people. Firstly we would like to thank our Mr. PRAVEEN(PROJECT LEADER) for his support and valuable technical advice during the course of the project. I am thankful to our LAB supervisor who helped us a lot in the implementation phase of our project. A warm thanks goes to our family and friends who had provided support during the challenges, and understanding of our many hours spending during the project.

KAPIL RANA (0951312808)

CERTIFICATE
It is certify that the project has been carried out by PANKAJ

CHOUDHARY a student of 4th semester under our guidance. The report covers all the aspects of the work done ( including H/W & S/W, Coding etc.) The project report is complete in all respects and I have understood the entire software. It shall be possible for the next batch of the students to take up further work after consulting this report.

(Signatures)/ Date Mr. B.P ARUN (DIRECTOR)

CONTENTS
1) INTRODUCTION 2) OBJECTIVE 3) METHODOLOGY
4)

DETAILS - The Differential Steering System

-

Mechanical and Structural Actuators DC Motor H- Bridge Motor Control Design and Implementation Coding

5) LIMITATIONS 6) APPLICATIONS 7) RESULTS AND CONCLUSIONS 8) BIBLIOGRAPHY

INTRODUCTION
An Autonomous obstacle avoider is a robot which while its journey, avoids the obstacles itself. Before striking any obstacle, it changes its direction. The basic aim behind making the obstacle avoider is to apply the principle in the new generation cars which moves in autopilot mode. New generation of automobiles will use the technology for obstacle avoidance in a different manner, for instance the sensor may be used to slow down the vehicle instead of changing direction of motion or control the direction wirily or wirelessly (i.e. using DTMF). Many industrial applications are there undone. This project also aims at giving a new direction to autopilot modes of airplanes and helipads. For further clarifications of project we need to understand some basic components and the basic principle as well. The word "robot" originates from the Czech word for forced labor or serf. Robots are electronic devices intended to perform a desired function. Many refer to them as "machines", however, a drill press is a machine, yet it requires an operator to perform its function, where robots can be programmed to do it themselves. Robots have the potential to change our economy, our health, our standard of living, our knowledge and the world in which we live. As the technology progresses, we are finding new ways to use robots. Each new use brings new hope and possibilities, but also potential dangers and risks. Robotics is not only a science, but it is also an art. The bots we build reflect the ideas and personalities we portray. There are many different versions of robots that can be made. From turtle bots to vehicles like the Mars rovers to rovers like R2-D2. From walkers that have anywhere from 1 to 10 legs to robotic arms to androids. Whatever you can dream, you can create.

The level of expertise you want your robot to have and how much learning and research you want to do is up to you. We have seen how ants always travel in a line, following an invisible route in search of food, or back home. How on roads we follow lanes to avoid accidents and traffic jams. Ever thought about a robot which follows line? A perfect or near perfect mimic of mother-nature? In the age of ubiquitous systems it is important to be able to control robots everywhere. Although many methods to remotely control robots have been devised, the methods have the problems such as the need for special devices or software to control the robots. This paper suggests a method for robotic control using the DTMF tone generated when the user pushes mobile phone keypad buttons or when connected with a remote mobile 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 controlles.

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.

OBJECTIVE
To build a car that will detect the object and hence avoid it follow the instructions viz moving straight in backward, forward, rightward or leftward directions or to stop, made by the controller via a Bluetooth enabled mobile phone.

DETAILS
1) THE DIFFERENTIAL STEERING SYSTEM

(LOCOMOTION)
The differential steering system is familiar from ordinary life because it is the arrangement used in a wheelchair. Two wheels mounted on a single axis are independently powered and controlled, thus providing both drive and steering. Additional passive wheels (usually casters) are provided for support. Most of us have an intuitive grasp of the basic behavior of a differential steering system. If both drive wheels turn in tandem, the robot moves in a straight line. If one wheel turns faster than the other, the robot follows a curved path. If the wheels turn at equal speed, but in opposite directions, the robot pivots.For motion with turns, we need at least three wheels 2 fixed, motor driven wheels 1 free motion caster wheel

1(a) Forward Motion

1(b) backward motion

1(c) Left turn

1(d) Right turn

Figure 1: The Differential steering model

2) MECHANICAL AND STRUCTURAL ACTUATORSMECHANICAL HARDWARE USED1. Caster 2. Screw for Caster 3. Hexagonal Nut for Caster 4. Wheels 1 4 4 2

STRUCTURAL ACTUATORS USEDD C Geared motors (12 volts, 150 rpm) 2

CASTER
The picture of caster wheel is shown below..

A caster (or castor) is an un-driven, single, double, or compound wheel mounted on an object to make movement easier. Found on shopping carts , office chairs

and material handling equipment, casters may be fixed to roll in one direction, or mounted on a pivot, such that the wheel will automatically swivel, aligning itself to the direction in which it is moving. Swivelling casters are sometimes themselves attached to handles, so users can turn the caster into the desired direction. Casters are used in many industrial applications. Heavy duty and high capacity casters are used on platform trucks, carts, assemblies, and tow lines in plants.

DESIGNS AND APPLICATIONS

A caster is defined as a wheel mounted to a fork, but has an additional offset steering joint. The steering joint allows the wheel to rotate freely in 360. This allows for easy turning of objects without changing the direction of the chassis that the casters are mounted to. The angle and distance of the wheel axles and steering joint can be adjusted for different types of caster performance. Casters are typically used on carts and furniture and are mounted underneath these platforms. Casters are advantageous for moving vehicles or platforms in both straight and turning motions. Casters are commonly used on supermarket shopping cart. During straightforward motion, the swivel caster will tend to rotate parallel to the direction of travel. This can be seen on a shopping cart when the caster rotates backwards during forward motion down an aisle. A benefit of this caster rotation is the vehicle naturally tends to travel in a straight direction. Precise steering is not required because the casters tend to maintain straight motion. This is also true during turning. The caster rotates again parallel to the turning radius and provides a smooth turn. The can be seen on a shopping cart as the

wheels rotate differently depending on how tight a turn is made. Because of these two qualities, casters are often used on dollies, office chairs, and wheelchairs. Casters can be designed in many different sizes and materials depending on application. Generally, they are made from rubber, plastic, nylon, aluminum, or stainless steel. Generally, casters operate well on smooth and flat surfaces.

WHEELS:
The wheels connected to geared motors are shown below.

The basic purpose of wheels connected to geared motors is to convert the rotational torque of shaft (which moves due to the rotation of gears), to linear motion for the car. Positioning and alignment of wheels is necessary for the smooth motion of car.

Also, they are to be fixed on the shaft in such a manner that they rotate only on the movement of shaft and unlike caster are not free to rotate as such. Wheels are the most important part for any car for its linear motion and so knowledge about their proper use is necessary for any person related to the field.

GEAR MECHANISM IN MOTORSA gear is a component within a transmission device that transmits rotational torque by applying a force to the teeth of another gear or device. A gear is different from a pulley in that a gear is a round wheel that has linkages ("teeth" or "cogs") that mesh with other gear teeth, allowing force to be fully transferred without slippage. Depending on their construction and arrangement, geared devices can transmit forces at different speeds, torques, or in a different direction, from the power source. The most common situation is for a gear to mesh with another gear, but a gear can mesh with any device having compatible teeth, such as linear moving racks. The gear's most important feature is that gears of unequal sizes (diameters) can be combined to produce a mechanical advantage, so that the rotational speed and torque of the second gear are different from those of the first. In the context of a particular machine, the term "gear" also refers to one particular arrangement of gears among other arrangements (such as "first gear"). Such arrangements are often given as a ratio, using the number of teeth or gear diameter as units.

(3)D.C. MOTORS
DC motors are widely used, inexpensive, small and powerful for their size. Reduction gearboxes are often required to reduce the speed and increase the torque output of the motor. Unfortunately more sophisticated control algorithms are required to achieve accurate control over the axial rotation of these motors. Although recent developments in stepper motor technologies have come a long way, the benefits offered by smooth control and high levels of acceleration with DC motors far outweigh any disadvantages. Several characteristics are important when selecting DC motors and these can be split into two specific categories. The first category is associated with the input ratings of the motor and specifies its electrical requirements, like operating voltage and current. The second category is related to the motor's output characteristics and specifies the physical limitations of the motor in terms of speed, torque and power. Example specifications of the motors used are given below:

CHARACTERISTICS
Operating voltage Operating current Speed Torque -

VALUE
6V to 12V 2A MAX. 2400 rpm 30 gm-cm

As noticed, the torque provided can hardly move 30gm of weight around with wheel diameter of about 2cm. This is a fairly a huge drawback as the robot could easily weigh about a kg. This is accomplished by gears which reduce the speed (2400 rpm is highly impractical) and effectively increase the torque. If the speed is reduced by using a gear system by a factor of then the torque is increased by the same factor. For example, if the speed is reduced from 2400 rpm, to 30 rpm, then the torque is increased by a factor of (2400/30 = 80) in other words the torque becomes 30x80=2400 gm-cm or 2.4 kg-cm which is more than sufficient.

(4) H-BRIDGE MOTOR CONTROL

DC motors are generally bi-directional motors. That is, their direction of rotation can be changed by just reversing the polarity. But once the motors are fixed, control becomes tricky. This is done using the H-Bridge. The figure is given below.

Figure 4: The H-Bridge Using Relays. The Explanation is simple, If A & D are turned on, then the current flows in the direction shown in the figure below.

Figure 4.1: Clockwise rotation

If B & C are turned on, then the motor rotates in counter clockwise direction.

Figure 4.2: Counter-Clockwise rotation

If you turn on the two upper circuits, the motor resists turning, so you effectively have a breaking mechanism. The same is true if you turn on both of the lower circuits. This is because the motor is a generator and when it turns it generates a voltage. If the terminals of the motor are connected (shorted), then the voltage generated counteracts the motors freedom to turn. It is as if you are applying a similar but opposite voltage to the one generated by the motor being turned. In other words, it acts like a brake. Any other state like A & C = ON or B & D = ON will cause a direct path to ground causing a very high current to pass through the relays thus causing a burnt fuse (if it exists).

The following figure shows an H-Bridge using only transistors. The same theory applies

. Figure 4.3: H-Bridge using transistors. Usually, the above circuitry can be used only for direction control. The Existing H-Bridge is further modified to include another transistor, now making speed control possible too. This is shown in the figure below.

Figure 4.4: Enhanced H-Bridge The same direction rules apply, but now the motor will behave as per the direction control only when a 1 is given to the EN input. Speed control is usually done by giving a PWM signal, and the duty cycle is varied to vary the speed of the motor. Usually protection diodes are also incorporated across the transistors to catch the back voltage that is generated by the motor's coil when the power is switched on and off. This fly-back voltage can be many times higher than the supply voltage! If diodes are not used, the transistors have a good chance to get burnt.

(5)DESIGN & IMPLEMENTATION

The block diagram of circuit is given below. It consists of mainly four parts:1. Microcontroller Unit 2. DTMF Unit 3. H-Bridge Circuit
4. IR Sensor

H-Bridge Circuit

Microcontroller Unit Module

DTMF Unit

IR Sensor

Figure 5: BLOCK DIAGRAM

5.1

MICRO-

CONTROLLER UNIT MODULE

2 . 8 .

6 .

5 .

7 .

1 .

4 .

1 0 1.

9 .

3 .

1. Atmel AT89S52 Microcontroller chip 2. Connection for Adapter 3. Pins according to AT89S52 configuration 4. Resistor(1 K) 5. Diodes (1N4007) 6. Electrolytic Capacitor(1000 F) 7. Voltage Regulator 7805(5 V) 8. Capacitor(10 F)

1 1 40 1 4 1 1 2

9. Crystal Oscillator(11.0592Mhz) 10. 10 k sip

1 1

5.1.1 AT89S52 MICROCONTROLLER: (a) DESCRIPTION:

The AT89S52 is a low-power, high-performance CMOS 8-bit microcontroller with 8K bytes of in-system programmable Flash memory. The device is manufactured using Atmels high-density non-volatile memory technology and is compatible with the industry-standard 80C51 instruction set and pin-out. The onchip Flash allows the program memory to be reprogrammed in-system or by a conventional non-volatile memory programmer. By combining a versatile 8-bit CPU with in-system programmable Flash on a monolithic chip, the Atmel AT89S52 is a powerful microcontroller which provides a highly-flexible and costeffective solution to many embedded control applications. The AT89S52 provides the following standard features: 8K bytes of Flash, 256 bytes of RAM, 32 I/O lines, Watchdog timer, two data pointers, three 16-bit timer/counters, a six-vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator, and clock circuitry. 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 con-tents but freezes the oscillator, disabling all other chip functions until the next interrupt or hardware reset.

(b)PIN CONFIGURATION:

P1.0 P1.1 P1.2 P1.3 P1.4 P1.5 P1.6 P1.7 RST (RXD)P3.0 (TXD)P3.1 (INT0)P3.2 (INT1)P3.3 (T0)P3.4 (T1)P3.5 (WR)P3.6 (RD)P3.7 XTAL2 XTAL1 GND

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

8051 (8031)

40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21

Vcc P0.0(AD0) P0.1(AD1) P0.2(AD2) P0.3(AD3) P0.4(AD4) P0.5(AD5) P0.6(AD6) P0.7(AD7) EA/VPP ALE/PROG PSEN P2.7(A15) P2.6(A14) P2.5(A13) P2.4(A12) P2.3(A11) P2.2(A10) P2.1(A9) P2.0(A8)

ATMEL 89S52

(c) BLOCK DIAGRAM OF AT89S52

(d)PIN DESCRIPTION
1) VCC - Supply voltage. 2) GND - Ground. 3) Port 0 - Port 0 is an 8-bit open drain bidirectional I/O port. As an output port,

each pin can sink eight TTL inputs. When 1s are written to port 0 pins, the pins can be used as high-impedance inputs. Port 0 can also be configured to be the multiplexed low-order address/data bus during accesses to external program and data memory. In this mode, P0 has internal pull-ups. Port 0 also receives the code bytes during Flash programming and outputs the code bytes during program verification. External pull-ups are required during program verification. 4) Port 1 - Port 1 is an 8-bit bidirectional I/O port with internal pull-ups. The Port 1 output buffers can sink/source four TTL inputs. When 1s are written to Port 1 pins, they are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 1 pins that are externally being pulled low will source current (IIL) because of the internal pull-ups. In addition, P1.0 and P1.1 can be configured to be the timer/counter 2 external count input (P1.0/T2) and the timer/counter 2 trigger input (P1.1/T2EX), respectively, as shown in the following table. Port 1 also receives the low-order address bytes during Flash programming and verification. 5) Port 2 - Port 2 is an 8-bit bidirectional I/O port with internal pull-ups. The Port 2 output buffers can sink/source four TTL inputs. When 1s are written to Port 2 pins, they are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 2 pins that are externally being pulled low will source current (IIL) because of the internal pull-ups. Port 2 emits the high-order address byte during fetches from external program memory and during accesses to external data

memory that uses 16-bit addresses (MOVX @ DPTR). In this application, Port 2 uses strong internal pull-ups when emitting 1s. During accesses to external data memory that uses 8-bit addresses (MOVX @ RI), Port 2 emits the contents of the P2 Special Function Register. Port 2 also receives the high-order address bits and some control signals during Flash programming and verification. 6) Port 3 - This does not need any pull-up resistors since it already has Pull-up resistors internally. Although port 3 is configured as an output port upon reset, this is not the way it is most commonly used. Port 3 has the additional function of providing signals.This can be seen from the next table. PORT 3 Table of functions

7) RST - Reset input. A high on this pin for two machine cycles while the oscillator is running resets the device. This pin drives high for 98 oscillator

periods after the Watchdog times out. The DISRTO bit in SFR AUXR (address 8EH) can be used to disable this feature. In the default state of bit DISRTO, the RESET HIGH out feature is enabled. 8) ALE/PROG - Address Latch Enable (ALE) is an output pulse for latching the low byte of the address during accesses to external memory. This pin is also the program pulse input (PROG) during Flash programming. In normal operation, ALE is emitted at a constant rate of 1/6 the oscillator frequency and may be used for external timing or clocking purposes. Note, however, that one ALE pulse is skipped during each access to external data memory. If desired, ALE operation can be disabled by setting bit 0 of SFR location 8EH. With the bit set, ALE is active only during a MOVX or MOVC instruction. Otherwise, the pin is weakly pulled high. Setting the ALE-disable bit has no effect if the microcontroller is in external execution mode. 9) PSEN - Program Store Enable (PSEN) is the read strobe to external program memory. When the AT89S52 is executing code from external program memory, PSEN is activated twice each machine cycle, except that two PSEN activations are skipped during each access to external data memory. 10) EA/VPP - External Access Enable. EA must be strapped to GND in order to enable the device to fetch code from external program memory locations starting at 0000H up to FFFFH. Note, however, that if lock bit 1 is programmed, EA will be internally latched on reset. EA should be strapped to VCC for internal program executions. This pin also receives the 12-volt programming enable voltage (VPP) during Flash programming. 11) XTAL1 - Input to the inverting oscillator amplifier and input to the internal clock operating circuit. 12) XTAL2 - Output from the inverting oscillator amplifier.

5.1.2 FUNCTION OF OTHER PARTS: 1. CONSTANT VOLTAGE SUPPLY (POWER SUPPLY UNIT) 7805
KA7805/KA7805A (3-Terminal 1A Positive Voltage Regulator) As clear from its name, the function of voltage regulator 7805 is , basically to regulate the voltage. By this, we mean to ensure a constant supply at a level of 5 volts compared to ground. This is essential as the Micro-controller works on voltage levels 5V and ground.

Figure 5.1: A typical 7805 voltage regulator IC

Features
Output Current up to 1A. Output Voltage of 5V. Thermal Overload Protection. Short Circuit Protection. Output Transistor Safe Operating Area Protection. Input voltage(Vi) for Vo= 5 to 18 V for Vo= 24 V 35V 40V

 Operating Temperature up to ~ +125 degree Celcius

Description
The KA7805/KA7805A series of three-terminal positive regulator are available in the TO-220/D-PAK package and with several fixed output voltages, making them useful in a wide range of applications. Each type employs internal current limiting, thermal shut down and safe operating area protection, making it essentially indestructible. If adequate heat sinking is provided, they can deliver over 1A output current. Although designed primarily as fixed voltage regulators, these devices can be used with external components to obtain adjustable voltages and currents.

Figure 5.2: Internal Block diagram of a 7805 voltage regulator IC

2. Capacitors (10 F)
The capacitor (10 F) connected at the left side is for reset of the circuit and the one at the right side is to smoothen the output load.

3. Electrolytic Capacitors (1000 F) and Diodes

These form the bridge rectifier circuit for the micro-controller unit module. This circuit is responsible for fact that the car will run on both ac and dc. In case of dc, the rectifier circuit will not come into account but in case of ac, the circuit will convert the ac into dc. This is essential as the micro-controller runs on dc.

4.10 k sip
This 10 k sip is a register network. Its function is to give active-low on Port P0. So, what happens is that all the 8 pins of P0 have 5 volts on them and so are disabled. Only when they are made 0 do the pins become enabled.

5. Crystal (11.0592 MHz)

This is a Quartz crystal. Its function is to provide for the pins XTAL1 and XTAL2. The crystal provides for the internal operating clock and also is the input to the inverting oscillating amplifiers in the internal structure of the AT89S52 micro-controller.

5.2 H-BRIDGE CIRCUIT

5.2.1 H-BRIDGE (Transistor Circuit)

2 3 . 4 7

5 6

As can be seen from the numbers listed on the diagram, the components are:
1. Opto-Couplers (PC 817) 2. Resistors (1 K )

4 16 8 4 4 2 8

3. Transistors (BC 557) 4. Transistors (NPN , TIP 112) 5. Transistors (PNP , TIP 127)
6. Connections with Motors

7. Diodes (1N4007, 1 Ampere)

FUNCTIONS OF INDIVIDUAL PARTS1. PC 817 OPTO-COUPLERIts function is isolation of the voltage levels of the DC motor and the microcontroller. The micro-controller works on 5 volts but the DC motor works on 12 volts. As these two are different voltage levels, there is a need of isolation and the four-legged PC 817 device is used here.

2. BC 557 TRANSISTORSThe function of BC 557 transistors is to perform the EX-OR operation in the module. This leads to the fact that the DC motor will work either on 10 or 01 logic levels coming from the micro-controller to the input signal position in the H-Bridge module. So, the DC motor is saved from damage. This is because if 00 or 11 are supplied to the motors, they will be shorted as explained i the theory about H-Bridges.

3. TIP 112 and TIP 127-There are 8 transistors connected in the H-Bridge module other than BC 557. Of them, 4 are TIP 112 and 4 are TIP 127. The former are NPN transistors and the latter are PNP transistors. They make up in total 4 Darlington Pairs. A Darlington Pair is a circuit consisting of transistors which is responsible for current amplification. Eventually, this current is supplied to the DC motors to make them run. 4. DiodesThere are 8 diodes used here. Their number is 1N4007 and of 1 ampere current rating. They are used to prevent back e.m.f. This back e.m.f can cause damage to the DC motor.

5.2.2 H-BRIDGE IC (L298)

The L298 is a Dual Full Bridge driver that can drive up to 2Amps per bridge with supply voltage up to 46V. It can drive DC motors, stepper motors, relays, solenoids, etc. The device is TTL compatible. Two H bridges of L298 can be connected in parallel to increase its current capacity to 4 Amp. It can be used in conjunction with stepper motor controller for driving one/two phase stepper motor. The device is available in 15- lead Multi watt package.

PIN CONFIGURATION

APPLICATIONS
DC and stepper motor drives. Position and velocity servomechanisms. Computer printers and plotters.

5.3 DTMF UNIT MODULE

1 . 5 .

2 . 3 . 7 .

6 .

4 .

The parts in this are

1. IC MT8870

module

1 5 1

2. Red LEDs 3. White LEDS 4. Resistors 1 kohm

10 kohm 22 kohm 100 kohm 330 kohm

1 3 1 1 1 4 1

5. Crystal (3.5791) 6. Capacitors (22pF)

7. Connector

5.3.2 DTMF SIGNALLING

Dual-tone multi-frequency signaling (DTMF) is used for telecommunication signaling over analog telephone lines in the voice-frequency band between telephone handsets and other communications devices and the switching center. The version of DTMF that is used in push-button telephones for tone dialing is known as Touch-Tone, first used by AT&T in commerce as a registered trademark, and is standardized by ITU-T Recommendation Q.23. It is also known in the UK as MF4. It is a tone consisting of two frequencies superimposed. Individual frequencies are chosen such that it is easy to design filters and easy to transmit the tones through a telephone line having bandwidth of approximately 3.5 kHz. DTMF was not intended to be used for data transfer, it was meant to be used for sending the control signals along the telephone line. With standard decoders it is possible to send 10 beeps per second i.e., five bits per second. DTMF standard specifies 50ms tones and 600ms duration between two successive tones. The multiple tones are the reason for calling the system multi frequency.

Note that the last column is not commonly seen in the telephones that we used, but telephone exchanges use them quite often. Nowadays, DTMF is used for

dialing the numbers in telephones, configuring telephone exchanges etc. A CB transceiver of 2.7 MHz is normally used to send floating codes. DTMF was designed to be able to send the codes using microphone. Each beep (or digit you dial on the telephone) is composed of two concurrent frequencies, which are superimposed on amplitude. The higher of the two frequencies is normally aloud by 4dB, and this shift is termed as twist. If the twist is equal to 4dB, the higher frequency is loud by 4dB. If the lower frequency is loud, then the twist is said to be negative.

GeneratingDTMF
DTMF signals can be generated through dedicated ICs or by using RC networks connected to a microprocessor. MT8880 is an example of a dedicated IC. But getting the latter method work is a bit difficult if high accuracy is needed. The crystal frequency needs to be sacrificed for a non standard cycle length. Hence this method is used for simple applications. Most often, a PIC micro could be used for the above purpose.

DecodingDTMF
Detecting DTMF with satisfactory precision is a hard thing. Often, a dedicated IC such as MT8870 is used for this purpose. It uses two 6th order band-pass filters using switched capacitor filters and it suppresses any harmonics. Hence they can produce pretty good sine waves from distorted input. Hence it is preferred. Again microprocessors can also be used, but their application is limited.

5.3.3FUNCTIONING OF IC MT8870

FUNCTIONAL DESCRIPTION
The CAMD MT8870/70C DTMF Integrated Receiver provides the design engineer with not only low power consumption, but high performance in a small 18-pin DIP, SOIC, or 20-pin PLCC package configuration. The CM8870/70Cs internal architecture consists of a band-split filter section which separates the high and low tones of the received pair, followed by a digital decode (counting) section which verifies both the frequency and duration of the received tones before passing the resultant 4-bit code to the output bus.

DECODER SECTION
The MT8870/70C decoder uses a digital counting technique to determine the frequencies of the limited tones and to verify that these tones correspond to standard DTMF frequencies. A complex averaging algorithm is used to protect against tone simulation by extraneous signals (such as voice) while providing tolerance to small frequency variations. The averaging algorithm has been developed to ensure an optimum combination of immunity to talk-off and tolerance to the presence of interfering signals (third tones) and noise. When the detector recognizes the simultaneous presence of two valid tones (known as signal condition), it raises the Early Steering flag (ESt). Any subsequent loss of signal condition will cause ESt to fall.

5.4 BLUETOOTH WIRELESS HEADSETS

A headset is a headphone combined with a microphone. Headsets provide the equivalent functionality of a telephone handset with hands-free operation. Headsets typically have only one speaker like a telephone, but also come with speakers for both ears. They have many uses including in call centers and other telephone-intensive jobs and for personal use at the computer to facilitate comfortable simultaneous conversation and typing.

TYPES OF HEADSET
Headsets can come in single-earpiece and double-earpiece designs. Singleearpiece headsets are known as monaural headsets. However, double-earpiece headsets come in both stereo type (two channels of audio signal, one for each earpiece) or binaural type (the same audio channel for both ear-pieces). Professional users may choose to wear monaural headsets because they free up one ear, so they can be more conscious of their work surroundings. Telephone headsets come in only monaural type for double-earpiece designs because telephone offers only single-channel input and output, so all double-earpiece telephone headsets are binaural. However, for computer or other audio applications, where the sources offer twochannel output, stereo headsets are the norm. Telephone headsets generally use 150-ohm loudspeakers with a narrower frequency range, so sound outside the voice band is less audible to reduce background noise. Stereo computer headsets, on the other hand, use 32-ohm loudspeakers which have a much broader frequency range, and is more suitable of music listening.

A Typical Bluetooth Headset

Most users have heard about Bluetooth, and although this technology was designed originally for a much wider application, it has today become largely for voice transmission (a notable exception to this would be the use of Bluetooth in the Nintendo Wiimote). The reason for this general exclusivity is because of the power/range settings of Bluetooth. Bluetooth uses 2.4 GHz RF, similar to WLAN or Wi-Fi; however, by default it is set for a very close proximity usage for power consumption benefits. This deficiency for a longer-range coverage made bluetooth technology un-desirable for data transmission. As nowadays, more and more mobile phones come equipped with bluetooth, this technology has become a common wireless profile for wireless mobile phone headsets only.

A Stereo Bluetooth Headset

When choosing a Bluetooth headset users should be aware that bluetooth headsets come in different types as well. Standard bluetooth headset's using version 1.0 or 1.1 are often a single-side monaural earpiece, which can only access the Headset/handsfree profile of Bluetooth. Depending on the phone's operating system, this type of headset will either play music at a very low quality (because the phone is converting it into a voice signal) or will be unable to play music at all (because the phone cannot perform such a conversion). Users who need a stereomusic playing Bluetooth headset should look for a headset with the A2DP profile. Users should note that some A2DP-equipped headsets will automatically deactivate the microphone function during music-listening, so if these headsets are paired to a computer via bluetooth connection, the headset may either disable the stereo function or the microphone function.

Bluetooth Wireless Desktop Solutions

Some developers have offered complete desktop solutions using Bluetooth technology. With a base-station that connects via cables to the fixed-line telephone and also the computer via soundcard, users with any bluetooth headset can pair their headset to the base-station, hence enabling them to use a single headset for both fixed-line telephone and computer VoIP communication. This type of solution, when used together with a multiple-point bluetooth headset enables user to use a single bluetooth headset to communicate in Telephone/Computer/Mobile. There are now Bluetooth office headsets that incorporate Class 1 Bluetooth into the base station so that when using with a Class 1 Bluetooth headset, the user can get a greater distance from the phone or computer; generally around 100 feet compared to the 33 feet of Class 2 Bluetooth, which is what most Bluetooth headsets run on. The headsets that come with these base stations connect to cell phones via Class 2 Bluetooth, so you still get the same 33 foot range from your cell phone.

5.5 SENSOR MODULE

The sensor is an array of 3 IR LED-Photodiode pairs arranged in the form of an inverted V. The output of each sensor is fed into an analog comparator with the threshold voltage (used to calibrate the intensity level difference of the line with respect to the surface). These 3 signals (from each photo-reflective sensor) is given to a comparator, the output of which goes to the microcontroller. This sensor can be used for most indoor applications where no important ambient light is present. For simplicity, this sensor doesn't provide ambient light immunity, but a more complicated, ambient light ignoring sensor should be discussed in a coming article. However, this sensor can be used to measure the speed of object moving at a very high speed, like in industry or in tachometers. In such applications, ambient light ignoring sensor, which rely on sending 40 KHz pulsed signals cannot be used because there are time gaps between the pulses where the sensor is 'blind'... The solution proposed doesn't contain any special components, like photo-diodes, photo-transistors, or IR receiver ICs, only a couple if IR leds, an Op amp, a transistor and a couple of resistors. In need, as the title says, a standard IR led is used for the purpose of detection. Due to that fact, the circuit is extremely simple, and any novice electronics hobbyist can easily understand and build it.

5.5.1OBJECT

DETECTION

USING

IR

LIGHT

It is the same principle in ALL Infra-Red proximity sensors. The basic idea is to send infra red light through IR-LEDs, which is then reflected by any object in front of the sensor. Then all you have to do is to pick-up the reflected IR light. For detecting the

reflected IR light, we are going to use a very original technique: we are going to use another IR-LED, to detect the IR light that was emitted from another led of the exact same type. This is an electrical property of Light Emitting Diodes (LEDs) which is the fact that a led Produce a voltage difference across its leads when it is subjected to light. As if it was a photo-cell, but with much lower output current. In other words, the voltage generated by the leds can't be - in any way - used to generate electrical power from light, It can barely be detected. Thats why as you will notice in the schematic we are going to use a Op-Amp (operational Amplifier) to accurately detect very small voltage changes.

5.5.2 SENSOR CIRCUIT

The resistance of the sensor decreases when IR light falls on it. A good sensor will have near zero resistance in presence of light and a very large resistance in absence of light. We have used this property of the sensor to form a potential divider. The potential at point 2 is Rsensor / (Rsensor + R1). Again, a good sensor circuit should give maximum change in potential at point 2 for no-light and bright-light conditions. This is especially important if you plan to use an ADC in place of the

comparator. To get a good voltage swing , the value of R1 must be carefully chosen. If we assume Rsensor = a, when no light falls on it and Rsensor = b, when light falls on it. The difference in the two potentials is: Vcc * { a/(a+R1) - b/(b+R1) } Relative Voltage Swing = = = Actual Voltage Swing / Vcc Vcc * { a/(a+R1) - b/(b+R1) } / Vcc a/(a+R1) - b/(b+R1)

Figure 5.3: Schematic of a single sensor

5.6 WIRELESS CAMERA

A wireless camera is a type of video camera that does not require the use of cables or external wires for connection to related equipment. Wireless cameras offer convenience when the placement of such cables would be difficult or even impossible. Some wireless cameras use batteries, making them totally independent of power outlets as well. Furthermore, they are portable and can be moved from location to location quite easily. Wireless cameras function similarly to other types of wireless devices. The exception to the similarity, however, is that they send radio signals that are decoded into video data. Wireless cameras are often used for surveillance, though some people purchase them just for fun. Some wireless cameras are compatible with personal computers (PCs) and are used to serve data streams to computer applications or the Internet. A wireless camera may be a good choice for video surveillance. This type of camera can be used for both home and business, providing good surveillance coverage while offering easy installation. Keep in mind, however, that some wireless cameras still require connection to a power outlet. If connecting to a power outlet isnt convenient or will give away the location of a camera you want hidden, consider purchasing a battery-powered wireless camera instead. Wireless cameras are also popular for web camming. Used for this purpose, a wireless camera owner can allow another Internet user to both see and hear him or her using Internet technology. Many individuals use wireless cameras to catch up with longdistance relatives and friends, chat over the Internet with just about anyone, and even participate in the online dating scene.

5.6.1 WIRELESS AV CAMERA

VIDEO OUTPUT

DC INPUT PLUG

AUDIO OUTPUT

POWER INDICATORY LIGHT

FREQUENCY CONTROLLER

BASIC

ANTENNA INTERFACE

SPECIFICATION PARAMETERS
VIDEO OUTPUT AUDIO OUTPUT POWER CONSUMPTION WORK TEMPERATURE SIZE WEIGHT RANGE : : : : : : : 75 / 1 Vp-p 10k / 200 M Vp-p LESS THAN 2W 0 ~ 40C 115 X 60 X 20 mm 150 g 60 m

OPERATING INSTRUCTIONS CAMERA TRANSMITTER

1. Install the camera transmitter toward the direction you need to monitor. 2. Insert the DC8V500mA power adaptor into the inter flow power plug, and insert its DC output plug into the DC input plug of the camera transmitter to put through the circuit.

RECEIVER
1. Insert the antenna into the antenna interface of the receiver and fasten it. 2. Use AV line to connect the audio and video output interface of the receiver with the audio and video input interface of the TV set or monitor.
3. Insert the DC9V/12V 500mA power adaptor into the interflow power plug, and

insert its DC output plug into the DC input plug of the receiver to put through

the circuit, and at the moment the power indicatory light shines.
4. Adjust the frequency controller of the receiver to the sending frequency of the

corresponding camera transmitter with hands and you can get the picture and sound by the TV set. Adjust the supervision position of the camera transmitter to the supervision object, and you can make effective supervision.

THE MATTER NEEDS PAYING ATTENTION TO

1. The two kinds of power adaptors of DC9V/12V500mA and DC8V500mA must not be mix-used, in order to avoid to cause the circuit damage of the camera transmitter.

APPLICATIONS
This product is suitable for supervision of the places such as supermarkets, department stores, homes, workshops, hospitals, and so on.

(6)CODING

ORG 00H OBS: MOV P0, #1111 0101B JNB P0.2, ST AJMP OBS ST: MOV P0, #1111 1111B MOV A, P1 CJNE A, #1111 1100B, OBS AJMP DTMF

DTMF: MOV A, P1 FW: CJNE A, #11110010B, BK MOV P0, #11110101B AJMP DTMF

BK:

CJNE A, #11111000B, RT MOV P0, #11111010B AJMP DTMF

RT:

CJNE A, #11110110B, LT

MOV P0, #11111001B AJMP DTMF

LT:

CJNE A, #11110100B, STP MOV P0, #11110110B AJMP DTMF

STP:

CJNE A, #11110101B, CHECK MOV P0, #11111111B AJMP DTMF

CHECK: CJNE A, #1111 1011B, DTMF AJMP OBS

LIMITATIONS

 Different DTMF characters have different level of effectiveness in transmission, i.e., one DTMF tone may have a larger effective communication area than the other. Therefore, in estimating the effectiveness region of the whole DTMF character set, communication is considered failed when two or more tones out of 16 are not transmitted successfully Choice of Sensors sensitivity is made in the hardware abstraction and cannot be changed by software. Calibration is difficult, and it is not easy to set a perfect value. The steering mechanism is not easily implemented in huge vehicles and impossible for non-electric vehicles (petrol powered). Lack of a four wheel drive, makes it not suitable for a rough terrain.
Use of IR sensors makes it difficult for robot to sense during day light, it

senses the Infrared from sunlight as well as IR use makes it hard to debug a faulty sensor. Lack of speed control makes the robot unstable at times.

APPLICATIONS

 Industrial automated equipment carriers. Entertainment and small household applications. Automated cars. Tour guides in museums and other similar applications. Second wave robotic reconnaissance operations. Autopilot modes of airplanes and helipads Spy robots in surveillance system

RESULT AND CONCLUSION

The Obstacle Avoider robot was finally completed. After detecting the object movement of car is as desired by bluetooth enable mobile phone. A lot of effort was put into the design, implementation and days of toil in front of the computer, writing and debugging the code. The robot was finally running with a few glitches here and there which were sorted in the later revisions of the firmware. The Obstacle Avoiding robot still has a few shortcomings but achieves most of the objectives. We earned a lot of knowledge on micro-controllers, a deeper & clearer view of the architecture, ports & all other functional blocks was achieved. Did a lot of research on robotics. Had a peek look at all simple functional parts of the project like the crystal oscillator, logic gates and the works. Well, these were the topics that we have already dealt with, but we must be honest and admit that there were various practical issues which one would learn only during a project. Theres a lot of learning & yet not the end, learning is a continuous never ending process but is definitely fun.

BIBLIOGRAPHY

1) WEBSITES REFERRED

www.google.com All others are searched through GOOGLE. The Seattle Robotics Society Encoder library of robotics articles: http://www.seattlerobotics.org/encoder/library.html

Dallas Personal Robotics Group. Most of these tutorials and articles were referred: http://www.dprg.org/articles/index.html http://www.dprg.org/tutorials/index.html

Go Robotics.NET, this page has many useful links to robotics articles. http://www.gorobotics.net/articles/index.php

this site provides all information regarding components used in robotics http://www.ikalogic.com

2) BOOKS

The 8051 microcontroller and Embedded System

by Muhammad Ali Mazidi second edition-PEARSON Education Programming and Customizing the AVR microcontroller by Myke Predko Second edition McGraw Hill AVRmicro Mid-Range ATmega Family Reference Manual by ATMEL Design with AVR ATmega-16 microcontrollers by John B. Peatman PEARSON Education PIC Robotics, A beginners guide to robotics projects using the PICmicro by John Iovine McGraw Hill Digital logic and computer design by M. Morris Mano - Prentice Hall of India PVT limited Digital Systems Principles & applications by Ronald J. Tocci Sixth Edition - Prentice Hall of India PVT limited

METHODOLOGY

The first idea was to use optical imaging (CCD cameras) to see the obstacle. This was later given up due to various reasons including complexity and unavailability of components. Later a choice was made to use an array of sensors which solved most of the problems pertaining to complexity. Also to enhance efficiency in detecting obstacle we use wireless camera. The resistor values used in the sensor array were experimentally determined rather than theoretical mathematical design calculations. This was done as the data sheets of the proximity sensor was not available anywhere and most of the parameters had to be determined experimentally. The L298 chip is used as it was a much better option than forming an H-Bridge out of discrete transistors, which would make the design unstable and prone to risk of damage. The 8051microcontroller was used as it is the only device I have a full practical knowledge about, and most of all a RISC processor which are better suited for realtime operations. Thus the midrange devices were chosen. Software was coded day and night, deciding on a few algorithms and few tiny details which gradually got the robot to do what was required. The first idea to control the robots was to use RF circuits but due to certain limitations we use DTMF technology which provides the robust control and large working areas. The project was entirely designed, created, soldered, tested and coded by us. For which we are thankful for, as I have learnt much more in the processes and not to mention the fun had.