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CHAPTER 1
INTRODUCTION
In this project, the robot is controlled by a mobile phone that makes a call to the mobile
phone attached to the robot. In the course of a call, if any button is pressed, a tone
corresponding to the button pressed is heard at the other end of the call. This tone is called
dual-tone multiple-frequency (DTMF) tone. The robot perceives this DTMF tone with the
help of the phone stacked in the robot
The received tone is processed by the microcontroller with the help of DTMF decoder
MT8870 .The decoder decodes the DTMF tone into its equivalent binary digit and this binary
number is sent to the microcontroller. The microcontroller is pre programmed to take a
decision for any given input and outputs its decision to motor drivers in order to drive the
motors for forward or backward motion or a turn. The mobile that makes a call to the mobile
phone stacked in the robot acts as a remote. So this simple robotic project does not require
the construction of receiver and transmitter units.
1.1
LITERATURE SURVEY
SYSTEM REQUIREMENTS
CHAPTER 2
SYSTEM REQUIREMENTS:
2.1 HARDWARE REQUIREMENTS:
2.1.1 LM358 AMPLIFIER:
Description:
The LM158 series consists of two independent, high gain, internally frequency compensated
operational amplifiers which were designed specifically to operate from a single power
supply over a wide range of voltages. Operation from split power supplies is also possible
and the low power supply current drain is independent of the magnitude of the power supply
voltage. Application areas include transducer amplifiers, dc gain blocks and all the
conventional op amp circuits. Which now can be more easily implemented in single power
supply systems. For example, the LM158 series can be directly operated off of the standard
+5V power supply voltage which is used in digital systems and will easily provide the
required interface electronics without requiring the additional 15V power supplies.
The LM358 and LM2904 are available in a chip sized package (8-Bump DSBGA) using TI's
DSBGA package technology.
Description:
An MT8870 series DTMF decoder is used here. The MT8870D/MT8870D-1 is a complete
DTMF receiver integrating both the band split filter and digital decoder functions. The filter
section uses switched capacitor techniques.
There are four frequencies associated with the four rows, and three frequencies associated
with the three columns. Each key then specifies two frequencies. The DTMF signal for that
key is the sum of two sinusoidal waves, one at each frequency. So for example, the digit '4'
translates into a sound with two tones, one at 770 Hz. and the other at 1209 Hz.
2.1.2 H-BRIDGE:
An H-bridge is an arrangement of transistors that allows a circuit full control over a standard
electric DC motor. That is, with an H-bridge a microcontroller, logic chip, or remote control
can electronically command the motor to go forward, reverse, brake, and coast.
The basic H-bridge that is a good choice for most robots (including BEAM robots) and
portable gadgets. This H-bridge can operate from a power source as low as two nearlyexhausted 'AAA' batteries (2.2V) all the way up to a fresh 9V battery (9.6V).
The H-bridge circuit (below) looks complicated at first glance, but it is really just four copies
of a resistor + transistor + diode.
There are many different ways to draw the circuitry, but the above wiring diagram matches
the model of most H-bridges.
Q1, Q3: These are NPN transistors. They connect the motor to ground (negative terminal of
the battery).
Q2, Q4: These are PNP transistors. They connect the motor to +2.2V to +9.6V (positive
terminal of the battery).
R1-R4: These resistors prevent too much current from passing through the base (labeled B)
control pin of the transistor. The resistor value of 1 kiloohm (1k) was chosen to provide
enough current to fully turn on (saturate) the transistor. A higher resistance would waste less
power, but might cause the motor to receive less power. A lower resistance would waste more
power, but wouldn't likely provide better performance for motors running on consumer
batteries.
D1-D4: Diodes provide a safe path for the motor energy to be dispersed or returned to the
battery when the motor is commanded to coast or stop.
M1: This is a direct-current (DC) motor. These are very common. And can find them in
surplus stores online or in salvaged toys. The motor should have only two wires. Measure the
resistance of the two motor wires using a multimeter. If it is much less than 5 ohms, then the
transistor parts listed in this article are too weak to power the motor.
Controlling the H-bridge motor driver
The resistors are the inputs that control the H-bridge. By connecting a resistor to either
+VDC or GND, it turns on or off the corresponding transistor. (+VDC is the positive end of
the battery. GND is the negative end of the battery.) When a particular pair of transistors is
turned on, the motor does something.
Table 2.1:Controlling H-Bridge
Command
R1
R2
R3
R4
Coast/Roll/Off
:
Forward:
GND or
disconnected
GND or
disconnected
+VDC or
disconnected
GND
GND or
disconnected
+VDC
+VDC or
disconnected
+VDC or
disconnected
Reverse:
+VDC
+VDC or
disconnected
GND or
disconnected
GND
Brake/Slow
Down:
+VDC
+VDC or
disconnected
+VDC
+VDC or
disconnected
Since there are 4 resistors, there are actually sixteen possible ways this circuit can be
commanded. Never apply +VDC to R1 and GND to R2 at the same time.
Never apply +VDC to R3 and GND to R4 at the same time, Battery get short circuited.
As for the other parts, the resistors (R1-R4) in the H-bridge can be almost any brand,
material, or wattage. The maximum current passing through them will be about 9 mA, so
wattage isn't a concern. Also, the resistance doesn't have to be exactly
1000 ohms, so precision isn't a concern.
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The diodes (D1-D4) can be any of the commonly used parts: 1N914, 1N4001, or 1N5817.
The 1N5817 is superior, and This type of motor driver is used, The motor driver circuit is laid
out on a solderless breadboard in the photograph below. The only tricky part is to note the
orientation of the transistors. The top transistors (Q4 and Q2) are flat-side down. The bottom
transistors (Q3 and Q1) are flat-side up.
Fig 2.5: Bipolar transistor H-Bridge motor driver circuit on a solderless breadboard.
Connect the positive end of a battery to the very top row of the board (+VDC). Connect the
negative end of a battery to the very bottom row of the board (+GND).
To try it out, connect a wire from GND to the right-side of R2. Then, connect a wire from
+VDC to the left-side of R3. The motor should spin forward.
2.1.3 DC MOTOR:
A DC motor relies on the fact that like magnet poles repel and unlike magnetic poles attract
each other. A coil of wire with a current running through it generates an electromagnetic field
aligned with the center of the coil. By switching the current on or off in a coil its magnet field
can be switched on or off or by switching the direction of the current in the coil the direction
of the generated magnetic field can be switched 180. A simple DC motor typically has a
stationary set of magnets in the stator and an armature with a series of two or more windings
of wire wrapped in insulated stack slots around iron pole pieces (called stack teeth) with the
ends of the wires terminating on a commutator. The armature includes the mounting bearings
that keep it in the center of the motor and the power shaft of the motor and the commutator
connections. The winding in the armature continues to loop all the way around the armature
and uses either single or parallel conductors (wires), and can circle several times around the
stack teeth. The total amount of current sent to the coil, the coil's size and what it's wrapped
around dictate the strength of the electromagnetic field created. The sequence of turning a
particular coil on or off dictates what direction the effective electromagnetic fields are
pointed. By turning on and off coils in sequence a rotating magnetic field can be created.
These rotating magnetic fields interact with the magnetic fields of the magnets (permanent or
electromagnets) in the stationary part of the motor (stator) to create a force on the armature
which causes it to rotate. In some DC motor designs the stator fields use electromagnets to
create their magnetic fields which allow greater control over the motor. At high power levels,
DC motors are almost always cooled using forced air.
The commutator allows each armature coil to be activated in turn. The current in the coil is
typically supplied via two brushes that make moving contact with the commutator. Now,
some brushless DC motors have electronics that switch the DC current to each coil on and off
and have no brushes to wear out or create sparks.
Different number of stator and armature fields as well as how they are connected provide
different inherent speed/torque regulation characteristics. The speed of a DC motor can be
controlled by changing the voltage applied to the armature. The introduction of variable
resistance in the armature circuit or field circuit allowed speed control. Modern DC motors
are often controlled by power electronics systems which adjust the voltage by "chopping" the
DC current into on and off cycles which have an effective lower voltage.
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Since the series-wound DC motor develops its highest torque at low speed, it is often used in
traction applications such as electric locomotives, and trams. The DC motor was the mainstay
of electric traction drives on both electric and diesel-electric locomotives, street-cars/trams
and diesel electric drilling rigs for many years.
If external power is applied to a DC motor it acts as a DC generator, a dynamo. This feature
is used to slow down and recharge batteries on hybrid car and electric cars or to return
electricity back to the electric grid used on a street car or electric powered train line when
they slow down. This process is called regenerative braking on hybrid and electric cars. In
diesel electric locomotives they also use their DC motors as generators to slow down but
dissipate the energy in resistor stacks. Newer designs are adding large battery packs to
recapture some of this energy.
fixed voltage regulators, these devices can be used with external components to obtain
adjustable voltages and currents
Output Current up to 1A
Output Voltages of 5
Thermal Overload Protection
Short Circuit Protection
Output Transistor Safe Operating Area Protection
2.1.5 MICROCONTROLLER:
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13
14
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Memory Organization:
There are three memory blocks in the PIC16F872. The Program Memory and Data Memory
have separate buses so that concurrent access can occur. Additional information on device
memory may be found in the PICmicro Mid-Range Reference Manual(DS33023).
Program Memory Organization:
The PIC16F872 has a 13-bit program counter capable of addressing an 8K word x 14 bit
program memory space. The PIC16F872 device actually has 2K words of FLASH program
memory. Accessing a location above the physically implemented address will cause a
wraparound. The RESET vector is at 0000h and the interrupt vector is at 0004h.
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RP1:RP0
Bank
00
01
10
11
Each bank extends up to 7Fh (128 bytes). The lower locations of each bank are reserved for
the Special Function Registers. Above the Special Function Registers are General Purpose
Registers, implemented as static RAM. All implemented banks contain Special Function
Registers. Some frequently used Special Function Registers from one bank may be mirrored
in another bank for code reduction and quicker access.
Peripheral Features:
High Sink/Source Current: 25 mA
Timer0: 8-bit timer/counter with 8-bit prescaler
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Timer1: 16-bit timer/counter with prescaler, can be incremented during SLEEP via
external crystal/clock
Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler
One Capture, Compare, PWM module
o Capture is 16-bit, max. resolution is 12.5 ns
o Compare is 16-bit, max. resolution is 200 ns
o PWM max. resolution is 10-bit
10-bit, 5-channel Analog-to-Digital converter (A/D)
Synchronous Serial Port (SSP) with SPI (Master mode) and I2C (Master/Slave)
Brown-out detection circuitry for Brown-out Reset (BOR)
Cmos Technology:
(OST)
Watchdog Timer (WDT) with its own on-chip RC oscillator for reliable operation
Programmable code protection
Power saving SLEEP mode
Selectable oscillator options
In-Circuit Serial Programming (ICSP) via two pins
Single 5V In-Circuit Serial Programming capability
In-Circuit Debugging via two pins
Processor read/write access to program memory
Device Overview:
This document contains device specific information about the PIC16F872 microcontroller.
Additional information may be found in the PICmicro Mid-Rang Reference Manual
(DS33023), which may be obtained from local Microchip Sales Representative or
downloaded from the Microchip website. The Reference Manual should be considered a
complementary document to this data sheet, and is highly recommended reading for a better
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understanding of the device architecture and operation of the peripheral modules. The block
diagram of the PIC16F872 architecture is shown in Figure 2.11. A pinout description is
provided in Table 2.3
Table 2.3: Key Features of The Pic 16F872
Internal Architecture:
19
Dip
NXP Semiconductors produce a range of Microcontrollers that feature both on-chip Flash
memory and the ability to be reprogrammed using In-System Programming technology. Flash
Magic is Windows software from the Embedded Systems Academy that allows easy access to
all the ISP features provided by the devices. These features include:
Flash Magic provides a clear and simple user interface to these features and more as
described in the following sections. Under Windows, only one application may have access
the COM Port at any one time, preventing other applications from using the COM Port. Flash
Magic only obtains access to the selected COM Port when ISP operations are being
performed. This means that other applications that need to use the COM Port, such as
debugging tools, may be used while Flash Magic is loaded. Note that in this manual third
party Compilers are listed alphabetically. No preferences are indicated or implied.
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PROJECT IMPLEMENTATION
CHAPTER 3
PROJECT IMPLEMENTATION:
23
The robot is so controlled by a mobile phone that makes a call to the mobile phone attached
to the robot. In the course of a call, if any button is pressed, a tone corresponding to the
button pressed is heard at the other end of the call. This tone is called dual tone multiple
frequency (DTMF) tone. The robot perceives this DTMF tone with the help of the phone
stacked in the robot. The amplifier is used to amplify the received DTMF signal. The receiver
tone is processed by 8051microcontroller with the help of a DTMF decoder CM8870. The
decoder decodes the DTMF tone into its equivalent binary digit and this binary number is
sent to the microcontroller. The microcontroller is preprogrammed to take a decision for any
given input and outputs its decision to motor drivers in order to drive the motors for forward
or backward motion or a turn. The mobile that makes a call to the mobile phone stacked in
the robot acts as a remote.
. 3.2
FLOW CHART:
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3.4 APPLICATIONS:
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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. The Voyager I spacecraft is the
first craft of any kind to leave the solar system. The Martian explorers Spirit and Opportunity
have provided continuous data about the surface of Mars since January 3, 2004.
26 Nov, 2008 in Mumbai, India. The loss of military personnel can be largely reduced by
using these advanced methods. This was demonstrated by the successful use of UAVs during
the 2008 hurricanes that struck Louisiana and Texas.
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CONCLUSION:
The primary purpose of the mobile phone operated land rover with DTMF decoder is to
know the information in the places where we cannot move. The robot perceives the DTMF
tone with the help of the phone stacked in the robot. It provides the advantage of robust
control, working range as large as coverage area of service provider.
FUTURE SCOPE
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.
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.
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REFERENCES
30
REFERENCES:
[1]
The 8051 Microcontroller and Embedded Systems By Muhammad Ali Mazidi and
R. Sharma, K. Kumar, and S. Viq, DTMF Based Remote Control System, IEEE
R.C. Luo, T.M. Chen, and C.C. Yih, Intelligent autonomous mobile robot control
through the Internet,IEEE InternationalSymposium ISIE 2000, vol. 1, pp. 6-11, December
2000
[5]
actuators by GSM", IEEE 2002 28th Annual Conference of the Industrial Electronics Society
IECON 02, vol. , 5-8 Nov. 2002,pp.2306 2310
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