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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 perfomed using motors or with some other actuators. i want to make it clear, if you face any problem i am dere for you , you can write comments or you can mail me at nitin_spd@yahoo.co.in

Step 1PROJECT OVERVIEW

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. 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 ofreceiver 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 dialing is known as touch tone. DTMF assigns a specific frequency (consisting of two separate tones) to each key s that it can easily be identified by the electronic circuit. The signal generated by the DTMF encoder is the direct algebric submission, in real time of the amplitudes of two sine(cosine) waves of different frequencies,

i.e. ,pressing 5 will send a tone made by adding 1336hz and 770hz to the other end of the mobile. The tones and assignments in a dtmf system shown below

Step 2Circuit Description

Figures shows the block diagram and cicuit diagram of the microcontroller- based robot. The important components of this robot are DTMF decoder, Microcontroller and motor driver. An MT8870 series dtmf decoder is used here. All types of the mt8870 series use digital counting techniques to detect and decodeall the sixteen DTMF tone pairs in to a four bit code output. The built -in dila tone regection circuit eliminated the need for pre- filtering. When the input signal given at pin2 (IN-) single ended input configuration is recognized to be effective, the correct four bit decode signal of the DTMF tone is transferred to Q1 (pin11) through Q4(pin14) outputs. The atmega 16 is a low power, 8 bit, cmos microcontroller based on the AVR enhanced RISC architecture. It provides the following feature: 16kb of in system programmable flash memory with read write capabilities, 512bytes of EEPROM, 1KB SRAM, 32 general purpose input/output lines. 32 general purpose working registers. All the 32 registers are directly connected to the arithmetic logic unit, allowing two independent registers to be accessed in one signal instruction executed in one clock cycle. The resulting architecture is more code efficient. Outputs from port pins PD0 through PD3 and PD7 of the microcontroller are fed to inputs IN1 through IN4 and enable pins (EN1 and EN2) of motor driver L293d respectively, to drive geared motors. Switch S1 is used for manual reset.

the notations are : ic1 - mt8870 ic2 - atmega16 ic3 - l293d ic4 - cd7004 r1,r2 - 100k resistances r3 - 330k resistances r4-r8 - 10k resistances c1- 0.47 micro farat capacitor c2,c3,c5,c6 - 22pfarat capacitor c4 - 0.1micro farat capacitor xtal1 - 3.57 mhz crytal xtal2 - 12mhz crystal s1 - push to on switch m1,m2 - 6v 50rpm motor batt- 6v

Step 3Software description (the hex code)

the Avr microcontroller is programmed using WIN AVR for beginners have a look at this instructable first http://www.instructables.com/id/Ghetto-Programming%3a-Getting-started-with-AVR-micro/ this is the way to pogram the avratmega 16 look at the pin diagram of atmega16 and then connect the pins acordingly (if u have any problem then feel free to write me) i have attached the full code. The header file will be included automatically if u have installed the winavr in default location

cell phone operated robot.zip17 KB Step 4Working

In order to control the robot, you have to make a call to the cellphone attached to the robot from any phone. now the phone is picked by the phone on the robot through autoanswer mode(which is in the phn, just enable it). now when you press 2 the robot will move forward when you press 4 the robot will move left when you press 8 the robot will move backwards when you press 6 the robot will move right when you press 5 the robot will stop.

Step 5Construction

for constructing this robot, you require these components Components used:" MT8870 DTMF DECODER - 1 " Atmega 16 microcontroller - 1 " L293d motor driver ic - 1 " Cd7004 not gate ic - 1 " 1n4007 diode - 1 " 100k resistances - 2 " 10 k resistances - 5 " 330 k resistances - 1 " 0.47mf capacitors - 1 " 0.1mf capacitors - 1 " 22pf capacitors - 4 " 3.57mhz crystal - 1 " 12mhz crystal - 1 " Push to on switch - 1 " 2 geared motors (6v, 50 rpm) - 2 (4 for four wheel drive) " Battery 6v - 1

wheels - 4

cellphone - 2 (one urs and one can be ur frnds) handsfree - 1 (for the phn on the rover)

you have to place a cellphone on the rover. The cellphone is connected to the rover through a handsfree. construct the rover in the shape which is given below. You can get these parts from any electronic store with ease

Step 6To connect the hands free with the circuit

there are always two connections which come out of the phone, these connections are 1. Tip 2. Ring i'll prefer to use handsfree which have a straight jack (similar to the ones which we use in our ipods, but a thinner one)

the tip of that jack is called the "tip" and the rest part behind the tip after a black strip is the ring So connect these two connections with the circuit and you will be done

A while back, I posted up a quick and dirty "el cheapo" method of getting started programming the Atmel AVR series chips: Ghetto Programmer (version 1.0) Since then, I've vamped, re-vamped, and otherwise improved my setup. Thought it'd be nice to document it. The goal was to get a flexible, compact, portable, use-anywhere, AVR-based microcontroller prototyping environment. On the cheap(ish). So without further ado, here's the Ghetto Development Environment (GDE) (version 1.2).

Step 1The Kit

The basic kit contains the following stuffs: USB programmer. Because you want to be able to program microcontrollers from your laptop anywhere. And because USB is a very handy source of +5v. Programming cradles. One for each kind of chip you're playing with. For me, that means one with 8 pins (ATtiny13, 15), one with 20 pins (ATtiny 2313), and one with 28 pins (ATmega8). Blinkenlights. When something's wrong with your code, nothing clears it up like sticking lights in to diagnose. Plus, the LED blinker program is the "Hello World" of microcontrollers. Breadboard. It's a development kit, after all.

Step 2The USB Programmer

In Ghetto Programmer (v.1.0) I used a parallel port programmer. It's great because it's simple and cheap and fast. But my laptop doesn't have a parallel port. I played around with making serial port programmers for a bit, but honestly they're just as complicated as the USB version and even serial ports are becoming scarce. Indeed, my laptop's only really got USB. So USB it is. Looking around, the USBTiny programmer is pretty simple and works with the free GNU/AVR-GCC tools. Do it yourself or buy a kit?

The DIY way is good if you can already program an ATTiny2313 (with parallel programmer) and have a 12MHz crystal sitting around. USBTiny Page lays out the basics. He terminates the programming cable with a parallel port, but I'd finish it up in a standard 6-pin header if I were starting afresh. (Why? Because it's standard.) Here are his pin-outs, and check the image below for the cable layout. PD3 - MISO PD5 - Reset PD6 - SCK PD7 - MOSI If you make your own, please learn from my experience and put it into a nice plastic box. If you don't, it'll fail eventually when the 12MHz crystal breaks off. Which is why I now use... The quick-and-elegant way is Ladyada's USBtinyISP kit. It'll set you back $22, but you get a nice PCB, pre-programmed ATTiny2313, and a clean box with nice cables. Raw parts are like $15-16 anyway, and you don't have to call up Digikey and then worry about programming up your own 2313. Takes 30 min - 1 hr to solder it all together. Splurge. Trust me. (No affiliation, satisfied customer) And just saw this link: Ladyada's AVR Tutorial which seems pretty good to me. (And do note that Ladyada's design and the original USBTiny use different USB product identifier codes -- you'll have to find the ID strings and re-compile avrGCC if you're switching between the two. I think there's instructions on the respective webpages.)

In case you're on a Ubuntu Linux system and using the USBTiny programmer, here's the commands that'll get the whole toolchain up and running: sudo apt-get install build-essential avr-libc binutils-avr gcc-avr avrdude (tested on Hardy Heron) If you have an AMD64 arch, you may also need: byacc libusb-dev flex bison libc6-dev and then to compile AVRdude by hand: (

wget http://download.savannah.gnu.org/releases/avrdude/avrdude-5.5.tar.gz tar xvzf avrdude-5.5.tar.gz cd avrdude-5.5 ## Patch needed for AMD64: wget http://savannah.nongnu.org/patch/download.php?file_id=14754 patch -p1 < avrdude-5.5.usbtiny.64bit.patch ./configure make && make install sudo avrdude -p attiny2313 -c usbtiny ## to test ) If you see something like "avrdude: AVR device initialized and ready to accept instructions" then you're done.

Oh yeah, and credit to Wendel Oskay for the diagram of the standard programmer pinouts.

Step 3The Programming Cradle

In Ghetto Programmer v.1.0 I used a programming cradle with a non-standard pin input and with female pin-headers to stick stuff into. Non-standard pins are a bad idea because you'll not be able to use your cradle with someone else's programmer, and vice-versa. Female pin-headers were fun because you could directly plug LEDs into them, but when I'd start doing something more complex, I'd end up wiring it into a breadboard anyway. With the new cradle, I cut out the middleman. Less hand-wiring = better. But the biggest advantage of this cradle design is that you can plug in the cradle almost anywhere you could plug in the AVR chip. This turns out to be huge. Instead of designing ISP circuits into your robot or whatever, you just stick this cradle thing into the IC socket. Then you can program/reprogram your robot's brain in circuit. When you're done developing, plug the AVR in directly and you're on to the next one. Making the cradles is easy enough -- all you need to do is connect the pins from the 6-pin header to

the right places on the chips. This time 'round, I used etched PCBs. You can just as well hand-wire the whole thing on perfboard. The ATTiny13/15 cradle is made with an 8-pin wire-wrap socket. I love these. It's easy to insert the chip into its nice round holes and the long legs provide extra clearance on the breadboard. I made the PCB traces by freehand with a Sharpie. The ATTiny2313 cradle was made with Eagle and the laser paper toner transfer method. I couldn't find any 20-pin wire-wrap sockets, so I had to resort to a 20-pin regular socket soldered onto 2 10pin pin headers. This ends up with a cradle with shorter legs, but it works. The schematic and the PDF I used for the circuit are below. On both, I had to hand-wire an extra line. Such is life.

2313_cradle_hobby_ground_plane.pdf5 KB

2313_cradle.sch8 KB Step 4Blinkenlights

Simplicity itself. I wouldn't mention these at all if they weren't so damn handy. Solder a resistor (150-220 ohms is a good value.) straight onto the negative lead of some LEDs. It'll light up from around 2v-6v without burning out. And the resistor helps you to remember which side is negative. Stick them wherever you want to know there's electricity. Figure out if that transistor is blown. Turn a nicad battery pack into a long-lived nightlight. Use a blinky-code interface to read values out of your microprocessor (slowly). Or make 8 of them and you've got a one-byte display (plus the active ingredient in Cylon eyes.) Make them. Make many. Make them now.

Step 5The End

So this "system" meets almost all my development needs. It's modular, scalable, compact, and portable. For instance, I worked out the routines for running scrolling messages on the 4-digit display (intro page) on the plane on the way to a friend's wedding. Makes a good icebreaker with the flight attendants. This potientiometer -> ADC -> PWM-driven ammeter setup was breadboarded, coded, and debugged entirely between my couch and dining table, and cleans up in like 2 min when friends come over. (It's the alarm-time-setting part of what's going to be a meter-clock.) I bring the setup to work sometimes when I feel like playing hooky. Add a small bag of goodies (some capacitors and resistors, hook-up wire, transistors, piezo speaker, photodiodes, microphones, small motors, etc) and you'll be so far ahead of MacGuyver it's not even funny.

Cell Phone Operated Robot - Presentation Transcript

1. PROJECT REPORT ON CELL PHONE OPERATED ROBOT SUBMITTED BY: NAME ROLL NO. ANIKET BHOR 2 AMOL BOTIKAR 4 PRALHAD JAGTAP 12 GUIDED BY: Prof. Mr. Pravin Matte Department of Electronics and Telecommunication G.H.R.C.E.M., Wagholi, Pune University of Pune 2. Academic Year 2008-2009 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 3. positive action autonomously. TECHNOLOGY USED Dual-Tone Multi-Frequency (DTMF) Dual-tone multi-frequency (DTMF) signaling is used for telecommunication signaling over analog telephonelines in the voicefrequency band between telephone handsets and other communications devices and the switching center. The version of DTMF used for telephone tone dialing is known by the trademarked term Touch-Tone (canceled March 13, 1984), and is standardized by ITU-T Recommendation Q.23. It is also known in the UK as MF4. Other multi-frequency systems are used for signaling internal to the telephone network. 4. A DTMF TELEPHONE KEYPAD The contemporary keypad is laid out in a 34 grid, although the original DTMF keypad had an additional column for four nowdefunct 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 multifrequency. These tones are then decoded by the switching center to determine which key was pressed. 5. A DTMF Telephone Keypad DTMF KEYPAD FREQUENCIES 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. 6. BLOCK DIAGRAM

7.

COMPONENTS USED: 1) RESISTORS: 2)ICs: 4) CAPACITORS 3) OSCILLATORS: 5) MISCELLANEOUS:

8. 9.

CIRCUIT DIAGRAM PCB LAYOUT

10. SOFTWARES USED: 1. DipTrace ROLE IN THE DESIGN: DipTrace 1.50 proved to be a very handy & easy-to-use tool for the PCB layout process. Many of its features were utilized leading to an accurate & efficient design. It has Design Error Check & Electrical Rule Check tools which proved to be helpful in the design. It is loaded with a huge component list that is categorized in various libraries for giving simplicity. Placement of components is also very easy & they can be rotated in 360 to customize the design. 11. 2. Vision Keil 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. 12. 3. FlashMagic ROLE IN THE DESIGN: Flash Magic is a PC tool for programming flash based microcontrollers from NXP using a serial or Ethernet protocol while in the target hardware. It has some excellent features like changeable baud rate, erase all flash before programming, setting security bits etc. The HEX file created with the help of keil was selected through it for programming the microcontroller. 13. APLLICATIONS 1) Scientific Remote control vehicles have various scientific uses including hazardous environments, working in the deep ocean , and space exploration. The majority of the probes to the other planets in our solar system have been remote control vehicles, although some of the more recent ones were partially autonomous. The sophistication of these devices has fueled greater debate on the need for manned spaceflight and exploration. 2)Military and Law Enforcement Military usage of remotely controlled military vehicles dates back to the first half of 20th century. Soviet Red Army used remotely controlled Teletanks during 1930s in the Winter War and early stage of World War II. 14. 3) Search and Rescue UAVs will likely play an increased role in search and rescue in the United States. This was demonstrated by the successful use of UAVs during the 2008 hurricanes that struck Louisiana and Texas. 4)Recreation and Hobby See Radio-controlled model. Small scale remote control vehicles have long been popular among hobbyists. These remote controlled vehicles span a wide range in terms of price and sophistication. There are many types of radio controlled vehicles. These include on-road cars, off-road trucks, boats, airplanes, and even helicopters. The "robots" now popular in television shows such as Robot Wars, are a recent extension of this hobby (these vehicles do not meet the classical definition of a robot; they are remotely controlled by a human).

15. FURTHER IMROVEMENTS & FUTURE SCOPE 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.

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. 16. 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 (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. 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.