Acknowledgement

We would like to take this opportunity to express our thanks and gratitude to all the persons who have directly or indirectly availed us in guiding our project. The assiduous help presumed by our guide Mr. M J Sampath Kumar and our co-guide Mr. S B Rudraswamy was an inevitable part of the successful consummation of our project. We also thank all other seen as well as unseen members who made us available all the hardware resources as well as other inevitable help for the successful completion of the project. We are also grateful to Mr. Yatisha L for giving his precious and valuable suggestions. -Anup Ratnakar Raikar -Manjunath K. -Manoj Naik P. -Mayur K.

Abstract
Robotics-the word has a deep meaning. Robotics in turn takes the scale of development by employing various branches, tools, and mechanisms and performs a wide variety of functions for the benefit of mankind. From this whole ocean of robotics, we have intended to build a basic robot-Spy Robot. Being the students of 6thsem Electronics & Communication branch, the concept that emerged in our mind was to develop a Robot that can be controlled using Radio Frequency, where in the robot a video transmission module has been integrated, which sends real time video signals. Many time soldiers need to venture into the enemy canopy just to track their activities, which is often a very risky job. Such dangerous job could be done using small a spy robot. The project is comprised of basically three modules, which handles all the basic functionalities of the robot. The modules which we have integrated in this project are: 1. The controller part 2. Robot 3. Video transmitter, receiver and the display unit

Developed by:
-Anup Ratnakar Raikar -Manjunath K. -Manoj Naik P. -Mayur K.

JSS MAHAVIDYAPEETHA S. J. COLLEGE OF ENGINEERING.

(An Autonomous Institution)

Department of Electronics & communication SJCE, Mysore-570 006

CERTIFICATE
This is to certify that the project report entitled Spy Robot is prepared by Anup Ratnakar Raikar Manjunath K Manoj Naik P Mayur K (USN No: 4JC08EC017) (USN No: 4JC08ECO51) (USN No: 4JC08ECO53) (USN No: 4JC08EC054)

Students of 6thsem Electronics and Communication branch have satisfactorily completed their work.

___________________
Signature of Guide

___________________
Signature of Co-Guide

LIST OF CONTENTS Chapter 1: Introduction

1.1: Description of Project 1.2: Goals of Project 1.3: User requirements

Page No.
6 7 7 7

Chapter 2: Analysis and Implementation

2.1: Decomposition of problem 2.2: Technology used 2.3: Proposed solution 2.4: Hardware components used And their description 2.5: Circuit diagrams and their description

8
9 9 11 14

16 20 22 26 32 33 33 34 35 35 35

Chapter 3: Programming of Microcontroller

3.1: Flowchart 3.2: Source code

Chapter 4: Future developments and Applications

4.1: Applications 4.2: What new can be added??

Chapter 5: Conclusion and references

5.1: Problems we faced 5.2: Inference 5.3: References

LIST OF FIGURES
Fig 2.1.1: Decomposition of problem Fig 2.3.1: Block diagram of the robot part Fig 2.3.2: Block diagram of the controller part Fig 2.5.1: DTMF encoder circuit Fig 2.5.2: DTMF decoder circuit diagram Fig 2.5.3: FM transmitter circuit diagram Fig 2.5.4: FM receiver circuit diagram Fig 2.5.5: Motor driving connections using L293D Fig 4.1.1: Spy robot

Page No.
9 12 13 16 17 17 18 19 33

LIST OF TABLES
Table 2.2.1: Tones and assignments in a DTMF system Table 2.5.1: Operations performed Table 3.1.1: Actions performed by the microcontroller corresponding to the keys pressed

Page No.
10 19 21

CHAPTER 1

INTRODUCTION

1.1 Description of Project Robot- an electromechanical device automates the work in many applications like military application, industrial power plant etc. Robots are reliable means to bring objects, do settings etc at places where human interventions is rather impossible or can cause hazardous effect on human health i.e, at nuclear power plants, chemical factories etc. Spy robot is a RF controlled robot. A camera mounted on the robot sends real time video signals on to the user side, which can be seen on a display. Robot movements can be monitored looking at the display. 1.2 Goals of Project Wireless control mechanism Real time video streaming

1.3 User requirements Looking at the present scenario, we have proposed the idea of building robot that Can be controlled by a controller from remote place based on the video sent from robot Should be a non-autonomous robot Robot should be made from the basic cost effective materials like wireless TV camera, Microcontroller, etc..

CHAPTER 2

ANALYSIS AND IMPLEMENTATION

2.1 Decomposition of Problem

Display Robot Unit

Display Unit

FM receiver + DTMF decoder

Stepper motor control

Fig 2.1.1: Decomposition of Problem

2.2 Technology used DTMF (Dual Tone Multi-Frequency): In this project, robot movements are controlled by the keypad. In the course, when any button is pressed, tone corresponding to the button pressed will be received at the receiver part. This received tone is called Dual Tone Multi-Frequency (DTMF) tone. The received tone is processed by microcontroller AtMega16 with the help of DTMF decoder CM8870. The decoder decodes the DTMF tone into its equivalent binary number and this binary number is sent to the microcontroller. The microcontroller is programmed to take a decision for any given input and outputs its decision to the motor driver in order to drive the motors to control the movement of robot and the camera mounted on the robot. 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 encoder is a direct algebraic summation, 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 line. The tones and assignments in a DTMF system are shown in Table.

Table 2.2.1: Tones and assignments in a DTMF system

Frequency Modulation: The FM band covers 88-108 MHz. There are signals from many radio transmitters in this band inducing signal voltages in the aerial. The RF amplifier selects and amplifies the desired station from the many. It is adjustable so that the selection frequency can be altered. This is called tuning. FM is used in radio broadcasting, for the transmission of the sound signal in standard (NTSC)TV, for private land-mobile radio systems, for direct-satellite broadcasting, and for cordless and cellular telephone systems etc. Frequency Demodulation: The FM receiver is designed using the popular Sony chip CXA1619BS used for AM/FM receiver circuits. The chip is a 30 pin dual-inline package with the following functional blocks Front-end block (RF amplifier, mixer , oscillator) IF stage FM discriminator AF Power amplifier The signal from the antenna is fed to IC CXA1619BS, which suppresses adjacent channels and allows only the selected high frequency signal.

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2.3 Proposed solution The system consists of three basic blocks, each performing important functions. They are 1. Robot 2. Display unit and 3. Controller.

Robot: It consists chassis with mechanical components similar to normal car on which a camera is placed to gather visual information about its surroundings. It has the following sub-blocks with specific functions: Antenna: It receives the control signals (FM modulated) transmitted from the controller and gives it to the FM receiver. FM Receiver: It receives the FM modulated control signals and demodulates it to produce DTMF signals. DTMF decoder: The DTMF signals from the FM receiver are decoded in this DTMF decoder to produce digital control signals which is used by the microcontroller to control the motion of the robot. Microcontroller: It uses control signals from the DTMF decoder to generate signals to drive the motors. Driver IC: As the signal strength from the microcontroller is not enough to drive the motor, microcontroller drives the motor with the help of the driver IC from optimum current levels. Motors: They are driven by the driver IC, is connected to the wheels for motion. Camera and Video Transmission Module: It produces video signals which are given to the video transmission module which transmits the video signals. Power supply: A 12V DC rechargeable battery is used for all the components of the robot.

11

Fig 2.3.1: Block diagram of the robot part

Display unit: It consists of PC, interfacing module, receiver module for video reception, power supply and an antenna. Video signals from the robot are received at the receiver module and is given to the PC for display through the interfacing module which most of the times consists of TV tuner card. Controller: It essentially consists of a keypad, a power supply, a DTMF encoder, a FM transmitter and an antenna. Keypad consists of keys for controlling the robots movement. Depending on the key pressed, the DTMF encoder generates DTMF signals which are modulated by the FM transmitter at a frequency of 100 MHz and transmitted using an antenna.

12

Fig 2.3.2: Block diagram of the controller part

13

2.4

Hardware components used and their description

1. AtMega16: The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced RISC architecture. By executing powerful instructions in a single clock cycle, the ATmega16 achieves throughputs approaching 1 MIPS per MHz allowing the system designer to optimize power consumption versus processing speed.

Features: Operating voltages: 4.5 to 5.5 V High endurance and non-volatile memory segments 16kB of In-System self-programmable flash program memory 512 bytes EEPROM 1kB internal SRAM Write/Erase cycles: 10,000 flash/100,000 EEPROM Data retention: 20 years at 85C/100 years at 25C

2. L293D: The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V.

Features: Wide Supply-Voltage Range: 4.5 V to 36 V Output current 600 mA Peak output current 1.2 A per channel

3. CM8870: The CM8870 is a full DTMF receiver that integrates both bandsplit filter and decoder functions into a single 18-pin DIP package. The CM8870 decoder uses a digital counting technique to determine the frequencies of the limited tones and to verify that these tones correspond to standard DTMF frequencies. Features: Low power consumption
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Inexpensive 3.8 MHz time base Single 5 V power supply Supply voltage: 6 V max Current on any pin: 10 mA max

4. UM91214B/ UM91215B: The UM91215 is a single chip, silicon gate, CMOS integrated circuit with an on-chip oscillator for a 3.58 MHz crystal or ceramic resonator. It provides dialing pulse or dual tone multi-frequency dialing. Features: Wide operating voltage range: 2 V to 5.5 V Key-in beep tone output Uses inexpensive ceramic resonator (3.8 MHz)

5. CXA1619BS: CXA1619BS is a one-chip FM/AM radio IC designed for radio-cassette tape recorders and headphone tape recorders. Features: Low current consumption (Vcc: 3 V) For FM, ID: 5.8 mA (typically) Supply voltage: 14 V max

6. Radio AV Receiver and Camera: These two components were used for the purpose of video transmission and reception. A monitor is used to display the received signals. Features: Wireless transmission and reception Small size Light weight Low power consumption High sensitivity Easy installation Easy to concea
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2.5 Circuit diagrams DTMF encoder:

+5V
6

3.2V
1 2

12

C1 C2 C3 R1
1 2 5 8 0 3 6 9

M 13 9
14 15 16 17 18 7

1 2

R2
4

4
XTAL 3.8 MHz

1 5 B
5

R3 R4

*
TONE O/P

GND Fig 2.5.1: DTMF encoder circuit Circuit description: The figure above shows the circuit diagram of the DTMF encoder which resembles the telephone set. It uses DTMF encoder integrated circuit, Chip UM 91215B. This IC produces DTMF signals. It contains four row frequencies & three column frequencies. The pins of IC 91215B from 12 to 14 produces high frequency column group and pins from 15 to 18 produces the low frequency row group. By pressing any key in the keyboard corresponding DTMF signal is available in its output pin at pin no.7. For producing the appropriate signals it is necessary that a crystal oscillator of 3.58MHz is connected across its pins 3 & 4 so that it makes a part of its internal oscillator. By pressing the number 5 in the key pad the output tone is produced which is the resultant of addition of two frequencies, at pin no. 13 & pin no.16 of the IC and respective tone which represents number '5' in key pad is produced at pin no.7 of the IC .

16

 DTMF decoder:

i/p

Fig 2.5.2: DTMF decoder circuit diagram Circuit description: Detecting DTMF tones requires the capability to detect and differentiate between the 8 DTMF frequencies. It is also important to have a technique of detecting and rejecting false tones caused by noise (e.g., speech). The input fed at pin2 is compared for the frequencies corresponding to the key pressed. Equivalent code for the key pressed is obtained from the pins 11, 12, 13, 14.

FM transmitter:

Fig 2.5.3: FM transmitter circuit diagram

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Circuit description: This wireless microphone circuit uses only a single transistor, with few additional passive components. This FM transmitter is very compact and need only a single cell 1.5Volt battery. The transmission range could be between 30-50m radius in open air, and practically depends on the surrounding transmission path and obstacles. FM receiver:

Fig 2.5.4: FM receiver circuit diagram Circuit description: The signal from band pass filter is fed to FM RF IN pin 13 of the IC. The tuning of the signal is done by selecting the RF frequency and the local oscillator frequency with the help of L2-C2 and L3-C3 tank circuit respectively. Fine tuning is done through ganged capacitors. The heterodyning is done in the FM FE block which generates the IF signal of 10.7 MHz. The signal through FM IF (pin 18) is now sent to the FM IF block inside the chip .This is done only after it is passed through a 10.7 MHz Ceramic filter (CF2). The FM IF selects and amplifies the IF signal and generates the AF signal using the FM discriminator block .The output of the IF block is the audio signal that is delivered to pin 22 and then to pin 25 (AF IN) through a coupling capacitor. The FM discriminator is tuned to 10.7 MHz using the ceramic/crystal resonator (CF3). The AF signal (demodulated output from IF block using the FM discriminator) is further amplified (to drive the ear phones) by the AF power amplifier. The volume at the output (ear phone) is controlled by using a variable resistor (potentiometer) of maximum 50kOhm resistor RV1.The audio signal is then fed to earphone through pin 28 and capacitor C21.
18

L293D driver connections:

Fig 2.5.5: Motor driving connections using L293D Table 2.5.1: Operations performed

Left Motor Forward Forward Backward Backward

Right Motor Forward Reverse Forward Backward

Robot Movement Forward Right Left Backward

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CHAPTER 3

PROGRAMMING OF MICROCONTROLLER

20

Table 3.1.1: Actions performed corresponding to the keys pressed a Number Pressed Output of DTMF Decoder 0x01 00000001 0x02 00000010 0x03 00000011 0x04 00000100 0x05 00000101 0x06 00000110 0x07 00000111 0x08 00001000 0x09 00001001 0x0A 00001010 0x0B 00001011 0x0C 00001100 Input to the Microcontroller 0x01 00000001 0x02 0x02 00000010 00000010 0x03 0x03 00000011 00000011 0x04 00000100 0x04 00000100 0x05 00000101 0x05 0x06 00000101 00000110 0x06 0x07 00000110 00000111 0x08 0x07 00001000 00000111 0x09 0x08 00001001 00001000 0x0A 0x09 00001010 00001001 0x0B 00001011 0x0A 00001010 0x0C 00001100 0x0B 00001011 0x0C 00001100 Output of Microcontroller
PORTB= 0b00001111 PORTC= 0b00000101

Action Performed Lights ON Forward Camera Up

1 2 3 4 5 6 7 8 9 * 0 #

PORTC= 0b00001001 PORTB= 0b00000000 PORTC= 0b00000110 PORTB= 0b00000000 PORTC= 0b00001010

Left Halt Right Lights OFF Backward Camera Down Retrace

PORTC= 0b00000000

Future use System Stop

21

3.1: Flowchart: Start

Configure input and output ports

Read PORTD

Is PORTD= ?

PORTD=1

LEDs ON

Back

PORTD=2

Move Forward

Save

PORTD=3

Next1

Is Camangle < max value ?

yes

Move Camera Up

no Back

22

Next1

PORTD=4

Move Backward

Save

PORTD=5

Wheels stop rotating

Save

PORTD=6

Move Right

Save

PORTD=7

LEDs OFF

Back

PORTD=8

Move Backward

Save

PORTD=9

Next2

Is Camangle > min value ?

yes Move Camera Down

no Back

23

Next2

PORTD=*

Read the reverse code

Rotate wheels

Clear the code from memory

Increment counter

Is Counter = final value ?

yes Back

no

PORTD=0

Do nothing

Back

PORTD=#

Stop the wheels

Back1

Is Camangle = 0 ?

yes Back

no Next3

24

Next3

Back1

no

Is Camangle > 0 ?

yes

Move camera up

Move camera down

Save

Delete the first wheel status

Generate the reverse code for the present code

Save the reverse code

Back

25

3.2: Source code

#include <avr/io.h> #define F_CPU 1000000 #include <util/delay.h> int main() { intA[60]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; int i, count, flag, temp; int stpr[8]={1,3,2,66,64,192,128}; int stprcount; int camangle; DDRA= 0xff; DDRB= 0xff; DDRC= 0xff; DDRD= 0x00; PORTA= 0x00; PORTB= 0x00; PORTC= 0x00; PORTD= 0xff; count= 0; flag= 0; temp= 0;
26

stprcount= 0; camangle= 0; while(1) { switch(PIND) { case 64: case 79: PORTC=5; //0b00000101; forward key 2 temp=10; flag=1;break; case 16: case 31: PORTC=10; //0b00001010; backward key 8 temp=5; flag=1;break; case 32: case 47: PORTC=9; //0b00001001; left key 4 temp=6; flag=1;break; case 96: case 111: PORTC=6; //0b00000110; right key 6 temp=9; flag=1;break;

27

case 160: case 175: PORTC=0; //0b00000000; stop key 5 temp=0; flag=1;break; case 128: case 143: PORTB=15; //0b00001111; LED ON key 1 flag=0;break; case 224: case 239: PORTB=0; //0b00000000; LED OFF key 7 flag=0;break;

case 192: case 207: flag=0; if(camangle<100) { PORTA=stpr[stprcount]; stprcount=stprcount+1; _delay_ms(100); camangle=camangle+1; if(stprcount==8) stprcount=0; } break; // Camara up key 3

28

case 144: case 159: flag=0; if(camangle>-100) // Camara down { PORTA=stpr[stprcount]; stprcount=stprcount-1; _delay_ms(100); camangle=camangle-1; if(stprcount==-1) stprcount=7; } break; case 48: case 63: PORTC=0; //0b00000000; Stop and Reset key 12 while(camangle!=0) { if(camangle<0) { camangle=camangle+1; PORTA=stpr[stprcount]; stprcount=stprcount+1; _delay_ms(100); key 9

29

if(stprcount==8) stprcount=0; } else if(camangle>0) { camangle=camangle-1; PORTA=stpr[stprcount]; stprcount=stprcount-1; _delay_ms(100); if(stprcount==-1) stprcount=7; } } case 80: case 95: flag=0; // Retrace path key 10 break;

for (i=0;i<60;i++) { PORTC= A[i]; _delay_ms(500); A[i]= 0; PORTC= 0; _delay_ms(50);

30

break;

default: PORTB= 0; //0b00000000; Do nothing PORTC= 0; flag= 0; break; }

// Codes to store path trail If (flag==1) { flag= 0; _delay_ms(1); count= count+1; if (count==500) { count=0; for(i=59;i>0;i--) {A[i]=A[i-1]; } A[0]=temp; } } } }

31

CHAPTER 4

FUTURE DEVELOPMENTS AND APPLICATIONS

32

And finally.!!

Fig 4.1.1.: Spy robot

4.1: Applications It can be used in spying purposes to get the confidential details of anybody from remote area without making our life in danger. The camera which has been installed can provide the live streaming of the places where a human cant reach (especially during natural calamities like earthquake). It can be also used by our defense agency in many cases. Wireless security and surveillance in hot spots Search and rescue operation Manoeuvring in hazardous environment Caves exploration

33

4.2: What new can be added..?? GPS technology can be integrated Image/ Video capture option Locomotion of the robot on other terrains 360 degree rotation of the camera so that we can get complete view of the robots environment Voice controlled locomotion of robot instead of button control

(Key 0 is reserved for the purpose of future use)

CHAPTER 5

34

CONCLUSION AND REFERENCES

5.1: Problems we faced.. Stepper motor interfacing We thought of including angular rotation for the camera and enabling a focus of about 180 degrees. Fortunately, we were able to write the source code for about 90 degree movements (algorithm similar to stepper motor programming using microprocessor 8086). Enabling all the PORTC pins of AtMega16 We were able to rectify this problem with the help of internet sources.
35

FM reception Because of this we were not able to properly decode the received signals. So our idea was to use a preset at the FM transmitter module. Our idea worked fairly well!! Retrace program We thought of including about 10 seconds retrace option in our program. Present path details were stored in the flash memory of AtMega16 (similar to the stack operation). Soon after calling the retrace option, path status was popped off the stack.

5.2: Inference The Robotics- the word has a deep meaning. Robotics in turn takes the scale of development by employing various branches, tools, mechanism and performs a wide variety of functions for the benefit of mankind. From this whole ocean of robotics, we have finally built a basic robot- Spy Robot quite successfully. But still this is not the end Its the beginning of the new era of robotics. Still we have a long way to traverse in which we further decide to extend our robotic art to work out for a specific application as well as increase its functionalities by proper deployment of sensors and developing new architectures and designs even more accurately. Even this can be extended to control the robot from the internet as well as by making an appropriate mobile application too, even with lesser cost. Thus the scope of further expansion of this project Spy Robot is endless.

5.3: References www.avrfreaks.com www.wikipedia.org www.alldatasheets.com Google web search

36