cell phone controlled robot
TRANSCRIPT
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
1/29
INTRODUCTION
As we know, 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. Although the appearance and capabilities of robots vary
vastly, all robots share the features of a mechanical, movable structure under some form of con-
trol. The control of robot involves three distinct phases: perception, processing and action. Gen-
erally, the preceptors are sensors mounted on the robot, processing is done by the on -board mi-
crocontroller or processor, and the task (action)is performed using motors or with some other
actuators.
Fig: 1.1 Mobile phone controlled land rover
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 phonestacked 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
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
2/29
phone stacked in the robot acts as a remote. So this simple robotic project does not require the
construction of receiver and transmitter units. 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 microcon-
troller 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 of receiver and transmitter units. DTMF signaling is
used for telephone signaling over the line in the voice-frequency band to the call switching cen-
ter. 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 so that it can easily be identi-
fied by the electronic circuit. The signal generated by the DTMF encoder is the direct algebraic
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 1336 Hz and 770 Hz to the other end of the
mobile.
Usually, 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. Although the appearance and capabilities of robots vary vastly, all ro-
bots share the features of a mechanical, movable structure under some form of control. The con-
trol 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 (action) is performed using motors or with some other actuators.
The main purpose for this project is to improve the industry and medical facilities to be-
come modern and easy to operate in line with our era. By using this cell phone as a remote to
control the land rover, it overcomes the limitation of the existing remote which is having limita-
tions in range, frequency range and controls.The aim of this project is to improve the machine
operation in Industry and also in medical facilities. In this project, the technology that we used is
Dual-Tone Multi-Frequency (DTMF) Technology. DTMF signaling is used for telecommunica-
tion signaling over analog telephone lines in the voice frequency band between telephone hand-
sets and other communications device and the switching centre.
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
3/29
The underlying principle mainly relies up on the ability of DTMF (Dual-Tone Multi-
Frequency) Technology to acts as a remote for controlling the land-rover to move. It will gener-
ate DTMF corresponding to a number or code in the number pad and then detect the same num-
ber or code from its corresponding DTMF (Table 2.0). In detail, a DTMF generator will gener-
ates two frequencies corresponding to a number or code in the number pad which will be trans-
mitted through the communication networks, constituting the transmitter section which is simply
equivalent to a mobile set.For this project, the microcontroller is pre-programmed to take a deci-
sion for any given input and outputs its decision to motor drivers in order to drive the motors for-
ward, backward motion or a turn.The Microcontroller acts as a brain of this project because the
code will give the action to the motor to move it.
Robotics is a fascinating subject more so, if you have to fabricate a robot yourself. The
field of robotics encompasses a number of engineering disciplines such as electronics (including
electrical), structural, pneumatics and mechanical. The structural part involves use of frames,
beams, linkages, axles, etc. The mechanical parts/accessories comprise various types of gears
(spurs, crowns, bevels, worms and differential gear systems), pulleys and belts, drive systems
(differentials, castors, wheels and steering), etc. Pneumatics plays a vital role in generating spe-
cific pushing and pulling movements such as those simulating arms or leg movements. Pneumat-
ic grippers are also used with advantage in robotics because of their simplicity and cost -
effectiveness. The electrical items include DC and stepper motors, actuators, electrical grips,
clutches and their control. The electronics part involves remote control, sensors (touch sensor,
light sensor, collision sensor, etc), their interface circuitry and a microcontroller for over all con-
trol function.
The main components used for this circuit is a DTMF Decoder,ATmega16 microcontrol-
ler, motor driver, two mobile phones etc.For the working of the rover, we must have to make a
call to the mobile phone attached to the rover through the head phone from any phone which is
along with the controller. This phone in the user sends DTMF tunes on pressing the numeric but-
ton. Remember that the cell phone placed in the land rover is kept in auto answer mode. If the
mobile phone is not having the auto answering facility, receive the call by OK key on the mobile
connected on the rover and make it in hand free mode. So we had made the land rover in such
a way that, after a ring the cell phone accepts the call. The decoder decodes the received tones
and sends the equivalent binary number to the microcontroller. According to the program in the
microcontroller which had been already programmed, the rover starts moving. The rover can
move in forward direction, backward direction, towards front and towards back. Each directions
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
4/29
are directed by the numeric keys in the mobile phone. For example press the key 2 in the key-
pad of the mobile phone for forward movement.
In this project we are using only four directional movements and a stop button. That is why we
are using only five numeric keys here. This mobile phone controlled land rover can be modified
by giving more applications to the keys other than the mentioned keys. Rest of the keys are used
for the advanced purpose of the product.
1.1 OVERVIEW OF THE PROJECT
This section gives a brief description about the contents of the project work. The chapter
2 discuss about the history of the project. The proposed block diagram description and working
are explained in chapter 3. The chapter 4 deals with the circuit diagram, PCB layout and compo-
nent specification of the project. Finally the result, conclusion and the advantages and disad-
vantages are dawn in chapter 5.
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
5/29
CHAPTER 2
LITERATURE SURVEY
Looking back at the history of the project, we can see that our project is the modified ver-
sion of the projects listed below. For this project we are using a mobile phone controlled land
rover. This is the latest method for using RF signals for transmitting the signals .This project can
be done in two ways. We can use two method with or without using microcontroller software.
The second method which is without using the Microcontroller Interfacing software, the micro-
controller is replace with the equivalent logic circuit that act as a decoder to convert the binary to
perform the action of the land rover.
Fig: 2.1 Circuit diagram without using Microcontroller Interfacing Software.
When using this second method, it will be a problem in excessive current division due to the
overloaded logic. So the chosen of using the microcontroller is the best solution to avoid this en-
tire problem from happening in constructing this project
These both methods operate in same way which is drawback the limited working range,
limited range and limited control. As the preliminary stage of technology, there came the wired
land rover followed by the rover etc. As the technology has advanced, to overcome the limita-
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
6/29
tions of each of these, there came the modified version. The wired land rover is the primary
product which had used this technology. It had more complex circuitry and bulkiness in produc-
tion. The product would be more expensive. And the main drawback of this land rover is that it is
controlled by wires. That is for the working of the land rover, it must be controlled by a compo-
nent which is interconnected to the rover by wires.ie the link between the rover and the compo-
nent is the wires. The advanced version of the wired land rover is the wireless land rovers. Thishas more modified techniques. To overcome the limitations of the wired rover, wireless rovers
are adopted. Even though the wireless land rovers were having limitations, it is more advanta-
geous than the wired land rovers. It has a working area which is more wider than the previous
one.
A remote control vehicle is defined as any mobile device that is controlled by means
that does not restrict its motion with an origin external device. A remote controlled vehicle
(RCV) differs from robot as the RCV is always controlled by a human and takes no positive ac-
tion autonomously. It is vital that a RCV should be capable of proceeding accurately to a target
area; maneuvering within that area to fulfill its mission and returning equally accurately and
safely to base. Conventionally, wireless-controlled robots use RF circuits, which have the draw-
backs 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. Although the appearance and capabilities of robots
vary vastly, all robots share the features 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 (action) is performed using motors or with some other
actuators.
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,
all remotely operated vehicles in air, land or sea.Powered
by
lead acid
batteries
and
an
elec-
tricdrive motor, the vessel was designed to be maneuvered alongside a target using instructions
received from a wireless remote-control transmitter. Onceinposition, acommandwouldbe sent
to detonate an explosive charge contained within the
boat'sforwardcompartment.Theweapon'sguidancesystem incorporated a secure communica-
tions link between the pilot's controller and the surface-running torpedo in an effortto assure that
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
7/29
control could be maintained even in the presenceof electroniccountermeasures.To learnmore
about Tesla's system for secure wireless communications and his pioneering implementation of
the electronic logic-gate circuitread Nikola Tesla Guided Weapons & Computer Technolo-
gy, Tesla Presents Series Part 3, with commentary by Leland Anderson.
Use of Remote Controlled Vehicles During World War II :
During World War II in the European Theater the U.S. Air Force experimented 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 ver-
sion, the GB-4 having a TV camera to assist thecontroller withtargeting.The thirdclass of guid-
ed weapon was the remote controlled B-17.It's known that Germany deployed a number ofmore
advanced guided strike weapons that saw combat beforeeither the V-1 or V-
2. They were the radio-controlledHenschel's Hs 293A and Ruhrstahl's SD1400X, known as
"FritzX," both air-launched, primarily against shipsat sea.
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
8/29
CHAPTER 3
PROPOSED SYSTEM
In this project we are discussing about Mobile Phone Controlled Land Rover. The pro-
posed system is discussed in the section below. Here we discuss about the components in the
block and its working.
3.1 BLOCK DIAGRAM AND DESCRIPSION
The block diagram of the cell phone based land rover consists of the following blocks.
The DTMF decoder, microcontroller, motor driver, left motor and right motor, two mobile
phones. In this project, the robot is controlled by a mobile phone that makes a call to the mobilephone 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
.
Fig: 3.1 Block Diagram of Mobile Phone Controlled Land Rover
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
9/29
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
10/29
CHAPTER 4
CIRCUIT DIAGRAM AND DESCRIPTION
The main attraction of this project is that it 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 (DTMF). The 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 prepro-grammed 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 of receiver and transmit-
ter 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 so
that it can easily be identified by the electronic circuit. The signal generated by the DTMF en-
coder is the direct algebraic 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 1336 Hz and770 Hz to the other end of the mobile. In 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 DTMF
tunes on pressing the numeric buttons. The cell phone in the robot is kept in auto answer mode.
(If the mobile does not have the auto answering facility, receive the call by OK
The key on the rover-connected mobile and then made it in hands-free mode.) So after a ring, the
cell phone accepts the call. The DTMF tones thus produced are received by the cell phone in the
robot. These tones are fed to the circuit by the head 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. When set of the cell
phone. you press key 2 (binary equivalent 00000010) on your mobile phone, the microcontrol-
ler outputs 10001001 binary equivalent.
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
11/29
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
12/29
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
13/29
When the input signal given at pin 2 (IN-) in single-ended input configuration is recog-
nized to be effective, the correct 4-bit decode signal of the DTMF tone is transferred to Q1 (pin
11) through Q4 (pin14) outputs. Q1 through Q4 outputs of the DTMF decoder (IC1) are connect-
ed to port pins PA0 through PA3 of microcontroller (IC2) after inversion by N1 through N4, re-
spectively. 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 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. The
L293D is a quad, high-current, half-H driver designed to provide bidirectional drive currents of
up to 600 mA at voltages from 4.5V to 36V. It makes it easier to drive the DC motors. The
L293D consists of four drivers. Pins IN1 through IN4 and OUT1 through OUT4 are input and
output pins, respectively, of driver 1 through driver 4. Drivers 1 and 2, and drivers 3 and 4 are
enabled by enable pin 1 (EN1) and pin 9 (EN2), respectively. When enable input EN1 (pin 1) is
high, drivers 1 and 2 are enabled and the outputs corresponding to their inputs are active. Simi-
larly, enable input EN2 (pin 9) enables drivers 3 and 4.
Table: 4.2 Tones and assignments in DTMF decoder system
TONES AND ASSIGNMENTS IN DTMF DE-
CODER SYSTEM
FREQUENCIES 1209Hz 1336Hz 1477Hz 1633Hz
697Hz 1 2 3 A
770Hz 4 5 6 B
852Hz 7 8 9 C
941Hz * 0 # D
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
14/29
4.1 L293D MOTOR DRIVER
L293D is a dual H bridgemotor driver integrated circuit (IC). Motor drivers act as cur-
rent amplifiers since they take a low-current control signal and provide a higher-current signal.
This higher current signal is used to drive the motors. In its common mode of operation, two DC
motors can be driven simultaneously, both in forward and reverse direction.
Fig : 3.3 L293D Motor driver
When the input signal given at pin 2 (IN-) in single-ended input configuration is recog-
nized to be effective, the correct 4-bit decode signal of the DTMF tone is transferred to Q1 (pin
11) through Q4 (pin 14) outputs. Q1 through Q4 outputs of the DTMF decoder (IC1) are con-
nected to port pins PA0 through PA3 of microcontroller (IC2) after inversion by N1 through N4,
respectively 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 two geared DC motors. Switch S1 used for manual reset. The microcontroller output is not
sufficient to drive the DC motors, so current drivers are required for motor rotation. The L293D
is a quad, high-current, half-H driver designed to provide bidirectional drive currents of up to
600 mA at voltages from 4.5V to 36V. It makes it easier to drive the DC motors. The L293D
consists of four drivers. Pins IN1 through IN4 and OUT1 through OUT4 are input and output
pins, respectively, of driver 1 through driver4.The L293 and L293D are quadruple high-current
half-H drivers. The L293 is designed to provide bidirectional drive currents of up to 1 A at volt-
ages from 4.5 V to 36 V. The L293D is designed to provide bidirectional currents of up to 600-
mA at voltages from 4.5 V to 36 V.
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
15/29
.Fig: 4.2 Pin diagram of L293D Motor driver
Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar
stepping motors, as well as other high-current/high
-voltage loads in positive
-supply applications.
Fig: 4.3 Four drivers in L293D
All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a
Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
16/29
1 and 2 enabled by 1,2EN and drivers3 and 4 enabled by 3,4EN When an enable input is high, the
associated drivers are enabled and their outputs are active and in phase with their inputs.
Table: 4.3 Pin description of L293D Motor driver
The motor operations of two motors can be controlled by input logic at pins 2 & 7 and
10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in
clockwise and anticlockwise directions, respectively. Enable pins 1 and 9 (corresponding to the
two motors) must be high for motors to start operating. When an enable input is high, the associ-
ated driver gets enabled. As a result, the outputs become active and work in phase with their in-
puts. Similarly, when the enable input is low, that driver is disabled, and their outputs are off and
in the high-impedance state.
Pin No Function Name
1 Enable pin for Motor 1; active high Enable 1,2
2 Input 1 for Motor 1 Input 1
3 Output 1 for Motor 1 Output 1
4 Ground (0V) Ground
5 Ground (0V) Ground
6 Output 2 for Motor 1 Output 2
7 Input 2 for Motor 1 Input 2
8 Supply voltage for Motors; 9-12V (up to 36V) Vcc2
9 Enable pin for Motor 2; active high Enable 3,4
10 Input 1 for Motor 1 Input 3
11 Output 1 for Motor 1 Output 3
12 Ground (0V) Ground
13 Ground (0V) Ground
14 Output 2 for Motor 1 Output 4
15
Input2 for Motor 1
Input 4
16 Supply voltage; 5V (up to 36V) Vcc1
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
17/29
4.2 DTMF DECODER
The MT8870 is a full DTMF Receiver that integrates both band split filter and decoder func-
tions into a single 18-pin DIP or SOIC package. Manufactured using CMOS process technology,
the M-8870 offers low power consumption (35 mW max) and precise data handling. Its filter section
uses switched capacitor technology for both the high and low group filters and for dial tone rejec-
tion.
Fig: 3.2 MT8870 DTMF Decoder
Its decoder uses digital counting techniques to detect and decode all 16 DTMF tone pairs into
a 4-bit code. All types of the MT8870 series use digital counting techniques to detect and decode all
the 16 DTMF tone pairs into a 4-bit code output. The built-in dial tone rejection circuit eliminates
the need for pre-filtering. Dual-tone multi-frequency (DTMF) signaling is used for telecommunica-
tion signaling over analog telephone lines in the voice-frequency band between telephone handsets
and other communications devices and the switching centre. The version of DTMF used for tele-
phone tone signaling is known by the trademarked term Touch-Tone (cancelled 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. As a method of in -
band signaling, DTMF tones were also used by cable television broadcasters to indicate the start and
stop times of local commercial insertion
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
18/29
Fig : 4.4 Pin diagram of MT8870 DTMF Decoder
points during station breaks for the benefit of cable companies. Until better out-of-band
signaling equipment was developed in the 1990s, fast, unacknowledged, and loud DTMF tone
sequences could be heard during the commercial breaks of cable channels in the United States
and elsewhere. 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 tech-
niques for high and low group filters; the decoder uses digital counting techniques to detect and
decode all 16 DTMF tone-
pairs into a 4-
bit code
4.3 DIODE
In electronics, a diode is a two-terminal electronic component that conducts electric cur-
rent in only one direction. The term usually refers to a semiconductor diode, the most common
type today, which is a crystal of semiconductor connected to two electrical terminals, a P-N junc-
tion. A vacuum tube diode, now little used, is a vacuum tube with two electrodes; a plate and a
cathode.
The most common function of a diode is to allow an electric current in one direction
(called the diode's forward direction) while blocking current in the opposite direction (the reverse
direction). Thus, the diode can be thought of as an electronic version of a check valve.
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
19/29
Fig: 4.5 Diode
This unidirectional behavior is called rectification, and is used to convert alternating cur-
rent to direct current, and remove modulation from radio signals in radio receivers.
However, diodes can have more complicated behavior than this simple on-off action, due
to their complex non-
linear electrical characteristics, which can be tailored by varying the con-struction of their P-N junction. These are exploited in special purpose diodes that perform many
different functions. Diodes are used to regulate voltage (Zener diodes), electronically tune radio
and TV receivers (varactor diodes), generate radio frequency oscillations (tunnel diodes), and
produce light (light emitting diodes).
Diodes were the first semiconductor electronic devices. The discovery of crystals' rectify-
ing abilities was made by German physicist Ferdinand Braun in 1874. The first semiconductor
diodes, called cat's whisker diodes were made of crystals of minerals such as galena. Today most
diodes are made of silicon, but other semiconductors such as germanium are sometimes used.
4.4ATmega16 MICROCONTROLLER
The microcontroller used here is the ATmega16. It is a 40 pined IC. Due to high perfor-
mance and low power consumption, the ATmega16 microcontroller is more popular. It is an 8 bit
microcontroller which follows RISC architecture. It has 32*8 general purpose working registers
which shows the fastness of the controller. The microcontroller special features are: It has the
capability of Power-on Reset and Programmable Brown
-out Detection. It has internal calibrated
RC oscillators. It consist of external and internal interrupt sources. The ATmega16 consist of six
sleep modes; Idle, ADC, Noise Reduction, Power Save, Power Down, standby and extended
standby.
It provides the following features: 16 kB of in-system programmable Flash program
memory with read-while write capabilities, 512 bytes of EEPROM, 1kB SRAM, 32 general-
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
20/29
purpose input/output (I/O) lines and 32 general-purpose working registers. All the 32 registers
are directly connected to the arithmetic logic unit, allowing two independent registers to be ac-
cessed in one single instruction executed in one clock cycle. The resulting architecture is more
code-efficient.
FEATURES
High-performance, Low-power Atmel AVR 8-bit Microcontroller
Advanced RISC Architecture
131 Powerful Instructions Most Single-clock Cycle Execution
32 x 8 General Purpose Working Registers
Fully Static Operation
Up to 16 MIPS Throughput at 16 MHz
On-chip 2
-cycle Multiplier
High Endurance Non-volatile Memory segments
16 Kbytes of In-System Self-programmable Flash program memory
512 Bytes EEPROM
1 Kbyte Internal SRAM
Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
Data retention: 20 years at 85C/100 years at 25C(1)
Programming Lock for Software Security JTAG (IEEE std. 1149.1 Compliant) Interface
Boundary-scan Capabilities According to the JTAG Standard
Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
21/29
Fig: 4.5 Pin diagram of ATmega16
Peripheral Features
Two 8-bit Timer/Counters with Separate Pre scalers and Compare Modes
One 16-bit Timer/Counter with Separate Pre scaler, Compare Mode, and Capture
Mode
Real Time Counter with Separate Oscillator
Four PWM Channels
8-channel, 10
-bit ADC
8 Single-ended Channels
7 Differential Channels in TQFP Package Only
2 Differential Channels with Programmable Gain at 1x, 10x, or 200x
Byte-oriented Two-wire Serial Interface
4.5 MOBILE PHONE
Here in this project we are using two Nokia mobile phones for controlling the land rover.
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
22/29
For the working of the rover, we must have to make a call to the mobile phone attached
to the rover through the head phone from any phone which is along with the controller. The rover
can be moved according to the keys pressed in the mobile phone by the user.
4.6 TELEPHONE KEYPAD
The contemporary keypad is laid out in a 3x4 grid, although the original DTMF keypad
had an additional column for four now-defunct menu selector keys. When used to dial a tele-
phone 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 multi-
ple tones are the reason for calling the system multi frequency. These tones are then decoded by
the switching center to determine which key was pressed.
Fig: 4.7 Keypad of the mobile phone
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
23/29
DTMF signaling is used for telephone signaling over the line in the voice -frequency band
to the call switching centre. The version of DTMF used for telephone tone dialing is known as
Touch-Tone. DTMF assigns a specific frequency (consisting of two separate tones) to each key
so that it can easily be identified by the electronic circuit.
4.7 DC MOTORS
Fig: 4.8 Motors for movements
These are the DC motors capable of running the land rover. It moves the rover in forward
and backward direction. Its maximum rpm is 50.
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
24/29
4.7 PCB LAYOUT OF THE CIRCUIT
Fig : 4.9 PCB Layout of the circuit
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
25/29
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
26/29
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
27/29
CHAPTER 5
CONCLUSION
Conventionally, wireless-controlled robots use RF circuits, which have the drawbacks of
limited working range, limited frequency range and limited control. In our project with the 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 interfer-
ence with other controllers and up to twelve controls. Although the appearance and capabilities
of robots vary vastly, all robots share the features of a mechanical, movable structure under some
form of control. The control of robot involves three distinct phases: reception, 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 performed using motors or with some
other actuators. So the motive is that to increase the range of remote controlled products. For this
mobile phone operated control is best because we can globalize our project & no limitation of
range.
5.1 ADVANTAGES:
The advantages are:
Wireless control
Surveillance System.
Vehicle Navigation with use of 3G technology.
Takes in use of the mobile technology which is almost available everywhere.
This wireless device has no boundation of range and can be controlled as far as network of
cell phone
5.2 DISADVANATGES:
The disadvantages are:
Cell phone bill.
Cost of project if Cell phone cost included.
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
28/29
Not flexible with all cell phones as only a particular ,cell phone whose earpiece is attached
can only be used.
Not flexible with all cell phones as only a particular ,cell phone whose earpiece is attached
can only be used.
Mobile batteries drawn out early for charging problems
-
8/9/2019 CELL PHONE CONTROLLED ROBOT
29/29
REFERENCE
[1] Schenker, L, "Pushbutton Calling with a Two-Group Voice-Frequency Code The Bell sys-
tem technical journal, vol 14,no. 2, Jan 2006.
[2] M. Ali Yousuf, R. Montfar Chaveznava, and V. de la Cueva Cueva Hernndez, "Robotic
projects to enhance student participation,motivation and learning", Hernndez Current Devel-
opments in Technology-Assisted Education ,pp 922-952, July 2008.
[3] Robert Siwy, "Generation and Recognition of DTMF Signals with the Microcontroller
MT8870", Texas Instruments Deutschland,October 2005.
[4] Cell phone based land rover Liu, Simon & Silverman, Mark. November 2009 [online]
Available: http://www.instructables.com/id/Cellphone-operated-Robot/ [accessed:Jan 2013].
[5]http://www.datasheetcatalog.com/datasheets_pdf/M/T/8/8/MT8870.shtml
[6]http://www.alldatasheet.com/datasheetpdf/pdf/STMICROELECTRONICS/L298.html
[7]http://robosapiensindia.com/robomart/index.php?product_id=218&page=shop