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INTRODUCTION 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 robotic control can overcome these limitations. t provides the advantages of robust control, working range as large as the coverage area of the service provider,no interference with other controllers and up to twelve controls.!lthough the appearance and capabilities of robots vary vastly, all robots share the features of a

mechanical, movable structure under some form of control. "he control of robot involves three distinct phases# reception, processing and action. $enerally, the preceptors are sensors mounted on the robot, processing is done by the on-board microcontroller or processor, and the task %action& is performed using motors or with some other actuators. PROJECT OVERVIEW

Cell phone operated land Rover,Robot,'oving (ehicle.circuit

n this pro)ect, the robot is controlled by a mobile phone that makes a call to the mobile phone attached to the robot. n 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. "his tone is called *dual-tone multiple-frequency+ %,"'F& tone. "he robot perceives this ,"'F tone with the help of the phone stacked in the robot. "he received tone is processed by the !"mega-. microcontroller with the help of ,"'F decoder '"//01. "he

decoder decodes the ,"'F tone into its equivalent binary digit and this binary number is sent to the microcontroller."he 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. "he mobile that makes a call to the mobile phone stacked in the robot acts as a remote. 2o this simple robotic pro)ect does not require the construction of receiver and transmitter units. ,"'F signaling is used fr telephone signaling over the

line in the voice-frequency band to the call switching centre. "he version of ,"'F used for telephone tone dialing is known as *"ouch"one.+,"'F assigns a specific frequency %consisting of two separatetones& to each key so that it can easily be identified by the electronic circuit. "he signal generated by the ,"'F encoder is a direct algebraic summation, in real time, of the amplitudes of two sine %cosine&waves of different frequencies, i.e., pressing *3+ will send a tone made by adding -44. 56 and 001 56 to the other end of

the line. "he tones and assignments in a ,"'F system are shown in "able . SCEMATIC OF CELLPHONE OPERATED LANDROVER

Cell phone operated land rover circuit,robot,moving vehicle

CIRCUIT DESCRIPTION Fig. - shows the block diagram of the microcontroller-based mobile phoneoperated land rover. "he important components of this rover

are a ,"'F decoder, microcontroller and motor driver. !n '"//01 series ,"'F decoder is used here. !ll types of the '"//01 series use digital counting techniques to detect and decode all the -. ,"'F tone pairs into a 7-bit code output. "he built-in dial tone re)ection circuit eliminates the need for pre-filtering. 8hen the input signal given at pin 9 % :-& in single-ended input configuration is recognised to be effective, the correct 7-bit decode signal of the ,"'F tone is transferred to ;- %pin --& through ;7 %pin -7& outputs. "able shows the

,"'F data output table of '"//01. ;- through ;7 outputs of the ,"'F decoder % C-& are connected to port pins <!1 through <!4 of !"mega-. microcontroller % C9& after inversion by :- through :7,respectively. "he !"mega-. is a low-power, /-bit, C'=2 microcontroller based on the !(R enhanced R 2C architecture. t provides the following features# -. k> of in-system programmable Flash program memory with read-whilewrite capabilities, 3-9 bytes of ??<R=', -k> 2R!', 49 generalpurpose input@output % @=& lines and 49 general-purpose working

registers. !ll the 49 registers re directly connected to the arithmetic logic unit, allowing two independent registers to be accessed in one single instruction eAecuted in one clock cycle. "he resulting architecture is more code-efficient. =utputs from port pins <,1 through <,4 and <,0 of the microcontroller are fed to inputs :- through :7 and enable pins %?:- and ?:9& of motor driver B9C4,, espectively, to drive two geared ,C motors. 2witch 2- is used for manual reset. "he microcontroller output is not sufficient to drive the ,C motors, so current

drivers are required for motor rotation. "he B9C4, is a quad, highcurrent, half-5 driver designed to provide bidirectional drive currents of up to .11 m! at voltages from 7.3( to 4.(. t makes it easier to drive the ,C motors. "he B9C4, consists of four drivers. <in :- through :7 and =U"- through =U"7 are input and output pins, respectively, of driver through driver 7. ,rivers - and 9, and drivers 4 and 7 are enabled by enable pin - %?:-& and pin C %?:9&, respectively. 8hen enable input ?:%pin -& is high, drivers - and 9 are enabled and the outputs

corresponding to their inputs are active. 2imilarly, enable input ?:9 %pin C& enables drivers 4 and 7. !n actual-si6e, single-side <C> for cellphone-operated land rover is shown in Fig. 7 and its component layout in Fig. 3. PCB LAYOUT FOR CELLPHONE OPERATED LANDROVER

pcb design free

SOFTWARE DESCRIPTION

"he software is written in *C+ language and compiled using Code(ision !(R *C+ compiler. "he source program is ed into heA code by the compiler. >urn this heA code into !"mega-. !(R microcontroller."he source program is well commented and easy to understand. First include the register name defined specifically for !"mega-. and also declare the variable. 2et port ! as the input and port , as the output. "he program will run forever by using *while+ loop. Under *while+ loop, read port ! and test the received input using *switch+

statement. "he corresponding data will output at port , after testing of the received data. WORKING n order to control the robot, you need to make a call to the cell phone attached to the robot %through head phone& from any phone, which sends ,"'F tunes on pressing the numeric buttons. "he cell phone in the robot is kept in *auto answer+ mode. % f the mobile does not have the auto answering facility, receive the call by *=D+ key on the rover-connected mobile and then made it in handsfree mode.& 2o after a ring, the

cellphone accepts the call. :ow you may press any button on your mobile to perform actions as listed in "able . "he ,"'F tones thus produced are received by the cellphone in the robot. "hese tones are fed to the circuit by the headset of the cellphone. "he '"//01 decodes the received tone and sends the equivalent binary number to the microcontroller. !ccording to the program in the microcontroller, the robot starts moving.8hen you press key *9+ %binary equivalent 111111-1& on your mobile phone, the microcontroller outputs *-111-11-+

binary equivalent. <ort pins <,1, <,4 and <,0 are high. "he high output at <,0 of the microcontroller drives the motor driver %B9C4,&. <ort pins <,1 and <,4 drive motors 'and '9 in forward direction %as per "able &. 2imilarly, motors '- and '9 move for left turn, right turn, backward motion and stop condition as per "able . CONSTRUCTION

Cellphone operated land rover pro)ect

8hen constructing any robot, one ma)or mechanical constraint is the number there a two-wheel drive or a four-wheel ive. "hough four-wheel drive is more compleA than twowheel drive, it provides more torque and good control. "wo-wheel drive, on the other hand, is very easy to construct. "op view of a four-wheeldriven land rover is shown in Fig. 4. "he chassis used in this model is a -1E-/cm9 sheet made up of paraA. 'otors are fiAed to the bottom of this sheet and the circuit is affiAed firmly on top of the sheet. ! cellphone is also mounted on the sheet as shown

in the picture. n the four-wheel drive system, the two motors on a side are controlled in parallel. 2o a single B9C4, driver C can drive the rover. For this robot, beads affiAed with glue act as support wheels. PROGRAM FOR CELLPHONE OPERATED LANDROVER 2ource program# Robit.c Finclude void main%void& G unsigned int k, hH ,,R!I1E11H

,,R,I1JFFH while %-& G k IK< :!H hIk L 1A1FH switch %h& G case 1E19# @@if @< is 1E19 G <=R",I1E/CH@@=@< 1E/C ie Forward breakH M case 1E1/# @@if @< is 1E1/ G <=R",I1E/.H @@=@< 1E/. ie >ackward

breakH M case 1E17# G <=R",I1E/3H @@ Beft turn breakH case 1E1.# G <=R",I1A/!H @@ Right turn breakH M case 1E13# G <=R",I1E11H @@ 2top breakH M

M M M

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