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Department

1. INTRODUCTION

1.1 GENERAL OVERVIEW
Conventionally, wireless-controlled robots use RF circuits, which have the drawbacks oI limited
working range, limited Irequency range and limited control. Use oI a mobile phone Ior robotic
control can overcome these limitations. It provides the advantages oI robust control, working
range as large as the coverage area oI the service provider, no interIerence with other controllers
and up to twelve controls. Although the appearance and capabilities oI robots vary vastly, all
robots share the Ieatures oI a mechanical, movable structure under some Iorm oI control. The
control oI 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 (action) is perIormed using motors or with some other actuators |3|.
In the present project the robot can be operated in two modes manual mode and programmable
mode by a mobile phone which makes a call to the mobile phone attached to the robot. In the
course oI a call iI any button is pressed a tone corresponding to the button pressed is heard at
the other end oI the call. This tone is called DTMF tone. The robot receives this DTMF tone
with the help oI a phone stacked in the robot. The processing oI the received tone is done by
P89v51rd2 microcontroller with the help oI DTMF decoder, HT9170. The decoder decodes the
DTMF tone in to its equivalent binary digit and this binary number is sent to the
microcontroller.
The microcontroller is preprogrammed to take a decision Ior any given input. The microcontroller
outputs its decision to motor drivers to drive the motors in order to have Iorward or
backward motion or a turn and other robot devices such as robotic arm and led lamps. User can
switch robot in programmable mode by pressing * key on phone and Ietch instruction to the
robot and by pressing # key on cell phone user can instruct robot to execute given instructions .
Robot take set oI instruction Irom user cell phone and save the instructions in the memory and
executes them sequentially .user can cancel program mode or come out Irom program mode by
pressing * key again. Robot automatically switches back to manual mode aIter executing all

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instructions Irom the user. Any mobile which makes a call to the mobile phone stacked in the
robot will act as remote. So, this project does not require the construction oI receiver and
transmitter kits, but has an innovated application oI cell phone and robust control.

1.2 DUAL-TONE MULTI-FREQUENCY (DTMF)
Dual-tone multi Irequency (DTMF) signaling is used Ior telephone signaling over the line
in the voice-Irequency band to the call switching center. The version oI DTMF used Ior
telephone tone dialing is known by the trademarked term Touch Tone.

DTMF assigns a speciIic Irequency (consisting oI two separate tones) to each key so that it
can easily be identiIied by a microprocessor. The signal generated by a DTMF encoder is a
direct algebraic summation, in real time, oI the amplitudes oI two sine (cosine) waves oI
diIIerent Irequencies, i.e. pressing '5' will send a tone made by adding 1336 Hz and 770 Hz to
the other end oI the line as shown in Iigure 1.


In DTMF system the tones and assignments are as Iollows:



llgure 1 u1Ml frequencles for dlfferenL keys


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1.3 TELEPHONE KEYPAD
The contemporary keypad is laid out in a 34 grid, although the original DTMF keypad had an
additional column Ior Iour now-deIunct menu selector keys. When used to dial a telephone
number, pressing a single key will produce a pitch consisting oI two simultaneous pure tone
sinusoidal Irequencies. The row in which the key appears determines the low Irequency, and the
column determines the high Irequency. For example, pressing the '1' key will result in a sound
composed oI both a 697 and a 1209 hertz (Hz) tone. The original keypads had levers inside, so
each button activated two contacts as shown in Figure 1.2.

Figure 1.2 cellphone keypad

The multiple tones are the reason Ior calling the system multi-Irequency. These tones are then
decoded by the switching center to determine which key was pressed.




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2. PRILIMINARY DESIGN

2.1 Block diagram
Figure 2.1 shows the block diagram oI the mobile operated land rover. The important
components oI this project are DTMF decoder, Microcontroller, motor driver and 7 segment
displays.

Figure 2.1 Block Diagram
The MT8870D/MT8870D-1 is a complete DTMF receiver integrating both the band split Iilter
and digital decoder Iunctions. The decoder uses digital counting techniques to detect and decode
all 16 DTMF tone pairs into a 4-bit code. In the course oI a call, iI any button is pressed, a tone
corresponding to the button pressed is heard at the other end oI the call is given to DTMF decoder DTMF
decode Decodes the tone and 4 bit code corresponding to key pressed is given to the p89v51rd2
microcontroller .DTMF decoder also gives one control signal to microcontroller Ior detecting key
pressed.

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Microcontroller used is P89v51rd2 which is 8 bit microcontroller Irom 8051 Iamily.
Microcontroller receives 4 bit decoded signal and one control signals Irom MT8870D DTMF
decoder. Microcontroller processes data Irom Decoder and decides weather to operate robot in
manual mode or programmable mode. In Programmable mode microcontroller checks Ior * key
pressed Irom mobile by user. When Microcontroller detects the * key microcontroller switches to
programming mode. By deIault robot operate in manual mode. Microcontroller processes data
coming Irom DTMF decoder and control diIIerent Iunction such as Iorward reverse right turn leIt
turn, 7seg display, turning on / oII led lights. Microcontroller stores all instruction given by user
in its memory and on pressing oI # key executes them one by one.

L298N is it is a high voltage, high current dual Iull-bridge driver designed to accept standard
TTL logic levels and drive inductive loads such as dc motors. Driver receives control signal Irom
microcontroller and drives 4 motors connected to robot Ior Iunctions such as Iorward, reverse,
right turn, leIt turn.

2.2 COMPONENT USED
2.2.1 Mechanical components
a. 200RPM DC Motors

Prototype is made by using 200RPM DC (Figure 2.2.1) geared Motor .Motor can be operated
Irom 4V to 12V Ior wide range oI RPM values. Four such motors are used in prototype .Two
Right side motors are connected in parallel and two leIt side motor are connected in parallel to
move in same direction.

Specifications

O 100RPM/300RPM 12V DC motors with Gearbox
O 3000RPM base motor
O 6mm shaIt diameter with internal hole
O 125gm weight
O 1.2kgcm torque
O No-load current 60 mA(Max), Load current 300 mA(Max)
Figure 2.2.1 Dc motor

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d. Motor mounts for DC motor

This Motor mountBrackets are made up oI 2mm thick MS steel (Figure
2.2.2).

Specifications
O Material: 2mm thick MS steel
O Size: Height 41mm, Width 38mm;
O Bracket mounting side: Height 21.5mm, Width 38mm Figure 2.2.2
O Hole Ior Motor mounting: 14mm diameter Motor mounts Ior DC motor
O Holes Ior chassis mounting: 3mm or 1/8 inch diameter

2.2.2 Electrical components

a. 051 Microcontroller

The P89V51RA2/RB2/RC2/RD2xx is 8 bit microcontroller
which contains a non-volatile 8KB/16KB/32KB/64KB Flash
program memory that is both parallel programmable and serial In-
System and In-Application Programmable.

This device is a Single-Chip 8-Bit Microcontroller manuIactured
in an advanced CMOS process and is a derivative oI the 80C51
microcontroller Iamily. The instruction set is 100 compatible
with the 80C51 instruction set

The device also has Iour 8-bit I/O ports, three 16-bit timer/event
counters, a multi-source, Iour-priority-level, nested interrupt
structure, an enhanced UART and on-chip oscillator and timing
circuits.

Figure 2.2.3 8051 IC

-. H-Bridge motor driver IC

The L298 is an integrated high voltage, high current dual Iull-bridge
driver designed to acceptstandard TTLlogic levels anddrive inductive
loads such as relays, solenoids, DC and stepping motors. The L298
integrates two power output stages(A; B). The power output stage is a Figure 2.2.4 L298

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bridge conIiguration and its outputs can drive an inductive load in commonor diIIerenzialmode,
dependingon thestate oI the inputs. Each bridge is driven by meansoI Iour gatesthe input oI
which are In1 ; In2 ; EnA and In3 ; In4 ; EnB. TheIn inputs set thebridgestatewhenThe En input
is high; a lowstate oI theEninputinhibitsthe bridge.

c. 12V DC power supply

Power supply used Ior driving motors and other highe
current loads , battery having rating 12v,1.2A 2C is used.

Specifications
Nominal Voltage: 12v
Nominal Capacity : 1.2Ah Figure 2.2.4 power supply
Weight : 0.59 Kg
Maximum Discharg Current : 12A (5 sec)
Maximum Short Duration Discharg Current: 36A (0.1 sec)

d. MT0D DTMF Decoder

The MT8870D/MT8870D-1 is a complete DTMF receiver integrating both
the bandsplit Iilter and digital decoder Iunctions. The Iilter section uses
switched capacitor techniques Ior high and low group Iilters; the decoder
uses digital counting techniques to detect and decode all 16 DTMF
tonepairs into a 4-bit code. External component count is minimized by on
chip provision oI a diIIerential input ampliIier, clock oscillator and latched
three-state bus interIace.

Separation oI the low-group and high group tones is achieved by Figure 2.2.5 MT8870
applying the DTMF signal to the inputs oI two sixth-order switched capacitor bandpass Iilters,
the bandwidths oI which correspond to the low and high group Irequencies.

Following the Iilter section is a decoder employing digital counting techniques to determine the
Irequencies oI the incoming tones and to veriIy that they correspond to standard DTMF
Irequencies. A complex averaging algorithm protects against tone simulation by extraneous

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signals such as voice while providing tolerance to small Irequency deviations and variations.
This averaging algorithm has been developed to ensure an optimum combination oI immunity to
talk-oII and tolerance to the presence oI interIering Irequencies (third tones) and noise.

2.3 CIRCUIT DIAGRAM
Fig. 2.3 shows the circuit diagram oI the GSM-based Programmable Robot. The important
components oI this rover are a DTMF decoder, microcontroller,7 sag display driver and motor
driver.


Figure 2.3 Circuit Diagram
An MT8870 series DTMF decoder is used here Ior decoding DTMF Irequencies. Input to the
MT8870 is out put oI audio jack Irom cell phone. DTMF decoder receives signal Irom audio jack
decodes the input in range oI DTMF Irequency band and gives 4 bit binary output to

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microcontroller (D0 D3) port (P2.7 P2.4). MT8870 also generates an interrupt Ior
microcontroller Ior key press. Interrupt pin k oI MT8870 is connected to P2.3 oI microcontroller.

An 7447 series 7 sag Display Driver is used Ior displaying pressed keys and displaying mode in
which robot operate . Microcontroller port 3 pins are used to operate display driver.

Microcontroller drives L298 motor driver by using 4 pins Irom port 1 enable pin oI driver is
permanently connected to 5v supply 12v supply Irom separate batty source is used to drive motor
with common ground. L298 driver output drives 4 motors connected in parallel in two pairs as
shown in the Iigure 2.3. 5 v supply require is obtained by using 7805 voltage regulator.

2.4 MECHANICAL CONSTRUCTION

When constructing any robot, one major mechanical constraint is the number oI motors being
used. You can have either a two-wheel drive or a Iour-wheel drive. Though Iour-wheel drive is
more complex than two-wheel drive, it provides more torque and good control. Two-wheel drive,
on the other hand, is very easy to construct. Picture oI a Iour-wheel- belt driven programmable
robot is shown in Fig. 2.4. The chassis used in this model is a 1418cm2 sheet made up oI steel.


Figure 2.4 GSM based programmable robot

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Motors are Iixed to the bottom oI this sheet and the circuit is aIIixed Iirmly on bottom oI the
sheet. A cellphone is also mounted on the sheet as shown in the picture. In the Iour-wheel belt
drive system, the two motors on a side are controlled in parallel. So a single L293D driver IC can
drive the rover.







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3. WORKING OF GSM BASED PROGRAMABLE ROBOT

3.1 WORKING
In order to control the robot, you need to make a call to the cell phone attached to the robot
(through head phone) Irom any phone, which sends DTMF tunes on pressing the numeric
buttons. The cell phone in the robot is kept in auto answer` mode. (II the mobile does not have
the auto answering Iacility, receive the call by OK` key on the rover-connected mobile and then
made it in hands-Iree mode.) So aIter a ring, the cell phone accepts the call. Now you may press
any button on your mobile to perIorm actions as listed in Iig 4.1. The DTMF tones thus produced
are received by the cell phone in the robot. These tones are Ied to the circuit by the headset oI the
cell phone. The MT8870 decodes the received tone and sends the equivalent binary number to
the microcontroller. According to the program in the microcontroller, the robot starts moving.
GSM based Programmable mode works in two modes manual mode and programmable mode.

3.2 MODE I (MANUAL MODE)
GSM based programmable robot by deIault operates in manual mode. When you press key 2` on
your mobile phone DTMF decoder decodes gives 4 bit binary equivalent 0001 output to the
microcontroller. Microcontroller receives input Irom decoder and drives Port 1 pins to which are
input to motor driver by giving. In manual mode 5 Iunctions can be perIormed as shown in Iigure
3.2.1 below.


Figure 3.2.1 Mode I Iunctions

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Prototype can perIorm 4 motion Iunctions in manual mode Iorward, reverse, right turn, leIt turn
on pressing oI 2, 8, 4, 6 keys on cell phone respectively. Figure 3.2.2 shows all motion
Iunctions with corresponding keys. Figure 3.2.2 also shows the direction oI motor rotation Ior
each Iunction.


Figure 3.2.2 Mode I Motion Functions

On pressing key 5 Iront led lights can be made on. Pressing same key again light turns oII. on
pressing * key robot goes into mode two which is programmable mode.

3.3 MODE II (PROGRAMMABLE MODE)
In Programmable User can program robot by using his cell phone Ior diIIerent operations and
diIIerent programmable path generation. On pressing * key prototype enters in Programmable
mode and all mode one Iunctions get disabled by microcontroller .In programmable mode User
have to send instructions by pressing instruction keys and data keys and aIter programming robot
user have to press # key Ior execution oI program. User can cancel program mode and come out
Irom programming mode to manual mode by pressing * key again. Figure 3.3.1 shows
instruction set in mode II.
Mode II can be used Ior programming robot beIore robot enters into the area where there is no
mobile range or signal is weak. In mode II any number oI instructions can be Ietched to the robot
Irom instruction set given in the Iigure 3.3.1 Ior designing robot path .aIter Fetching instructions

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# key need to be pressed Ior execution oI Ietched program. Robot executes each instruction one
aIter another and aIter executing all instructions come back to manual mode.

Figure 3.3.1 Mode II instruction set

3.3.1 MODE II EXAMPLE
Figure 3.3.a shows code and path traced by robot Ior Ietched code . Code written is as per the
instruction set given in Iigure 3.3.1.


Figure 3.3.1.a Mode II example


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4. FLOW CHART AND SOFTWARE IMPLIMENTATION



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4.2 SOFTWARE IMPLIMENTATION
The Program is written in Kiel environment. The Keil 8051 Development Tools are designed to
solve the complex problems Iacing embedded soItware developers.

When starting a new project, simply we select the microcontroller and use Irom the Device
Database and the Vision IDE sets all compiler, assembler, linker, and memory options Ior us.
Numerous example programs are included to help us get started with the most popular embedded
8051 devices.

The Keil Vision Debugger accurately simulates on-chip peripherals (IC, CAN, UART, SPI,
Interrupts, I/O Ports, A/D Converter, D/A Converter, and PWM Modules) oI our 8051 device.
Simulation helps us understand hardware conIigurations and avoids time wasted on setup
problems. Additionally, with simulation, we can write and test applications beIore target
hardware is available.




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5. SCOPE FOR FUTURE WORK

A) IR SNSOR

IR sensors can be used to automatically detect & avoid obstacles iI the robot goes beyond line oI
sight. This avoids damage to the vehicle iI we are maneuvering it Irom a distant place.

B) PASSWORD PROTECTION

Project can be modiIied in order to password protect the robot so that it can be operated only iI
correct Password is entered. Either cell phone should be password protected or necessary
modiIication should be made in the assembly language code. This introduces conditioned access
& increases security to a great extent.

C) ADDING A CAMERA

II the current project is interIaced with a camera (e.g.3G video calling) robot can be driven
beyond line-oI-sight & range becomes practically unlimited as GSM networks have a very large
range.

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. CONCLUSION
Conventionally, wireless-controlled robots use RF circuits, which have the drawbacks oI limited
working range, limited Irequency range and limited control. In our project with the use oI a
mobile phone Ior programming and controlling robot can overcome these limitations. It provides
the advantages oI robust control, working range as large as the coverage area oI the service
provider, no interIerence with other controllers . So the motive is that to increase the range oI
remote controlled products. For this mobile phone operated control is best because we can
globalize our project & robot can be programmed with no limitation oI range.


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7 kLILkANCLS

1.'The 8051 Microcontroller and Embedded Systems by Muhammad Ali Mazidi and Janice
Gillispie Mazidi, Pearson Education.

2. 8051 Microcontroller Architecture, programming and application by KENNETH J.AYALA

3. Schenker, L (1960), "Pushbutton Calling with a Two-Group Voice-Frequency Code", The Bell
system technical journal 39 (1): 235255, ISSN 0005-8580.