mobile based vehicle final report.docx

“MOBILE OPERATED ROBOT”

A PROJECT REPORT

submitted to

GOVERNMENT POLYTECHNIC AURANGABAD(An Autonomous Institute of Govt. of Maharashtra)

by

MORE YOGITA K. (108086)

NAPHADE KOMAL R. (108090)

NARNAWALE SHWETA S. (108091)

in partial fulfillment for the award

of

DIPLOMA INELECTRONICS AND TELECOMMUNICATION

ENGINEERING

DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATION

GOVERNMENT POLYTECHNIC AURANGABAD

(An Autonomous Institute of Govt. of Maharashtra)

ACADEMIC YEAR 2012-13



A PROJECT REPORT

submitted to

GOVERNMENT POLYTECHNIC AURANGABAD(An Autonomous Institute of Govt. of Maharashtra)

By




Under the guidance of

Prof A. S. Patil.

in partial fulfillment for the award

of

DIPLOMA INELECTRONICS AND TELECOMMUNICATION

ENGINEERING

DEPARTMENT OF ELECTRONICS AND TELECOMMUNICATION

GOVERNMENT POLYTECHNIC AURANGABAD

(An Autonomous Institute of Govt. of Maharashtra)

ACADEMIC YEAR 2012-13

CERTIFICATE

This is to certify that the project report entitled,


submitted by




to the Government Polytechnic Aurangabad (An Autonomous Institute of

Government of Maharashtra) in partial fulfillment for the award of

Diploma in Electronics and Telecommunication Engineering is a

bonafide record of the project work carried out by them under my

supervision during the year 2012-2013.

Prof. A. S. Patil Prof. A S Giri

Project Guide Head of the Department

Prof. P R Pattalwar

Principal

Government Polytechnic Aurangabad

CONTENTS

TITLE PAGE

ACKNOWLEDGEMENTS.................................................................................................05

ABSTRACT..........................................................................................................................06

LIST OF TABLES ...............................................................................................................07

LIST OF FIGURES .............................................................................................................07

ABBREVIATIONS ..............................................................................................................08

CHAPTER 1 INTRODUCTION…………………………………………………….…....09

1.1 INTRODUCTION………….……………………………………………………………09

CHAPTER 2 LITERATURE SURVEY………………………………………………….10

2.1 TECHNOLOGY USED………………………………………………………………....11

2.2 PRILIMINARY DESIGN……………………………………………………………….15

2.3 PROBLEMS ENCOUNTERED…………………………………………………..........18

2.4 FINAL DESIGN…………………………………………………………………...........19

2.5 ACTUAL PCB PHOTOGRAPHS………………………………………………………21

2.6 CIRCUIT DESCRIPTION………………………………………………………...........22

2.7 WORKING………………………………………………………………………..….…24

2.8 PROGRAM CODE………………………………………………………………...........25

2.9 SOFTWARE USED………………………………………………………………...…..29

CHAPTER 3 DATASHEETS…………………………………………………………......33

3.1 89CS51……………………………………………………………………………..…...33

3.2 CS9370…………………………………………………………………………….........35

3.3 L293DNE………………………………………………………………………………..37

CHAPTER 4 APPLICATIONS……………………………………………………….….38

4.1APPLICATIONS………………………………………………………………………...38

4.2 FUTURE SCOPE…………………………………………………………………….…39

CONCLUSION………………………………………………………………………….....40

REFERENCE.................................................................................................................... ...41

ACKNOWLEDGEMENT

We have taken efforts in this project. However, it would not have been

possible without the kind support and help of many individuals and organizations. We

would like to extend our sincere thanks to all of them.

We highly indebted to Prof. A. S. Patil for their guidance and constant

supervision as well as for providing necessary information regarding the project&

also for their support in completing the project.We are also very much thankful to

Principal P. R. Pattalwar sir, for the facilities provided by him.

We would like to express our gratitude towards our parents & member of

Government Polytechnic Aurangabad for their kind co-operation and encouragement

which help us in completion of this project.

Our thanks and appreciations also go to our colleague in developing the

project and people who have willingly helped us out with their abilities.

More Yogita K. (108086)

Naphade Komal R. (108090)

Narnawale Shweta S. (108091)

ABSTRACT

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 receives 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 CS9370. 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. So you do not require the construction of receiver and transmitter units.

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. It 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.

LIST OF TABLES

TABLE TITLE PAGE

1.1 DTMF event frequencies…………………………………………………………14

1.2 Components used……………………………………………………….………..17

LIST OF FIGURES

FIGURE TITLE PAGE

1.1 DTMF keypad frequency (with audio clips)……………………………………..12

1.2 DTMF telephone keypad………………………………………………………...13

1.3 Block diagram……………………………………………………………………15

1.4 DTMF controller vehicle (circuit diagram)……………………………………...16

1.5 Final PCB layout…………………………………………………………………19

1.6 Bottom view of PCB……………………………………………………………..20

1.7 Top view of vehicle………………………………………………………………21

1.8 Side view of cehicle……………………………………………………………...21

1.9 Flowchart…………………………………………………………………………27

2.0 Window of μvision keil………………………………………………………….29

2.1 Window of cadstar 11.0………………………………………………………….31

2.2 Window of flashmagic…………………………………………………………...32

2.3 Pin diagram of 89C51……………………………………………………………33

2.4 Pin diagram of CS9370…………………………………………………………..35

2.5 Pin diagram of L293DNE………………………………………………………..37

ABBREVATIONS

1.DTMF:- Dual Tone Multiple Frequency.

2.PCB:- Printed Circuit Board.

3.RF:-Radio Frequency.

4.RC:-Radio Control.

5.RCV:-Remote Control Vehicle.

6. ZTC:-Zuken Technology Center.

7.EN:- Enable

8. PEROM:- Programmable Erasable Read Only Memory.

9. UAV:- Unmaned Aerial Vehicle.

10.EA:- External Access.

11. ISP:- Insystem Programmable.

12. RST:- Reset.

13.PSEN:- Program Store Enable.

14. HEX:-Hexadecimal.

15. DC:- Direct Current.

16. RAM:- Random Access Memory.

CHAPTER 1: INTRODUCTION

1.1 INTRODUCTION

This module is based on DTMF decoder IC. When connected to cell phone

audio output it decodes DTMF tones and gives digital output suitable to interface with

most of the microcontroller. With the use of this module user can make machines that

can be controlled through mobile phone.

Radio control (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 to make 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 restricts its motion with 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 (RCV) differs from a robot in that the RCV is

always controlled by human and takes no positive action autonomously.

One of the key technologies which underpin this field is that of remote vehicle

control. It is vital that a vehicle should be capable of proceeding accurately to a target

area; maneuvering and safely to base.

Recently, Sony Ericsson released a remote control car that could be controlled

by any Bluetooth cell phone. Radio is the most popular because it does not require the

vehicle to be limited by the length of the cable or in a direct line of sight with the

controller (as with the infrared set-up). Bluetooth is still too expensive and short range

to be commercially viable.

CHAPTER 2: LITERATURE SURVEY

This propeller-driven radio controlled boat, built by Nikola Tesla in 1898, is

the original prototype of all modern-day uninhabited aerial vehicles and precision

guided weapons. In fact, it is among all remotely operated vehicles in air, land or sea

[5].

Powered by lead-acid batteries and an electric drive motor, the vessel was

designed to be maneuvered alongside a target using instructions received from a

wireless remote-control transmitter. Once in position, a command would be sent to

detonate an explosive charge contained within the boat’s forward compartment. The

weapon’s guidance system incorporated a secure communications link between the

pilot’s controller and the surface-running torpedo in an effort to assure that control

could be maintained even in the presence of electronic counter measures [6]

During World War II in the European Theatre the U.S. Air Force with three

basic forms radio-control guided weapons. In each case, the weapon would be

directed to its target by a crew member on a control plane. The first weapon was

essentially a standard bomb fitted with steering controls. The next evolution involved

the fitting of a bomb to a glider airframe, one version, the GB-4 having a TV camera

to assist the controller with targeting. The third class of guided weapon was the

remote controlled B-17. It’s known that Germany deployed a number of more

advanced guided strike weapons that saw combat before either the V-1 or V-2. They

were the radio-controlled Herschel’s Hs293A and Ruhrstahl’s SD1400X, known as

“FritzX,’ both air-launched, primarily against ships at sea [5].

A Robot can be defined as a programmable, self-controlled device consisting

of electronic, electrical, or mechanical units. More generally, it is a machine that

functions in place of a living agent. Robots are especially desirable for certain work

functions because, unlike humans, they never get tired; they can endure physical

conditions that are uncomfortable or even dangerous; they can operate in airless

conditions; they do not get bored by repetition. In future we can construct an

autonomous MobileRoboticArm that would exhibit sophisticated machine intelligence

behaviors.

2.1 TECHNOLOGY USED:

2.1.1 DUAL TONE MULTI-FREQUENCY (DTMF)

Dual Tone Multiple Frequency is the basis of voice communications control.

Modern telephone circuits use DTMF to dial numbers, configure telephone exchanges

(switchboards) from remote locations, program certain equipment and so on. Almost

any mobile phone is capable of generating DTMF, providing a connection has already

been established. This is for the use of phone banking; voicemail services and other

DTMF controlled applications. DTMF was designed so that it is possible to use

acoustic transfer.

The DTMF tones can be sent from a standard speaker and be received using a

standard microphone (providing it is connected to a decoding circuit of some type).

DTMF tones are simply two frequencies played simultaneously by a standard home

phone/fax or mobile phone. Each key on your telephone's keypad has a unique

frequency assigned to it. When any key is pressed on your telephone's keypad the

circuit plays the corresponding DTMF tone and sends it to your local exchange for

processing.

DTMF tones can be imitated by using a White Box or Tone Dialer. It is also

possible to record DTMF tones using a tape recorder or computer microphone and

then played into the mouthpiece of your telephone to dial numbers. However if there

is a significant amount of background sound behind the recorded DTMF tones, the

tones may not work properly and cause problems when trying to dial numbers..

The name was given because the tone that we heard over the phone is actually

make up of two distinct frequency tone, hence the name dual tone. The DTMF tone is

a form of one way communication between the dialer and the telephone exchange. A

complete communication consist of the tone generator and the tone decoder. In this

article, we are use the IC CS9370, the main component to decode the input dial tone

to 5 digital output. These digital bits can be interface to a computer or microcontroller

for further application eg. Remote control, phone line transfer operation, LEDs, etc...

DTMF assigns a specific frequency to each keys that it can easily be identified

by the electronic circuit. The signal generated by the DTMF encoder is the direct

al-gebric submission, in real time of the amplitudes of two sine 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:

Fig 1.1 DTMF Keypad Frequencies (with audio clips)

Low Group Freq.

High Group Frequencies (Hz)

1209 1336 1477 1633

697

770

852

Normal Keypad

Extended Keypad

2.1.2 TELEPHONE KEYPAD

The contemporary keypad is laid out in a 3×4 grid, although the original TMF

keypad had an additional column for four now-defunct 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 column determines high frequency.

For example, pressing the ‘1’ key will result in a sound composed of both a667 and a

1209 hertz (Hz) tone. The original keypads had levers inside, so each button activated

two contacts.

The multiple tones are the reasons for calling the system multi frequency.

These tones are then decoded by the switching center to determine which key was

pressed.

FIG1.2 A DTMF TELEPHONE KEYPAD

*

2abc

5jkl

8tuv

0

3def

6mno

9wxyz

#

1

4ghi

7pqrs

DTMF EVENT FREQUENCIES

Event Low Frequency High Frequency

Busy signal 480 Hz 620 Hz

Dial Tone 350 Hz 440 Hz

Ring back Tone 440 Hz 480 Hz

TABLE1.1

2.1.3 TONE #, *, A, B, C AND D

The engineers had envisioned phone 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 (#, sometime 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, 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.

The U.S. military also used the letters, relabeled, in their now defunct Autovon

phone system. Here they were used before dialing the phone in order to give some

calls priority, cutting in over existing calls if need be. The idea was to allow important

traffic to get through every time. The levels of priority available were Flash Override

(A), Flash (B), Immediate (C), and priority (D), with flash override being the highest

priority

2.2PRILIMINARY DESIGN

2.2.1 BLOCK DIAGRAM:-

FIG1.3 BLOCK DIAGRAM

As shown in above block diagram, first thing is the cell phone. So, it acts as DTMF

generator with tone depending upon key pressed. DTMF decoder, i.e. IC CS9370

decodes the received tone & gives binary equivalent of it to the microcontroller.

The controller is programmed such that appropriate output is given to Motor

driver IC L293D which will drive the two DC motors connected to it. The concept

used for driving is ‘Differential Drive’. So, ultimately the two motors rotate according

to the key pressed on the keypad of the cell phone.

2.2.2 CIRCUIT DIAGRAM:-

FIG 1.4 DTMF CONTROLLER (CIRCUIT DIAGRAM)

2.2.3 COMPONENTS USED.

COMPONENT NAME QUANTITY1.8051 microcontroller(89S51) 12.CS9370 dtmf decoder 13.L293DNE motor driver 14.330k resistors 35.330ohm resistors 16.1k resistor 17.IC7805 18.ON-OFF switch 19.Reset switch 110.10k resistor 111.33pf capacitor 212.0.1uf capacitor 213.Crystal(11.0592MHz) 114.Relement connector 415.3.5mm audio connector 116.10uf capacitor 117.Crystal(3.5MHz) 118.Gear Motor(200rpm) 219.12V DC battery 120.Transistor(CT2N3904) 421.LED 2

TABLE1.2

2.3 PROBLEMS ENCOUNTERED

Although the concept & design of the project seemed perfectly, there were

problems faced while actual implementation :

1. Selection of Mobile Phone :

At first, latest cell phone like Nokia 5700, N-series were tried. But they could

not give any output. Several cell phones were tested with their respective Hands Free

cords.

Solution :

The some version phones like Nokia C101, Nokia E5-00, and Nokia E7 were

found to be more suitable for the purpose. Finally Nokia 2700 was used.

2. Lack Of Current:

The DTMF decoder IC CS9370 lack sufficient current to drive the

microcontroller. While the microcontroller required 15mA current to drive the port,

the decoder provide a maximum 1 to 2mA current. Same problem occur when drive a

geared motor. Even a small geared motor of 200 RPM require a current of 70mA to

90mA for its rotation.

Solution :

For this reason we need a driver circuit, to increase the port current of the

microcontroller. This can be achieved by using an power transistor or by driver IC’s.

To drive a geared motor we use motor driver IC i.e L293DNE.

And for boosting the current from decoder IC we connect the current boosting

transistors(CT2N3904) at output of decoder, and we get the sufficient current to drive

the ports of microcontroller.

2.4 FINAL DESIGN

FIG1.5 FINAL PCB LAYOUT

FIG1.6 BOTTOM VIEW OF PCB

2.5 ACTUAL PCB PHOTOGRAPH :

2.6 CIRCUIT DESCRIPTION :

The important components of these vehicle are a DTMF decoder, microcontroller

and motor driver.

MOBILE: -

This is very first and the most important part of the system because due to this

only the entire system is activated and works. It will receive the signals from another

cell phone and gives them as input to DTMF decoder. First the system is activated by

calling the SIM card number inside the phone. Afterwards it will receive DTMF code

signals dialed from another cell phone and give it to DTMF decoder.

DTMF DECODER SECTION:-

When the input signals given at pins 1(IN+) & 2(IN-) , a differential input

configuration is recognized to be effective, the correct 4-bit decode signal of the

DTMF tone is transferred to (PIN11) through (PIN14) outputs. The pin 11 to pin14

of DTMF decoder is connected to the pins of microcontroller (P1.4 toP1.7).

MICROCONTROLLER SECTION:-

You can call this block as the heart of entire system because it actually

performs all the controlling actions. Depending upon the code given by DTMF

decoder.Microcontroller AT89C51 is at the heart of the circuit. It is a low-power,

high-performance, 8-bit microcontroller with 4 kB of flash programmable and

erasable read-only memory (PEROM) used as on-chip program memory, 128 bytes of

RAM used as internal data memory, 32 individually programmable input/output (I/O)

lines divided into four 8-bit ports, two 16-bit programmable timers/counters, a five-

vector two-level interrupt architecture, on-chip oscillator and clock circuitry. A

11.0592MHz crystal is used.

MOTOR DRIVER SECTION:-

While constructing any robot, one major mechanical constraint is the number

of motors being used. You can have either a two- wheel drive or a four-wheel drive.

Though four-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. Motors are fixed to the bottom of this sheet and the circuit is affixed firmly

on top of the sheet. A cell phone is also mounted on the sheet. In the four-wheel drive

system, the two motors on a side are controlled in parallel. So a single L293D driver

IC can drive the Robotic Car.

Outputs from port pins P2.0 through P2.3 of the microcontroller are fed to the

inputs IN1 through IN4 & enable pins (EN1&EN2) of motor driver L293D IC,

respectively to drive two geared dc motors. Switch S1 is used for manual reset. The

microcontroller output is not sufficient to drive the dc motors, so current drivers are

required for motor rotation.

Drivers1&2 and driver 3&4 are enabled by enable pin1 (EN1) and pin9 (EN2),

respectively. When enable input EN1 (pin1) is high, drivers 1and2 are enabled and the

outputs corresponding to their input are active. Similarly, enable input EN2 (pin9)

enables drivers 3 and 4.

The motors are rotated according to the status of IN1 to IN4 pins of L293D

which in turn are depending on output pins of microcontroller P2.0-P2.3.

2.7 WORKING

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 auto answer mode

(which is in all the phone, just enable it).

now,

1. when you press 2 the robot will move forward.

This is because when we press the button 2 then the frequency generated by

this key is accepted by the dtmf decoder as a input, and by decoding this frequency i.e

converting into the binary form output is given to the microcontroller, as per the

programming in the microcontroller pins of output will ho high and motor starts

rotating. Similarly the conditions given below are satisfies.

2. when you press 4 the robot will move left

3. when you press 8 the robot will move backwards

4. when you press 6 the robot will move right

5. when you press 5 the robot will stop.

2.8PROGRAM CODE

#include<reg51.h>

void delay(unsigned int);

void main(void)

{

P1=0x00;

P2=0x00;

P0=0x00;

P3=0x00;

while(1)

{

if(P1==0x40)

{

P2=0x0A;

}

if(P1==0x10)

{

P2=0x05;

}

if(P1==0x60)

{

P2=0x02;

}

if(P1==0x20)

{

P2=0x08;

}

if(P1==0xA0)

{

P2=0xFF;

}

if(P1==0xC0)

{

P2=0x06;

}

if(P1==0x80)

{

P2=0x09;

}

if(P1==0x00)

{

P2=0x00;

}

}

}

2.8.1 FLOW CHART :

START

CONTINUED

READ THE INPUT FROM DTMF DECODER (P1)

IF

INPUT= 2

M1 = FWD

M2 = FWD

IF

INPUT= 8

M1 = REV

M2 = REV

IF

INPUT= 6

IF

INPUT= 5

IF

INPUT= 4

M1 = STOP

M2 = STOP

M1 = STOP

M2 = FWD

M1 = FWD

M2 = STOP

M1 = REV

M2 = FWD

FIG1.9 FLOWCHART

2.9 SOFTWARE USED

2.9.1μVISION KEIL :

IF

INPUT= 1

IF

INPUT= 3

M1 = FWD

M2 = REV

Micro vision Keil provide id e for 8051 programming and is very easy to use.

When starting a new project simply select the microcontroller you from the device

data base and the micro vision IDE sets all compiler.

Assembler linker and memory option its device data base is large which

support many ICs of the 8051 family. A hex file can be created with the help of Keil

which is required for burning on to chief. It has a power bugging tool which detects

most of the error in the program.

WORKING WITH μVISION KEIL

FIG2.0 WINDOW OF μVISION KEIL

2.9.2 ZUKEN CADSTAR 11.0

CADSTAR is a Windows based EDA software tool for designing and creating

schematic diagrams and printed circuit boards. It provides engineers with a tool for

designing simple or complex, multilayer PCBs. CADSTAR spans schematic capture,

variant management, placement, automatic and high-speed routing, signal integrity,

power integrity, EMC analysis, design rule checks and production of manufacturing

data. Originally developed by U.K. PCB vendor Racal-Redac, CADSTAR has been

part of the Zuken product portfolio since its acquisition in 1994.[1]

The first version of CADSTAR was released in 1988 running under DOS.

CADSTAR for Windows 1.0 was released in March 1994. Since then, there has been

about one major release per year. The latest version, as of Feb 2013, is CADSTAR

version 14.0.[2] The software is developed at Zuken's Technology Centre, ZTC in

Bristol, United Kingdom.

CADSTAR contains many modules for specific uses such as:

1. Design Editor This enables the engineer to draw schematic circuits, define the

PCB layout and produce the manufacturing data from the completed PCB.

2. Library Editor Used for the creation of Symbols, Component and Parts. Supports

ODBC compliant databases.

3. Embedded Router Used to create the tracks (layout) and other copper features of

the board within the Design Editor environment.

4. P.R.Editor Used to create the tracks and other copper features of the board in an

external environment to the Design Editor with many more features than the

Embedded Router.

5. High-Speed P.R.Editor Allows the user to define a wide range of circuit rules

and routing constraints to control the layout process.

6. Signal Integrity Verify Post-layout signal integrity simulation toolset and what-if

analysis.

7. Power Integrity Fast analysis methodology including what-if analysis for

concurrent power integrity.

8. EMC Adviser Helps designers predict, analyse and control EMC design issues.

9. Design Migration Tool Used to migrate designs and libraries from other EDA-

tools into CADSTAR.

10. Variant Manager Allows support of variant assemblies for different part values

or not fitted components on the same PCB

FIG2.1 WINDOW OF CADSTAR11.0

2.9.3 FLASH MAGIC :

ROLE IN DESIGN

Flash magic is a pc tool for programming flash based microcontroller 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 has selected through it for programming the microcontroller.

FIG2.2 WINDOW OF FLASH MAGIC

CHAPTER 3: DATASHEETS

3.189S51

1. 4K Bytes of In-System Programmable (ISP) Flash Memory

i. Endurance: 1000 Write/Erase Cycles

2. 4.0V to 5.5V Operating Range

3. Fully Static Operation: 0 Hz to 33 MHz

4. Three-level Program Memory Lock

5. 128 x 8-bit Internal RAM

6. 32 Programmable I/O Lines

7. Two 16-bit Timer/Counters

8. Six Interrupt Sources

9. Full Duplex UART Serial Channel

10. Low-power Idle and Power-down Modes

11. Interrupt Recovery from Power-down Mode

12. Fast Programming Time

FIG2.3 PIN DIAGRAM OF 89S51

3.1.2 PIN DESCRIPTION

1. VCC:- Supply voltage.

2. GND:- Ground.

3. 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. Port 1 also receives the low-order address bytes during Flash

programming and verification

1. PORT 2:- Port 2 is an 8-bit bidirectional I/O port with internal pull-ups. The Port

2 output buffers cansink/source four TTL inputs. When 1s are written to Port 2

pins, they are pulled high by theinternal pull-ups and can be used as inputs. As

inputs, Port 2 pins that are externally beingpulled low will source current (IIL)

because of the internal pull-ups.Port 2.

2. 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.

3. PSEN:- Program Store Enable (PSEN) is the read strobe to external program

memory. When the AT89S51 is executing code from external program memory.

4. 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.

5. XTAL1:- Input to the inverting oscillator amplifier and input to the internal clock

operating circuit.

6. XTAL2:- Output from the inverting oscillator amplifier.

3.2 CS9370

3.2.1 GENERAL DESCRIPTION

The CS9370 is a complete DTMF receiver integrating both the bandsplit filter

and digital decoder functions. The filter section uses switched capacitor techniques for

high-and low-group filters and dial-tone rejection. Digital counting techniques are

employed in the decoder to detect and decode all 16 DTMF tone-pairs into 4-bit code.

External component count is minimized by on-chip provision of a differential input

amplifier, clock-oscillator and latched 3-state bus interface.

3.2.2 FEATURES

1. CMOS, 5/3 Volt operation.

2. Excellent performance with minimum board quality.

3. Central office quality.

4. Low power consumption.

5. Power-Down mode

6. Inhibit-mode

7. Package: DIP18, SOP18

FIG2.4 PIN DIAGRAM OF CS9370

3.2.3 DC ELECTRICAL CHARACTERISTICS

1. SUPPLY:

VDD Operating supply voltage 2.5 5.5 V

ICC Operating supply current 3.0 7 mA

PO Power consumption F=3.579MHz；VDD=5V 15 35 mW

IS Standby current VPWDN=VDD 100 μA

2. INPUTS:

VIL Low level input voltage 1.5 V

VIH High level input voltage 3.5 V

IIH/IIL Input leakage current VIN=VSS or VDD 0.1 μA

ISO Pull up (source) current TOE（Pin 10）=0V 7.5 15 μA

RIN

Input Signal Impedance (Inputs 1,

2) @1kHz 10 MΩ

VTST Steering threshold voltage 2.35 V

3. OUTPUT:

VOL Low level output voltage No load 0.03 V

VOH High level output voltage No load 4.97 V

IOL Output low (sink) current VOUT =0.4V 1.0 2.5 mA

IOH Output High (source) current VOUT =4.6V 0.4 0.8 mA

VREF Output voltage No load 2.4 2.7 V

ROR Output resistance 10 Kω

3.3 L293DNE

3.3.1 FEATURES

1. Featuring Unitrode L293 and L293D

2. Products Now From Texas Instruments

3. Wide Supply-Voltage Range: 4.5 V to 36 V

4. Separate Input-Logic Supply

5. Internal ESD Protection

6. Thermal Shutdown

7. High-Noise-Immunity Inputs

8. Functional Replacements for SGS L293 and SGS L293D

9. Output Current 1 A Per Channel (600 mA for L293D)

10. Peak Output Current 2 A Per Channel (1.2 A for L293D)

11. Output Clamp Diodes for Inductive Transient Suppression (L293D)

FIG2.5 PIN DIAGRAM OF L293DNE

CHAPTER 4 : APPLICATIONS

4.1 APPLICATION

1. Scientific Use

Remote control vehicles have various scientific uses including hazardous

environments. 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 andOpportunity have

provided continuous data about the surface of Mars since January 3, 2004.

2. Military and Law Enforcement Use

Military usage of remotely controlled military vehicles dates back the first half

of 20th century. Soviet Red Army used remotely controlled Tele tanks during 1930s

in the Winter War and early stage of World War II. There were also remotely

controlled cutters and experimental remotely controlled planes in the Red Army.

Remote control vehicles are used in law enforcement and military

engagements for some of the same reasons. Exposure to hazards is mitigated to the

person who operates the vehicle from a location of relative safety. Remote controlled

vehicles are used by many police department bomb-squads to defuse or detonate

explosives.

3.Search and Rescue

UAVs will likely play an increased role in search and rescue in the United

States. Slowly other European countries (even some developing nations) are thinking

about making use of these vehicles in case of natural calamities &emergencies. This

can be a great asset to save lives of both people along with soldiers in case of terrorist

attacks like the one happened in 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.

4. Forest Conservation

In the recent times, there has been a serious endangerment to the wildlife

population. A lot of animals are on the verge of becoming extinct, including the tiger.

The spy robotic car can aid us in this purpose. Since it is a live streaming device and

also mobile, it can keep the forest guards constantly updated about the status of

different areas which are prone to attack. As a result, it can help to prevent further

destruction of the forest resources by enabling correct prohibitory action at the

appropriate time.

4.2 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 and increases security to a great extent.

3.Alarm Phone Dialer

By replacing DTMF Decoder IC CS9370 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.

4.3 CONCLUSION

By developing a cell phone operated robotic car, we have over come the

drawbacks of the conventionally used RF circuits. This RCV includes advantages

such as robust control, minimal interference and a large working range. The car

requires four commands for motion control. The remaining twelve controls are

available to serve purposes dependant on the area of application of the RCV.

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. It 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.

More generally, it is a machine that functions in place of a living agent.

Robots are especially desirable for certain work functions because, unlike humans,

they never get tired; they can endure physical conditions that are uncomfortable or

even dangerous; they can operate in airless conditions; they do not get bored by

repetition. In future we can construct an autonomous MobileRoboticArm that would

exhibit sophisticated machine intelligence behaviors.

REFERENCES :

1. Wikipedia-The free encyclopedia.

2. http://www.8051projects.info/

3. http://www.instructables.com/

4. Schenkar, L (1960),”Pushbutton Calling with a Two-Group Voice –Frequency

Code”, The Bell System technical journals39 (1): 255-255, ISSN005-8580.

5. Overview of datasheet of AT 80S51, MT 8870, L293D.

6. Study of DTMF signals from ‘ Digital Signal Processing ’ by N. G. Palan

7. http://www.projectsof8051.com /

8. http://vegakit.com

http://vegakit.com/

http://www.projectsof8051.com/

mobile based vehicle final report.docx

Documents