1.

1 Aim of the project:

The aim of the project is to design a robot which senses fire using fire
sensor .The robot is seamlessly operated utilizing a mobile handset. In order to
successfully execute a given task, control software is necessary that sends and
tracks appropriate orders to the robot. This project presents the design
principles of a general software framework capable to control any real time
robot without any set of feedback devices. A possible implementation of such
a general framework is provided together with experimental arrangement at a
minimal economy.

1.2 Hardware Requirements:

1. MICROCONTROLLER
2. HT9170B
3. ULN 2003
4. DPDT RELAYS
5. GARE MOTORS
6. MOBILE
7. FIRE SENSOR

1.3 Software Requirements:

TOOL: KEIL MICROVISION

LANGUAGE: EMBEDDED ‘C’

1
 1.4 Block Diagram:

POWER
SUPPLY

GEAR
89S52 MOTOR1
DTMF ULN2003
DECODE DRIVER
R
HT9170B
GEAR
MOTOR2

FIRE
SENSOR
BUZZER

Figure 1.1 Block diagram of Mobile Based Land Robot with Fire sensor.

2
1.5 Organization of the report:

The report totally consists of six chapters-

Chapter 1 gives the introduction,

Chapter 2 gives the details of hardware used,

Chapter 3 describes the realization of actual circuit,

Chapter 4 deals with the software development,

Chapter 5 gives the results and conclusions.

1.6 Conclusion:

Hence, this chapter gives a complete gist of the project details and the
technology implemented.

3
 2.1 Introduction:

In this chapter, all the hardware components that are used including the
microcontroller is explained elaborately. All the specifications and the internal
circuitry of the microcontroller including the functional features are explained
in detail so that the coding can be done accordingly.

2.2 Microcontroller-AT89S52:

The AT89S52 provides the following standard features: 8Kbytes of

Flash, 256 bytes of RAM, 32 I/O lines, three 16-bit timer/counters, six-vector
two-level interrupt architecture, a full duplex serial port, on-chip oscillator,
and clock circuitry. In addition, the AT89S52 is designed with static logic for
operation down to zero frequency and supports two software selectable power
saving modes. The Idle Mode stops the CPU while allowing the RAM,
timer/counters, serial port, and interrupt system to continue functioning. The
power down mode saves the RAM contents but freezes the oscillator,
disabling all other chip functions until the next hardware reset.
By combining a versatile 8-bit CPU with Flash on a monolithic chip,
the Atmel AT89S52 is a powerful microcomputer which provides a highly
flexible and cost effective solution to many embedded control applications.

2.2.1 Features of Microcontroller (8052):

• Compatible with MCS-51 Products

• 8 Kbytes of In-System Re-programmable Flash Memory
• Endurance: 1,000 Write/Erase Cycle
• Fully Static Operation: 0 Hz to 24 MHz
• Three-Level Program Memory Lock
• 256 x 8-Bit Internal RAM
• 32 Programmable I/O Lines
• Three 16-Bit Timer/Counters
• Eight vector two level Interrupt Sources

4
• Programmable Serial Channel
• Low Power Idle and Power Down Modes
The Idle Mode stops the CPU while allowing the RAM,
timer/counters, serial port and interrupt system to continue functioning. The
Power Down Mode saves the RAM contents but freezes the oscillator
disabling all other chip functions until the next hardware reset.

2.2.2 Block Diagram of Microcontroller:

Figure 2.1 Block Diagram of 8052

5
2.2.3 Pin Configuration:

Figure 2.2 Pin Diagram of 8052

2.2.4 Pin Description:

VCC
Pin 40 provides Supply voltage to the chip. The voltage source is +5v.
GND
Pin 20 is the grounded.
Port 0
Port 0 is an 8-bit open drain bidirectional I/O port from pin 32 to 39.
As an output port each pin can sink eight TTL inputs. When 1s are written to
port 0 pins, the pins can be used as high-impedance inputs. Port 0 may also be
configured to be the multiplexed low-order address/data bus during accesses to
external program and data memory. In this mode P0 has internal pull-ups.

Port 0 also receives the code bytes during Flash programming, and
outputs the code bytes during program verification. External pull-ups are
required during program verification.

6
Port 1
Port 1 is an 8-bit bidirectional I/O port with internal pull-ups from pin
1 to 8. 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 1program verification.
Port 2
Port 2 is an 8-bit bidirectional I/O port with internal pull-ups from pin
21 to 28. The Port 2 output buffers can sink / source four TTL inputs. When 1s
are written to Port 2 pins they are pulled high by the internal pull-ups and can
be used as inputs. As inputs, Port 2 pins that are externally being pulled low
will source current (IIL) because of the internal pull-ups.
Port 2 emits the high-order address byte during fetches from external
program memory and during accesses to external data memory that uses 16-bit
addresses (MOVX @ DPTR). In this application it uses strong internal pull-
ups when emitting 1s. During accesses to external data memory that uses 8-bit
addresses (MOVX @ RI), Port 2 emits the contents of the P2 Special Function
Register. Port 2 also receives the high-order address bits and some control
signals during Flash programming and verification.
Port 3
Port 3 is an 8-bit bidirectional I/O port with internal pull-ups from pin
10 to 17. The Port 3 output buffers can sink / source four TTL inputs. When 1s
are written to Port 3 pins they are pulled high by the internal pull-ups and can
be used as inputs. As inputs, Port 3 pins that are externally being pulled low
will source current (IIL) because of the pull-ups.
Port 3 also serves the functions of various special features of the
AT89C51 as listed below:

7
 Table 2.1 Special Features of 89S52

Port 3 also receives some control signals for Flash programming and
programming verification.
RST
Pin 9 is the Reset input. It is active high. Upon applying a high pulse to
this pin, the microcontroller will reset and terminate all activities. A high on
this pin for two machine cycles while the oscillator is running resets the
device.
ALE/PROG
Address Latch is an output pin and is active high. Address Latch
Enable output pulse for latching the low byte of the address during accesses to
external memory. This pin is also the program pulse input (PROG) during
Flash programming. In normal operation ALE is emitted at a constant rate of
1/6 the oscillator frequency, and may be used for external timing or clocking
purposes.
If desired, ALE operation can be disabled by setting bit 0 of SFR
location 8EH. With the bit set, ALE is active only during a MOVX or MOVC
instruction. Otherwise, the pin is weakly pulled high. Setting the ALE-disable
bit has no effect if the microcontroller is in external execution mode.

PSEN
Program Store Enable is the read strobe to external program memory.
When the AT89S52 is executing code from external program memory, PSEN

8
is activated twice each machine cycle, except that two PSEN activations are
skipped during each access to external data memory.
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. This pin also receives the 12-volt
programming enable voltage (VPP) during Flash programming, for parts that
require 12-volt VPP.
XTAL1
Input to the inverting oscillator amplifier and input to the internal clock
operating circuit.
XTAL2
Output from the inverting oscillator amplifier.

2.2.5 Oscillator Characteristics:

XTAL1 and XTAL2 are the input and output, respectively, of an
inverting amplifier that can be configured for use as an on chip oscillator, as
shown in Figure 2.3. Either a quartz crystal or ceramic resonator may be used.
To drive the device from an external clock source, XTAL2 should be left
unconnected while XTAL1 is driven as shown in Figure 2.4.

Figure 2.3 Crystal Connections

9
 Figure 2.4 External Clock Drive Configuration

There are no requirements on the duty cycle of the external clock

signal, since the input to the internal clocking circuitry is through a divide-by
two flip-flop, but minimum and maximum voltage high and low time
specifications must be observed.

2.2.6 Programming Algorithm:

Before programming the AT89S52, the address, data and control
signals should be set up .To program the AT89S52, take the following steps.

1. Input the desired memory location on the address lines.

2. Input the appropriate data byte on the data lines.

3. Activate the correct combination of control signals.

4. Raise EA/VPP to 12 V for the high-voltage programming mode.

5. Pulse ALE/PROG once to program a byte in the Flash array or the lock bits.

The byte-write cycle is self-timed and typically takes no more than 1.5
ms. Repeat steps 1 through 5, changing the address and data for the entire
array or until the end of the object file is reached.

2.2.7 Data Polling:

The AT89S52 features Data Polling to indicate the end of a write
cycle. During a write cycle, an attempted read of the last byte written will
10
 result in the complement of the written data on PO.7. Once the write cycle has
been completed, true data are valid on all outputs, and the next cycle may
begin. Data Polling may begin any time after a write cycle has been initiated.

2.2.8Ready/Busy:
The progress of byte programming can also be monitored by the
RDY/BSY output signal. P3.4 is pulled low after ALE goes high during
programming to indicate BUSY. P3.4 is pulled high again when programming
is done to indicate READY.

2.2.9 Program Verify:

If lock bits LB1 and LB2 have not been programmed, the programmed
code data can be read back via the address and data lines for verification. The
lock bits cannot be verified directly. Verification of the lock bits is achieved
by observing that their features are enabled.

2.2.10 Chip Erase:

The entire Flash array is erased electrically by using the proper
combination of control signals and by holding ALE/PROG low for 10 ms. The
code array is written with all "1"s. The chip erase operation must be executed
before the code memory can be re-programmed.

2.2.11 Reading the Signature Bytes:

The signature bytes are read by the same procedure as a normal
verification of locations 030H, 031H, and 032H, except that P3.6 and P3.7
must be pulled to a
logic low. The values returned are as follows:
(030H) = 1EH indicates manufactured by Atmel
(031H) = 51H indicates 89C51
(032H) = FFH indicates 12 V programming
(032H) = 05H indicates 5 V programming.

11
2.3 DTMF Receiver- HT9170B:

The HT9170B is a Dual Tone Multi Frequency (DTMF) receiver

integrated with digital decoder and band split filter functions as well as power-
down mode and inhibit mode operations. Such devices use digital counting
techniques to detect and decode all the 16 DTMF tone pairs into a 4-bit code
output.

Highly accurate switched capacitor filters are implemented to divide

tone signals into low and high group signals. A built-in dial tone rejection
circuit is provided to eliminate the need for pre-filtering.

2.3.1 Features:
• Operating voltage: 2.5V~5.5V
• Minimal external components
• No external filter is required
• Low standby current (on power down mode)
• Excellent performance
• Tristate data output for MCU interface
• 3.58MHz crystal or ceramic resonator
• 1633Hz can be inhibited by the INH pin
• HT9170B:18-pinDIPpackage

2.3.2 Pin diagram:

Figure 2.6 DTMF Receiver

12
 Table 2.8 Pin Description

2.3.4 Block Diagram:

Figure 2.7 Block Diagram of Decoder IC

2.3.5 Functional Description:

13
 The HT9170B tone decoder consists of three band pass filters and two
digital decode circuits to convert a tone (DTMF) signal into digital code
output. An operational amplifier is built-in to adjust the input signal. The pre-
filter is a band rejection filter, which reduces the dialing tone from 350Hz to
400Hz. The low group filter filters low group frequency signal output whereas
the high group filter filters high group Frequency signal output. A zero-
crossing detector with follows each filters output hysteretic. When each signal
amplitude at the output exceeds the specified level, it is transferred to full
swing logic signal. When input signals are recognized to be effective, DV
becomes high, and the correct tone code (DTMF) digit is transferred.

Steering control circuit:

The steering control circuit is used for measuring the effective signal
duration and for protecting against drop out of valid signals. It employs the
analog delay by external RC time-constant controlled by EST. The EST pin is
normally low and draws the RT/GT pin to keep low through discharge of
external RC. When a valid tone input is detected, EST goes high to charge
RT/GT through RC.

When the voltage of RT/GT changes from 0 to VTRT (2.35V for 5V

supply), the input signal is effective, and the code detector will create the
correct code. After D0~D3 are completely latched, DV output becomes high.
When the voltage of RT/GT falls down from VDD to VTRT (i.e. when there is
no input tone), DV output becomes Low, and D0~D3 keeps data until a next
valid tone input is produced. By selecting adequate external RC value, the
minimum acceptable input tone duration (TACC) and the minimum acceptable
inter-tone rejection (TIR) can be set. External Components (R, C) are chosen
by the formula.

TACC= TDP+TGTP;
TIR=TDA+TGTA;

Where,

14
TACC: Tone duration acceptable time
TDP: EST output delay time (_L__H_)
TGTP: Tone present time
TIR: Inter-digit pause rejection time
TDA: EST output delay time (_H__L_)
TGTA: Tone absent time

2.3.7 Applications of Decoder:

Decoder can be used as,

• PABX
• Central office
• Mobile radio
• Remote control
• Remote data entry
• Call limiting
• Telephone answering system

2.4 Relay Driver ULN 2003:

The ULN2803A is a high-voltage, high-current Darlington transistor
array. The device consists of eight NPN Darlington pairs that feature high-
voltage outputs with common-cathode clamp diodes for switching inductive
loads. The collector-current rating of each Darlington pair is 500 mA. The
Darlington pairs may be connected in parallel for higher current capability.

2.4.1 Features:

• 500-mA Rated Collector Current (Single Output)

• High-Voltage Outputs . . . 50 V

• Output Clamp Diodes

• Inputs Compatible With Various Types of Logic

• Relay Driver Applications

15
 • Compatible with ULN2800A Series

2.4.2 IC Description:

Figure 2.9 Pin Diagram

Figure 2.10 Logic Diagram

16
 Figure 2.11 Schematic Diagram

2.4.3 Applications:
The applications include relay drivers, hammer drivers, lamp drivers,
display drivers (LED and gas discharge), line drivers, and logic buffers. The
ULN2803A has a 2.7-kΩ series base resistor for each Darlington pair for
operation directly with TTL or 5-V CMOS devices.

2.5 Relays:

A relay is an electrically operated switch. Current flowing through the

coil of the relay creates a magnetic field which attracts a lever and changes the
switch contacts. The coil current can be on or off so relays have two switch
positions and they are double throw (changeover) switches.

2.5.1 DPDT Relay (DOUBLE POLE DOUBLE THROW):

Figure 2.13 Symbol of DPDT

17
 Figure 2.12 DPDT relay

2.5.2 Features of DPDT relays:

The features of the DPDT switches are as follows:
• Can be used to isolate float switches from spiking voltage or
excessive current.
• Avoids risk that spiking pump voltage will hurt float switches
• Works with our 12 Volt Wall Transformer
• Specifications:
o Coil voltage: 12VD
o Coil resistance: 160 Ohms
o Contact rating: 15A at 110VAC or 24VDC

2.5.2 SPST Relay (SINGLE POLE SINGLE THROW RELAY):

SPST Relays allow one circuit to switch a second circuit which can be
completely separate from the first. For example a low voltage battery circuit
can use a relay to switch a 230V AC mains circuit. There is no electrical
connection inside the relay between the two circuits; the link is magnetic and
mechanical.

18
 Figure 2.14 SPST relay

The relay's switch connections are usually labeled COM, NC and NO:

• COM = Common, always connect to this, it is the moving part

of the switch.
• NC = Normally Closed, COM is connected to this when the
relay coil is off.
• NO = Normally Open, COM is connected to this when the
relay coil is on.
• Connect to COM and NO if you want the switched circuit to be
on when the relay coil is on.
• Connect to COM and NC if you want the switched circuit to be
on when the relay coil is off.

Figure 2.15 Circuit symbol of a relay

19
 The coil of a relay passes a relatively large current, typically 30mA for
a 12V relay, but it can be as much as 100mA for relays designed to operate
from lower voltages. Most ICs (chips) cannot provide this current and a
transistor is usually used to amplify the small IC current to the larger value
required for the relay coil.

Figure 2.16 Relay with Protection Diodes

2.5.3 Protection diodes for relays:

If the coil is energized with DC, a diode is frequently installed across
the coil, to dissipate the energy from the collapsing magnetic field at
deactivation, which would otherwise generate a spike of voltage and might
cause damage to circuit components

Relay coils produce brief high voltage 'spikes' when they are switched
off and this can destroy transistors and ICs in the circuit. To prevent damage
you must connect a protection diode across the relay coil.

Transistors and ICs (chips) must be protected from the brief high
voltage 'spike' produced when the relay coil is switched off. The diagram
shows how a signal diode (e.g. 1N4148) is connected across the relay coil to
provide this protection. Note that the diode is connected 'backwards' so that it
will normally not conduct. Conduction only occurs when the relay coil is

20
switched off, at this moment current tries to continue flowing through the coil
and it is harmlessly diverted through the diode. Without the diode no current
could flow and the coil would produce a damaging high voltage 'spike' in its
attempt to keep the current flowing.

Relays and transistors compared:

Like relays, transistors can be used as an electrically operated switch.
For switching small DC currents (< 1A) at low voltage they are usually a
better choice than a relay. However transistors cannot switch AC or high
voltages (such as mains electricity) and they are not usually a good choice for
switching large currents (> 5A). In these cases a relay will be needed, but note
that a low power transistor may still be needed to switch the current for the
relay's coil! The main advantages and disadvantages of relays are listed below:

2.5.4 Advantages of relays:

Relays can switch AC and DC, transistors can only switch DC.

• Relays can switch high voltages, transistors cannot.

• Relays are a better choice for switching large currents (> 5A).
• Relays can switch many contacts at once.

2.5.5 Disadvantages of relays:

• Relays are bulkier than transistors for switching small currents.

• Relays cannot switch rapidly (except reed relays), transistors
can switch many times per second.
• Relays use more power due to the current flowing through their
coil.

Relays require more current than many chips can provide, so a low
power transistor may be needed to switch the current for the relay's coil.

2.6 Motors – Helical Gear Motors:

21
A unit which creates mechanical energy from electrical energy and which
transmits mechanical energy through the gearbox at a reduced speed is a Gear
motor.
A gear head and motor combination is to reduce the speed of the motor to
obtain the desired speed or torque.

Figure 2.17 Helical Gear Motor

Gear motors of all types and sizes include single / multiphase,

universal, servo, induction and synchronous types. DC gear motors are
configured in many types and sizes, including brushless and servo. A DC gear
motor consists of a rotor and a permanent magnetic field stator and an integral
gearbox or gear head. The magnetic field is maintained using either permanent
magnets or electromagnetic windings. DC motors are most commonly used in
variable speed and torque applications. A DC servomotor has an output shaft
that can be positioned by sending a coded signal to the motor. As the input to
the motor changes, the angular position of the output shaft changes as well.
Servomotors are generally small and powerful for their size, and easy to
control. Common types of DC servomotors include brushless or gear motor
types.

2.7 Fire Sensor:

In Fire sensor we have six pins. Three pins are shorted and
connected to vcc. On the other side middle pin is connected to ground and the
remaining two pins are shorted and connected to base of the transistor.

22
 Initially when sensor is not detecting smoke we have less than 0.7v at the base
of the transistor. If the base voltage is less than 0.7 then the transistor won t
conduct and the output at the collector is logic 1 i.e. +5v. When the sensor
detects smoke than the voltage at the transistor will be high and the transistor
starts conducting and voltage at the collector is logic 0. We will be connecting
the collector output to a buzzer by using one diode. This buzzer will be
ringing when it receives logic 0 i.e. when the sensor detects smoke. In the
transmitting side, the output of smoke sensor is connected to the
microcontroller P3.1 (second pin). Whenever there is no smoke this pin will
read logic 0 initially. When it detects smoke the pin will read logic 1. Then
microcontroller will send the data to the encoder by using port 1 first four
pins. To pin P1.0 we will send logic 1 and the remaining pins will be zero.
This data is send by the microcontroller to the encoder IC, which in turn
encodes the data. The encoded data is transmitted to the transmitter third pin.
From there it will transmit the data with a frequency of 433MHz.In receiving
side, the receiver receives the data and decodes the data by the decoder and
sends that data to the microcontroller. When ever the receiving side
microcontroller receives logic 1 at P1.0 it will make the buzzer on.

Fig: 2.18 Fire sensor

2.8 Conclusion:

The hardware components used with the microcontroller has been

clearly explained. The other hardware like the motors and their driving circuits

23
are explained. The relays and the IC of DTMF technology have been
introduced in this chapter.

3.1 Introduction:

In this chapter, the entire circuitry of the project is shown. The design
parameters kept in mind while the circuits are being designed are clearly
explained. Also the chapter includes the main important part of any hardware
project i.e., a power supply, its circuit and its internal circuit components. On
the whole this chapter gives the circuits employed in the whole projects and
their interfacing.

3.2 Power supply:

There are many types of power supply. Most are designed to convert
high voltage AC mains electricity to a suitable low voltage supply for
electronics circuits and other devices. A power supply can by broken down
into a series of blocks, each of which performs a particular function. For
example a 5V regulated supply can be shown as below

Fig 3.1: Block Diagram of a Regulated Power Supply System

Similarly, 12v regulated supply can also be produced by suitable

selection of the individual elements. Each of the blocks is described in detail

24
below and the power supplies made from these blocks are described below
with a circuit diagram and a graph of their output:

3.2.1 Transformer:

A transformer steps down high voltage AC mains to low voltage AC.

Here we are using a center-tap transformer whose output will be sinusoidal
with 36volts peak to peak value.

Fig: 3.2 Output Waveform of transformer

The low voltage AC output is suitable for lamps, heaters and special
AC motors. It is not suitable for electronic circuits unless they include a
rectifier and a smoothing capacitor. The transformer output is given to the
rectifier circuit.

3.2.2 Rectifier:
A rectifier converts AC to DC, but the DC output is varying. There are
several types of rectifiers; here we use a bridge rectifier.
The Bridge rectifier is a circuit, which converts an ac voltage to dc
voltage using both half cycles of the input ac voltage. The Bridge rectifier
circuit is shown in the figure. The circuit has four diodes connected to form a
bridge. The ac input voltage is applied to the diagonally opposite ends of the
bridge. The load resistance is connected between the other two ends of the
bridge.
For the positive half cycle of the input ac voltage, diodes D1 and D3
conduct, whereas diodes D2 and D4 remain in the OFF state. The conducting
diodes will be in series with the load resistance RL and hence the load current
flows through RL.
25
 For the negative half cycle of the input ac voltage, diodes D2 and D4
conduct whereas, D1 and D3 remain OFF. The conducting diodes D2 and D4
will be in series with the load resistance RL and hence the current flows
through RL in the same direction as in the previous half cycle. Thus a bi-
directional wave is converted into unidirectional.

Figure 3.3 Rectifier circuit

Now the output of the rectifier shown in Figure 3.3 is shown below in Figure
3.4

Figure 3.4 Output of the Rectifier

The varying DC output is suitable for lamps, heaters and standard

motors. It is not suitable for lamps, heaters and standard motors. It is not
suitable for electronic circuits unless they include a smoothing capacitor.

Smoothing:

26
 The smoothing block smoothes the DC from varying greatly to a
small ripple and the ripple voltage is defined as the deviation of the load
voltage from its DC value. Smoothing is also named as filtering.
Filtering is frequently effected by shunting the load with a capacitor. The
action of this system depends on the fact that the capacitor stores energy
during the conduction period and delivers this energy to the loads during the
no conducting period. In this way, the time during which the current passes
through the load is prolonging Ted, and the ripple is considerably decreased.
The action of the capacitor is shown with the help of waveform.

Figure 3.5 Smoothing action of capacitor

Figure 3.6 Waveform of the rectified output smoothing

3.2.3 Regulator:

27
 Regulator eliminates ripple by setting DC output to a fixed voltage.
Voltage regulator ICs are available with fixed (typically 5V, 12V and 15V) or
variable output voltages. Negative voltage regulators are also available
Many of the fixed voltage regulator ICs has 3 leads (input, output and high
impedance). They include a hole for attaching a heat sink if necessary. Zener
diode is an example of fixed regulator which is shown here.

Figure 3.7 Regulator

Transformer + Rectifier + Smoothing + Regulator:

Figure 3.8 Circuit for Regulated DC output

28
3.3 Complete Circuit diagram employed:

29
 Figure 3.9 Complete Circuit Diagram Used.

3.3.1 Circuit Description:

The main aim of the project is development of robot control using

mobile phone. Here we used DTMF IC to decode tones that are received from
the dialed phone into hex values (i.e. if you press 1 from the dialed phone the
receiver phone receives the tone and transfer to the DTMF IC HT 9170 B as
this IC converts into hex equivalent i.e. 0x01) which are parallels transferred
to the microcontroller port 1 lower bits.

In controller section we write an software program for two motors

defined below to move in different directions according to the values received
from the DTMF IC

We use two helical gear motors to rotate the two rear wheels, one for
each. These motors rotate the entire equipment in 4 directions: left, right,
forward and backward directions. We use 2,4,6and 8 from the dialed telephone
key pads for respective direction as the controller receives 0x02,0x04,0x06
and 0x08 from DTMF IC.

3.4 Project Implementation using DTMF Technology:

As the motors will on and off with help of the relays connected to the
different motors. As we know that relay acts as the switch to on/off the motor.

• Relays DPDT used here to rotate helical gear motor in clock-wise as

well as anti-clock wise.

30
 • All the relays used here operate for the 12v dc which microntroller
cannot be used to drive them. Hence we use driver IC ULN2003s to
drive the relays to on the appropriate motors.

• The controller operates for 5v dc and driver IC operates for 12v dc.

3.5 Working description:

In our project, we have employed +5v and +12 v dc voltages. These dc

voltages have been obtained from the regular 230v ac power supply, the ac
signal has to be passed through the step down transformer, rectifier, filter and
regulators. In order to convert into dc we incorporated a bridge rectifier as its
efficiency is very high (approximately 100%) compared to other rectifier
circuit. A 12-0-12 step-down transformer decreases the voltage level of ac
signal from 230 V to 12V (ac).The filter eliminates the ripples and 78X series
regulators gives the constant dc.

The DTMF signal generated by the operator’s mobile, is transfered to the

decoders input through the head set. The corresponding signal which is
received will be decoded by HT9170B decoder and decoded output bits DB3,
DB2 , DB1, DB0 are given to the ports pin of the
microcontroller.DB3,DB2,DB1,DB0 are given to the P2.3,P2.2,P2.1,P2.0
respectively.

Corresponding to the input bits given to the controller, the controller generates
the bits according to the code program we have given and these bits are given
to the driver IC. The driver IC output is given to both the relays and hence
controlling the motor action. Depending on the motors rotation (either clock or
counter clock) the land robot moves in the all four directions.

The smoke sensor senses the smoke and the output of the sensor circuit is
given to the P0.0 pin of controller. Then the buzzer which is connected to the
P0.7gets on and it gives the buzzer sound indicating the smoke.

31
3.6 Conclusion:

This chapter has included the main important part of any hardware
project i.e., a power supply, its circuit and its internal circuit components. On
the whole this chapter has given the circuits employed in the whole projects
and their interfacing

4.1 Introduction:

This chapter gives the advantages and disadvantages of the project.

The various applications in which the project can be utilized and implemented
are furnished in the chapter. Finally, the chapter is ended with the conclusion.

4.2 Advantages of Robot:

• Quality:
Robots have the capacity to dramatically improve product quality.
Applications are performed with precision and high repeatability every
time. This level of consistency can be hard to achieve any other way.
• Production:
With robots, throughput speeds increase, which directly impacts
production. Because robots have the ability to work at a constant speed
without pausing for breaks, sleep, vacations, they have the potential to
produce more than a human worker.
• Safety:
Robots increase workplace safety. Workers are moved to supervisory
roles, so they no longer have to perform dangerous applications in
hazardous settings.
• Savings:
Greater worker safety leads to financial savings. There are fewer
healthcare and insurance concerns for employers. Robot also offer
untiring performance which saves valuable time. Their movements are
always exact, so less material is wasted.

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4.3 Disadvantages of Robot:

• Network:

As our robot is operated through mobile, sometimes network jam can

be a problem

• Expense:
The initial investment of robots is significant, especially when business

owners are limiting their purchases to new robotic equipment. The cost
of automation should be calculated in light of a business' greater
financial budget. Regular maintenance needs can have a financial toll
as well.

• Expertise:
Employees will require training in programming and interacting with
the new robotic equipment. This normally takestime and financial
output.

4.4 Applications:

The applications of the Robot can broadly be classified in two

categories.

Fire Mishaps:
In the event of a fire accident it is better to send the robot, than to send
a human inside the affected area to, either search and rescue a person
or for surveillance purposes. The arm can also be equipped with a fire
extinguisher to put off the fire.
• Bomb Detection:
In the likely event of a bomb alert, this robotic arm can safely go,
detect and diffuse the bomb instead of a human being risking his life.
• In Space Explorations as Land Rover:
Recent Chandryaan moon mission employs such robotic arms (a
complete version of the robot), to survey the geographical and
chemical composition of the surface of the Moon. NASA also has used
such robots in its survey of Mars. The collected samples from the

33
 surface are then transported back to the space shuttle, from where other
chemical tests are conducted, and results relayed back to Earth.
• In Coal Mines:
In coal mines it is quite natural that Methane gas leaks occurs. The
robot can be equipped with a Methane gas sensor and warn the
presence of said gas, without exposing humans to the danger.

4.5 Conclusion:

The advantages and disadvantages explained earlier in this chapter

justify the significance of a mobile based robotic arm. The application areas
are also vast with the simplest of modifications. Since all we need is a mobile
call establishment to instruct the robot due to the cell phone’s unending and
cheap availability, this is highly feasible. The signals received at the robot’s
mobile is decoded with DTMF decoder which is easy to use. No heavy motors
are employed in the making of the robot, and thus it becomes very light
weight. The level of sophistication is quite low and hence its working is user
friendly.

Since this robot is highly flexible adding components to facilitate

application specific working yields a robot that has high use in vast areas. This
project can also be subjected to standardization and hence has a good future
scope.

34
REFERENCES:

1. "The 8051 Microcontroller Architecture, Programming & Applications"

by Kenneth J Ayala.

2. "The 8051 Microcontroller & Embedded Systems" by Mohammed Ali

Mazidi and Janice Gillispie Mazidi

3. "Power Electronics" by M D Singh and K B Khanchandan

4. "Linear Integrated Circuits" by D Roy Choudary & Shail Jain

5. "Electrical Machines" by S K Bhattacharya

6. "Electrical Machines II" by B L Thereja

7. www.8051freeprojectsinfo.com

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APPENDIX
SOURCE CODE:
#include<reg51.h>
delay(unsigned char);
sbit L_MOTORFORWARD=P1^0;
sbit L_MOTORBACKWARD=P1^1;
sbit R_MOTORFORWARD=P1^7;
sbit R_MOTORBACKWARD=P1^6;
sbit smoke =P0^0;
sbit buzzer=P0^7;

Void main()
{
L_MOTORFORWARD=0;
L_MOTORBACKWARD=0;
R_MOTORFORWARD=0;
R_MOTORBACKWARD=0;
buzzer=0;

while (1)
{
if(smoke==1)
{
buzzer=1;
delay(10);
}
else
{
buzzer=0;
}

//FORWARD

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if(P2==0xF2)
{
L_MOTORFORWARD=1;
R_MOTORFORWARD=1;
delay(250);
L_MOTORFORWARD=0;
R_MOTORFORWARD=0;
}

//LEFT
if(P2==0xF4)
{
L_MOTORFORWARD=1;
delay(250);
L_MOTORBACKWARD=0;
R_MOTORFORWARD=0;
R_MOTORBACKWARD=0;
}

//RIGHT
if(P2==0xF6)
{
R_MOTORFORWARD=1;
delay(250);
L_MOTORFORWARD=0;
L_MOTORBACKWARD=0;
R_MOTORBACKWARD=0;
}

//BACK
if(P2==0xF8)
{
L_MOTORBACKWARD=1;
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R_MOTORBACKWARD=1;
delay (250);
L_MOTORBACKWARD=0;
R_MOTORBACKWARD=0;
}

} //while
} //main

//DELAY
delay(unsigned char time)
{
unsigned char i,j;
for(i=0;i<time;i++)
for(j=0;j<1250;j++);
}

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