Surveillance Security Robot

CONTENTS
CHAPTER-1
PROJECT DESCRIPTION
1.1 Definition of Robot ............5 1.2 Security Robot ............5 1.3 Surveillance System.5 1.4 Project Outline.............8 1.5 Interfaces used 8 1.6 Software used..........9 1.7 Cell phone Operated Robot...........10 1.8 Overview Of Project..10

CHAPTER-2
MICRO CONTROLLER
2.1 Introduction12 2.2. Microcontroller vs microprocessor.13 2.3. Advantages of microcontrollers.........14 2.4. Types of 8051 microcontroller.......14 2.5 Microcontroller-AT89S52.......16 2.6 Microcontroller Architectural Block Diagram........17 2.7 Pin out Diagram...22

CHAPTER 3
SENSORS
3.1 Introduction34 3.2 Types of Sensors.34 3.3 Different Type of Sensors:..35

CHAPTER-4
POWER SUPPLY
4.1 Introduction..38 4.2. Description...38 4.2.1 Transformer..38 4.2.2 Rectifier38 4.2.3 Filtering Unit39 4.2.4 Regulators.39 4.2.5 Technical details...40 4.2.6 Features.40 Page 1

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CHAPTER-5
DTMF DECODER
5.1 Introduction.42 5.2 History.42 5.3 MT8870 DTMF Decoder........45 5.4 DTMF Decoder...48 5.4.1 Working of Ic MT 8870...48 5.5 DTMF data output ......49

CHAPTER-6
DC MOTOR
6.1 Introduction.....51 6.2 Types of dc motor ...51 6.2.1working of dc motor 51 6.2.2Dc series motor.....52 6.2.3 Technical specification54 6.3 LM293D...54 6.3.1 Features .......57 6.3.2 Technical details..57

CHAPTER-7
SOFTWARE
Code ....59

CHAPTER-8
APPLICATIONS
8.1. Adavantages....61 8.2 Limitations.......62

CONCLUSION.66 BIBLIOGRAPHY67

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ABSTRACT

Mobile Robots have numerous applications: unmanned exploration, land mine removal, energy plants and manufacturing factories. Robotics as a field has a long history since 1801 when Joseph Jacquard invented a textile machine, which operated by punch cards. Today over 100,000 robots are in use in the United States, compared with millions of computers and cell phones. Robotics, as an area, has undergone a significant change in the last two decades. Dramatic improvements in optimization, profound changes in costs and vast increases in applications have made it possible for us to consider a design of a personal robot. We introduce a cost-effective robot that may be used in our everyday life. The idea is simple and has been the focus of many researchers, namely using a remote controller to request a robot to perform a specific job just as a remote controller is used for a TV to change channels. Our focus is on reducing the costs and making the robot controllable by a device that almost every person in the United States owns . a phone. With the introduction of video cell phones it will be possible for the user to see the robotic movement in real-time. Examples include .calling. the robot on the way home from work and have it do various jobs like vacuum the room and sprinkle the garden. This could also be done by logging on to the web server via an internet connected device and sending signals to the robot, or directly sending specific commands to the robot through cellular phones to a wireless server at home (with or without a web connection).

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CHAPTER-1

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PROJECT DESCRIPTION
1.1Definition of Robot
"A robot is a reprogrammable, multi-functional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks." (Robotics Institute of America)

1.2 Security Robot

Now a day's every system is automated in order to face new challenges. In the present days automated systems have less manual operations, good flexibility, reliability and accuracy. Due to this demand every field prefers automated control systems. Especially in the field of electronics automated systems are giving good performance. In the present scenario of war situations, unmanned systems plays very important role to minimize human losses. So this robot is very useful to do operations like track the persons entering into a limited area in an industry and detecting metals (conductor) in military security system. In this system, a robot is fitted with motors and the direction of rotation of motors is controlled by using H-Bridge circuit. A micro controller is used to control all operations. The system also comprises of obstacle sensing circuit which has infrared transmitter and receiver mounted in front side as sensor array. When there is any obstacle in its path it changes its path automatically. The motion of the robot is controlled by cell phone by using DTMF technology. A 12V battery is provided to power up all the components.

1.3 Surveillance System

Surveillance systems are used to monitor commercial properties and industrial facilities for the presence of trespassers and the behavior of authorized visitors. There are many different types of products. Basic categories include wireless cameras and infrared or IR illuminators, night vision systems, video surveillance products, digital surveillance products, home security systems, business security systems, and hidden cameras. Some suppliers of surveillance systems offer only the equipment for capturing, transmitting, Page 5

Surveillance Security Robot and recording images. Others provide accessory equipment such as multiplexers, enclosures, cables, and mounting hardware. Complete surveillance systems with closedcircuit television (CCTV) are also available. Wireless cameras are used in surveillance systems where a cable cannot be run to the surveillance camera. Although wireless cameras may be suitable for outdoor use, these surveillance systems have a limited range and are susceptible to both signal interference and interception. Available in varying strengths, infrared illuminators are sometimes used to provide additional illumination to IR-capable wireless cameras. Note that although all black-and-white cameras can "see" infrared, not all color cameras are infrared-capable. Specifications for wireless cameras include range, battery type, and voltage. Parameters for infrared illuminators include the number of light emitting diodes (LEDs). Wireless IR night vision systems may carry additional specifications. Surveillance systems include video surveillance, digital surveillance, home security, and business security systems. Typically, complete or integrated security systems include components for image capture; transmission, telemetry and monitoring; and recoding. Image capture products include CCTV cameras, IP cameras, and dome cameras; CCTV camera lenses and CCTV camera lighting; and video motion detectors. Surveillance products for signal transmission, telemetry and monitoring include CCTV transmission systems, video servers, CCTV monitors, telemetry receivers, telemetry transmitters and controllers, CCTV pan tilts, video signal devices and accessories, and video printers. Surveillance systems include many different types of security cameras. Examples include high-definition video security cameras, low-light cameras, starlight cameras, color slow-speed shutter cameras, and wired cameras. Surveillance systems also include embedded, standalone, and PC-based digital video recorders (DVR); perimeter control systems; megapixel closed circuit digital photography (CCDP); infrared cameras and infrared motion detection; and mobile security trailers for construction sites and shortterm surveillance applications. Bullet security cameras, box security cameras, pan/tilt/zoom (PTX) security cameras, micro security cameras, and network security cameras are also available from suppliers of surveillance systems. Page 6

Surveillance Security Robot CELL PHONE OPERATED LAND ROVER USING 8051 MICROCONTROLLER is used to control the Robot in Remote areas also. Conventionally, wireless-controlled robots use RF circuits, which have the drawbacks of limited working range, limited frequency range and limited control. Use of a mobile phone for robotic control can overcome these limitations. It provides the advantages of robust control, working range as large as the coverage area of the service provider, no interference with other controllers and up to twelve controls. In this project, the robot is controlled by a mobile phone that makes a call to the mobile phone attached to the robot. In the course of a call, if any button is pressed, a tone corresponding to the button pressed is heard at the other end of the call. This tone is called dual-tone multiple-frequency (DTMF) tone. The robot perceives this DTMF tone with the help of the phone stacked in the robot and operated

BLOCK DIAGRAM:-

RIGHT MOTOR

DTMF DECODER 8051 Controller MOTOR DRIVER

RELAYS
LEFT MOTOR

RELAY S The Figure shows the block diagram and cicuit diagram of the microcontrollerbased robot. The important components of this robot are DTMF decoder, Microcontroller and motor driver. Page 7

Surveillance Security Robot An MT8870 series DTMF decoder is used here. All types of the MT8870 series use digital counting techniques to detect and decode all the sixteen DTMF tone pairs into a four-bit code output. The built -in dial tone rejection circuit eliminated the need for pre- filtering. When the input signal given at pin2 (IN-) single ended input configuration is recognized to be effective, the correct four bit decode signal of the DTMF tone is transferred to Q1(pin11) through Q4(pin14) outputs. The ATmega 16 is a low power, 8 bit, CMOS micro-controller based on the AVR enhanced RISC architecture. It provides the following feature: 16kb of in system programmable flash memory with read write capabilities, 512bytes of EEPROM, 1KB SRAM, 32 general purpose input/output lines. 32 general purpose working registers. All the 32 registers are directly connected to the arithmetic logic unit, allowing two independent registers to be accessed in one signal instruction executed in one clock cycle. The resulting architecture is more code efficient. Outputs from port pins PD0 through PD3 and PD7 of the micro-controller are fed to inputs IN1 through IN4 and enable pins (EN1 and EN2) of motor driver L293d respectively, to drive geared motors. Switch S1 is used for manual reset.

1.4 PROJECT OUTLINE: A brief introduction to internal architecture of micro-controller. An over view of programming of micro-controller. An overview on mechanical arrangement.
DTMF interfacing with micro-controller.

1.5 INTERFACES USED: Serial communication used for downloading the hex code. DTMF circuit interface. L293D interfacing. DC motor interfacing. Sensors and Relays

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1.6 SOFTWARES USED: A Cross compiler for compiling and linking the code written for 8051 Serial communication software for downloading code to 8051 Operating system: Windows XP.

1.7 CELL PHONE OPERATED ROBOT:Conventionally, Wireless-controlled robots use of circuits, which have the drawbacks of limited working range, limited frequency range and the limited control. Use of a mobile phone for robotic control can overcome these limitations. It provides the advantage of robust control, working range as large as the coverage area of the service provider, no interference with other controllers and up to twelve controllers. Although the appearance and the capabilities of robots vary vastly, all robots share the feature 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 micro-controller or processor, and the task is performed using motors or with some other actuators.

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1.8 OVERVIEW OF THE PROJECT:In this project the robot, 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 tome (DTMF) 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 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. It 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 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 that it can easily be identified by the electronic circuit.

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CHAPTER-2

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MICROCONTROLLER
2.1. Introduction:
A microcontroller is an integrated chip with minimum required devices. The microcontroller includes a CPU: ALU, PC,SP and registers, RAM, ROM, I/O ports, and timers like a standard computer, but because they are designed to execute only a single specific task to control a single system, they are much smaller and simplified so that they can include all the functions required on a single chip.

Fig 2.1: Microcontroller Block Diagram.

Most microcontrollers will also combine other devices such as:

A Timer module to allow the microcontroller to perform tasks for certain time periods. A serial I/O port to allow data to flow between the microcontroller and other devices such as a PC or another microcontroller.

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An ADC to allow the microcontroller to accept analogue input data for processing.

A BLOCK DIAGRAM OF MICROCONTROLLER (EXPANDED)

ALU ACCUMULATOR REGISTERS

TIMER/COUNTER

I/O PORTS I/O PORTS

INTERNAL RAM STACK POINTER

INTERNAL ROM

INTERNAL CIRCUITS CLOCK CIRCUIT

PROGRAM COUNTER
Fig 2.2: Functional Block Diagram of Microcontroller.

2.2. MICROCONTROLLER Vs MICROPROCESSOR:

1. A microcontroller is meant to be more self-contained and independent, and functions as a tiny, dedicated computer than microprocessor. 2. The microcontroller may function as a computer with addition of external digital parts; the microprocessor must have many additional parts to be operational. 3. Most microprocessors have many operational codes (opcodes) for moving data from external memory to the CPU; microcontrollers may have one or two.

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Surveillance Security Robot 4. Microcontrollers are designed by using CMOS (complementary metal oxide semiconductor) technology, an efficient fabrication technique that uses less power and is more immune to power spikes than other techniques.

2.3. ADVANTAGES OF MICROCONTROLLERS:

Their powerful, cleverly chosen electronics is able to control a variety of processes and devices (industrial automatics, voltage, temperature, engines, etc) independently or by means of I/O instruments such as switches, buttons, sensors, LCD screens, relays etc.

2.4. TYPES OF 8051 MICROCONTROLLER:

The 8051 has the widest range of variants of any embedded controller on the market. The smallest device is the Atmel 89c1051, a 20 Pin FLASH variant with 2 timers, UART, 20mA. The fastest parts are from Dallas, with performance close to 10 MIPS! The most powerful chip is the Intel Technologies 80C517A, with 32 Bit ALU, 2 UARTS, 2K RAM, PLCC84 package, 8 x 16 Bit PWMs, and other features.

The MAJOR manufacturers are:

AMD Atmel Cygnal Dallas Intel ISSI Matra OKI - Enhanced 8051 parts (no longer producing 80x51 parts) - FLASH and semi-custom parts - Fastest 8051 with Flash with 12-bit 1LSB A/D. - Fast variant. Also battery backed - 8051 through 80C51GB / 80C51Sl. They invented the 8051 - IS80C51/31 runs up to 40MHz - 80C154, low voltage static variants - 80C154, mask parts Philips Infineon SMC 87C748 Signetics. - 80C501 through 80C517A, and a wide variety of CAN devices. - COM20051 with ARCNET token bus network engine Page 14 thru 89c588, mostly old legacy 8051 parts from

Surveillance Security Robot SSI - 80x52, 2 x HDLC variant for MODEM use

2.5 MICROCONTROLLER AT89S52

Introduction to Microcontroller:

The secure microcontroller family is a line of 8051-compatile device that use nonvolatile (NV) RAM rather than ROM for program storage. NV RAM allows the design of a soft microcontroller that provides many unique features for embedded system designers. The enhanced security features employed by the secure microcontroller family protect the user-application software against piracy and tempering. These devices offer varying degrees of security, ranging from simple access prevention to a full encryption of program and date memory of the device. Attempts to gain access to protected information result in the self-destruction of all data. The secure microcontroller family is the heart of a wide range of critical applications such as electronic banking, commercial transactions, and pay-TV access control, or any application that requires the protection of proprietary software and algorithms. The secure microcontroller family is divided between chips and modules. The chips are monolithic microprocessors that connect to a standard SRAM and lithium battery in a preassembled, pretested module. Depending on the special configuration, modules are available in either encapsulated DIP or SIMM module format. In Addition to NV RAM, Dallas semiconductors offer a number of peripherals that simply reduce the cost of embedded systems. Although the specific features of each chip or module vary, all devices offer the following basic features set:

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100% code-compatible with 8051 Directly addresses 64 KB program/64KB data memory. Nonvolatile memory control circuitry. 10-years data retention in the absence of power In-system reprogramming via serial port. 128 bytes fast access scratchpad RAM Two 16 bit general-purpose timer/counters One UART Five interrupts with two external Dedicated memory bus, preserving four 8-bit ports for general purpose I/O Power-fail reset Early warning power-fail interrupts. Watchdog timer. Why we go for AT89S52? The AT89S52 is a low power, high performance CMOS 8-bit microcontroller with 8Kbytes of Flash programmable and erasable read only memory (PEROM). This device is compatible with the industry standard 8051 instruction set and pin out. The onchip Flash allows the program memory to be quickly reprogrammed using a nonvolatile memory programmer such as the PG302 (with the ADT87 adapter). By combining an industry standard 8-bit CPU with Flash on a monolithic chip, the 8951 is a powerful

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Surveillance Security Robot microcomputer which provides a highly flexible and cost effective solution to many embedded control applications.

2.6 Microcontroller Architectural Block Diagram:

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Bus Organization:
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Surveillance Security Robot There are four major buses in the secure microprocessor: the internal data bus, the internal address bus, the byte wide memory bus, and the expanded bus. All addresses and data that are transferred during program execution are passed on the internal address and data buses. User program and data memory is always accessed from either the byte wide program/data RAM or from external memory located on the expanded bus. The byte wide memory bus allows access memory located on the expanded bus. The byte wide memory bus allows access to program/data RAM in the sane way as an 8051 family device would access internal ROM or EPROM memory. This bus can be used in place of the expanded bus, freeing Port2 and Port0 pins for general I/O use.

CPU Registers:
The CPU registers are mapped as special function registers (SFRs). They are identical in number and function to those prevents within the 8051. These registers are described briefly.

Accumulator:
The accumulator (A or ACC) is used as either a source and/or destination register in all arithmetic instructions. It may also be sued in most other types of instructions.

Stack Pointer:
The stack pointer (SP) is an 8 bit register that marks the location of the last byte of data stored in the stack. The stack itself can be located anywhere in the on-chip 128 byte scratchpad register area. The stack pointer pre-increments during a stack push and post-decrements during a stack pop.

.Program Status Word:

The Program status word (PSW) contains status flags that are set according to the results of a previously executed instruction. In addition, the PSW contains register bank select bits.

Data Pointer:
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Surveillance Security Robot The Data pointer (DPTR) is used to access data memory that can be mapped into byte wide data RAM or onto external memory devices on the expanded bus. The DPTR is accessed by the users program as either two 8 bit SFRs or as a 16-bit register with certain instructions.

Programmable Timers:
Two 16 bit programmable timers are included that can perform various timing and counting functions. Four registers (TH1, TL1, TH0 and TL0) access the upper and lower halves of each of the two timer/counters. A single control register (TCON) is used to select the various operating modes of the two timers. Two external I/O pins (P3.4, P3.5) can be programmed to serve as external counter inputs, one pin for each of the two timer/counters.

Parallel I/O:
Four SFRs provide access for the four parallel I/O port latches. These I/O ports are denoted as P0, P1, P2 and P3. 32 bits of parallel I/O is available through these I/O ports. However, up to 16 bits are sacrificed when the expanded bus mode is used to interface to external memory and up to 6 bits can be sacrificed if any external interrupt inputs, timer counter inputs, or serial I/O functions are used. When using the byte wide bus, ports are not affected.

Features of AT89S52:
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Surveillance Security Robot 1. It is a 8-bit microcontroller. 2. It has a flash memory of 8KB for storing the program. 3. It has RAM of 256 bytes. 4. It has 32 I/O ports. -Port 0 (pin 39 to pin 32). -Port 1 (pin 1 to pin 8). -Port 2 (pin 21 to pin 28). -Port 3 (pin 10 to pin 17). 5. It has four register banks. 6. It has three 16-bit timers. Timer 0 Timer 1 Timer 2 DPTR.

7. It has full duplex asynchronous serial port. 8. It can support up to 64KB of external memory with the help of PC and 9. It has 16-bit address bus. 10. Eight interrupts with two priority levels -4 general purpose interrupts (INT0, INT1). -4 preprogrammed interrupt (Timer0, Timer1, Serial interrupt, Reset interrupt). 11. Wide range of frequency of operation (0 to 24 MHz). 12. It will operate on 5V dc supply. 13. It can support maximum of 500mA of current. In addition, the 89S52 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.

Atmel At89S52 Pin out and Description:

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Surveillance Security Robot The smallest current device is the ATMEL 89S52, a 40 Pin FLASH variant with 3 timers, UART, 500mA. ATMEL was the first with standard FLASH, and with more program cycles than other custom FLASH. These parts compete with OTP and MASK product on price, but eliminate inventory problems and the hidden costs of OTP development.

2.7 PINOUT DIAGRAM:

.18: Port 1: Each of these pins can be used as either input or output. Also, pins 1 and 2 (P1.0 and P1.1) have special functions associated with Timer 2.

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Surveillance Security Robot .9: Reset Signal: High logical state on this input halts the MCU and clears all the registers. Bringing this pin back to logical state zero starts the program anew as if the power had just been turned on. In another words, positive voltage impulse on this pin resets the MCU. Depending on the device's purpose and environs, this pin is usually connected to the push-button, reset-upon-start circuit or a brown out reset circuit. The image shows one simple circuit for safe reset upon starting the controller. It is utilized in situations when power fails to reach its optimal voltage.

Fig : Reset Circuit

.10-17: Port 3: As with Port 1, each of these pins can be used as universal input or output. However, each pin of Port 3 has an alternative function: .Pin 10: RXD - Serial input for asynchronous communication or serial output for synchronous communication. Pin 11: TXD - Serial output for asynchronous communication or clock output for synchronous communication Pin 12: INT0 - Input for interrupt 0 Page 23

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Pin 13: INT1 - Input for interrupt 1 Pin 14: T0 - Clock input of counter 0 Pin 15: T1 - Clock input of counter 1 Pin 16: WR - Signal for writing to external (add-on) RAM memory Pin 17: RD - Signal for reading from external RAM memory 18-19: X2 and X1: Input and output of internal oscillator. Quartz crystal controlling the frequency commonly connects to these pins. Capacitances within the oscillator mechanism (see the image) are not critical and are normally about 30pF. New MCUs work at frequencies from 0Hz to 50MHz+.

Fig : Clock Circuit. .20: GND: Ground 21- 28: Port 2: If external memory is not present, pins of Port 2 act as universal input/output. If external memory is present, then these pins serve as the location of the higher address byte, i.e. addresses A8 A15. It is important to note that in cases when Page 24

Surveillance Security Robot not all the 8 bits are used for addressing the memory (i.e. memory is smaller than 64kB), the rest of the unused bits are not available as input/output. 29: PSEN: MCU activates this bit (brings to low state) upon each reading of byte (instruction) from program memory. If external ROM is used for storing the program, PSEN is directly connected to its control pins. 30: ALE: Before each reading of the external memory, MCU sends the lower byte of the address register (addresses A0 A7) to port P0 and activates the output ALE. External register (74HCT373 or 74HCT375 circuits are common), memorizes the state of port P0 upon receiving a signal from ALE pin, and uses it as part of the address for memory chip. During the second part of the mechanical MCU cycle, signal on ALE is off, and port P0 is used as Data Bus. In this way, by adding only one cheap integrated circuit, data from port can be multiplexed and the port simultaneously used for transferring both addresses and data. 31: EA: Bringing this pin to the logical state zero designates the ports P2 and P3 for transferring addresses regardless of the presence of the internal memory. This means that even if there is a program loaded in the MCU it will not be executed, but the one from the external ROM will be used instead. Conversely, bringing the pin to the high logical state causes the controller to use both memories, first the internal, and then the external (if present). 32-39: Port 0: Similar to Port 2, pins of Port 0 can be used as universal input/output, if external memory is not used. If external memory is used, P0 behaves as address output (A0 A7) when ALE pin is at high logical level, or as data output (Data Bus) when ALE pin is at low logical level. 40: VCC: Power +5V

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Every MCU from 8051 family has 4 I/O ports of 8 bits each. This provides the user with 32 I/O lines for connecting MCU to the environs. Port 0: Port 0 has two fold role: if external memory is used, it contains the lower address byte (A0-A7), otherwise all bits of the port are either input or output. Another feature of this port comes to play when it has been designated as output. Port 0 lacks the "pull up" resistor (resistor with +5V on one end). Therefore, to get one (5V) on the output, external "pull up" resistor needs to be added for connecting the pin to the positive pole. Port 1: This is "true" I/O port, devoid of dual function characteristic for Port 0. Having the "pull up" resistor, Port 1 is fully compatible with TTL circuits. Port 2: When using external memory, this port contains the higher address byte (addresses A8A15). Otherwise, it can be used as universal I/O port. Port 3: Beside its role as universal I/O port, each pin of Port 3 has an alternate function. In order to use one of these functions, the pin in question has to be designated as input, i.e. the appropriate bit of register P3 needs to be set. From a hardware standpoint, Port 3 is similar to Port 0. Memory in 8051 Microcontroller: The 8051 has three very general types of memory. The memory types External RAM. are

illustrated in the following figure: On-Chip Memory, External Code Memory, and

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Fig : Memory Block Diagram. On-Chip Memory refers to any memory (Code, RAM, or other) that physically exists on the microcontroller itself. External Code Memory is code (or program) memory that resides off-chip. This is often in the form of an external EPROM. External RAM is RAM memory that resides off-chip. This is often in the form of standard static RAM or flash RAM. During the runtime, microcontroller uses two different types of memory: one for holding the program being executed (ROM memory), and the other for temporary storage of data and auxiliary variables (RAM memory).

ROM memory:
In this MCU contain 4 kilobytes of the flash memory on the chip. It is of EEPROM. We can use 12v to program MCU. This option is cost-effective only for large series. The main purpose of ROM is to store the programs to be executed.

RAM memory:
RAM is used for storing temporary data and auxiliary results generated during the runtime. Apart from that, RAM comprises a number of registers: hardware counters Page 27

Surveillance Security Robot and timers, I/O ports, buffer for serial connection, etc. With older versions, RAM spanned 256 locations, while new models feature additional 128 registers. First 256 memory locations form the basis of RAM (addresses 0 FFh) of every 8051 MCU. Locations that are available to the user span addresses from 0 to 7Fh, i.e. first 128 registers, and this part of RAM is split into several blocks as can be seen in the following figure.

The main purpose of RAM is to provide synchronization between ROM and CPU so as to increase the speed of microcontroller.

Bit Memory:
The 8051, being a communications-oriented microcontroller, gives the user the ability to access a number of bit variables. These variables may be either 1 or 0. There are 128 bit variables available to the user, numbered 00h through 7Fh. Page 28

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Special Function Register (SFR) Memory:

Special Function Registers (SFRs) are areas of memory that control specific functionality of the 8051 processor. It may appear that SFR is part of Internal Memory. However, when using this method of memory access (its called direct address), any instruction that has an address of 00h through 7Fh refers to an Internal RAM memory address; any instruction with an address of 80h through FFh refers to an SFR control register.

Register Banks: General Purpose registers:

The 8051 uses 8 "R" registers which are used in many of its instructions. These "R" registers are numbered from 0 through 7 (R0, R1, R2, R3, R4, R5, R6, and R7). These registers are generally used to assist in manipulating values and moving data from one memory location to another.

SFR Registers (Special Function Registers):

SFR registers can be seen as a sort of control panel for managing and monitoring the microcontroller.

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Fig : Special Function Registers.

TIMERS:
The 8051 comes equipped with two timers, both of which may be controlled, set, read, and configured individually. The 8051 timers have three general functions: 1) Keeping time and/or calculating the amount of time between events, 2) Counting the events themselves, or 3) Generating baud rates for the serial port.

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USING TIMERS TO MEASURE TIME:

Obviously, one of the primary uses of timers is to measure time. When a timer is used to measure time it is also called an "interval timer" since it is measuring the time of the interval between two events. .

Timer SFRs:
The 8051 has two timers which each function essentially the same way. One timer is TIMER0 and the other is TIMER1. The two timers share two SFRs (TMOD and TCON) which control the timers, and each timer also has two SFRs dedicated solely to itself (TH0/TL0 and TH1/TL1). An SFR has a numeric address. It is often useful to know the numeric address that corresponds to an SFR name. When you enter the name of an SFR into an assembler, it internally converts it to a number.

THE TMOD SFR (Timer Mode):

The TMOD SFR is used to control the mode of operation of both timers. Each bit of the SFR gives the microcontroller specific information concerning how to run a timer. The high four bits (bits 4 through 7) relate to Timer 1 whereas the low four bits (bits 0 through 3) perform the exact same functions, but for timer 0. The individual bits of TMOD have the following functions: Bit Name 7 Explanation of Function When this bit is set the timer will only run when will run regardless of the state of INT1. When this bit is set the timer will count events on 6 C/T1 T1 (P3.5). When this bit is clear the timer will be incremented every machine cycle. Timer mode bit (see below) 1 Timer

GATE1 INT1 (P3.3) is high. When this bit is clear the timer 1

T1M1

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Surveillance Security Robot 4 T1M0 Timer mode bit (see below) When this bit is set the timer will only run when 1

GATE0 INT0 (P3.2) is high. When this bit is clear the timer 0 will run regardless of the state of INT0. When this bit is set the timer will count events on

C/T0

T0 (P3.4). When this bit is clear the timer will be incremented every machine cycle. Timer mode bit (see below) Timer mode bit (see below)

1 0

T0M1 T0M0

0 0

The Four bits (two for each timer) are used to specify a mode of operation. modes of operation are:
TxM1 0 0 1 1 TxM0 0 1 0 1 Timer Mode 0 1 2 3 Description of Mode 13-bit Timer. 16-bit Timer 8-bit auto-reload Split timer mode

. The TCON SFR:

There is one more SFR that controls the two timers and provides valuable information about them. The TCON SFR has the following structure:

TCON (88h) SFR:

Bit Bit Name Address Timer 1 Overflow. This bit is set by the microcontroller when 7 TF1 8Fh Timer 1 overflows. 1 Explanation of Function Timer

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Surveillance Security Robot Timer 1 Run. When this bit is set Timer 1 is turned on. When 6 TR1 8Eh this bit is clear Timer 1 is off. Timer 0 Overflow. This bit is set by the microcontroller when 5 TF0 8Dh Timer 0 overflows. Timer 0 Run. When this bit is set Timer 0 is turned on. When 4 TR0 8Ch this bit is clear Timer 0 is off. 0 0 1

CHAPTER 3
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SENSORS
3.1.Introduction
Sensors are used to sense any obstacle present in the path of robot. Sensors are following types. The word sensor comes from the word sense and it is originate from the Middle French sense, sensation, feeling, and mechanism of perception. To improve the performance of the robots it must be able to sense in both ways their internal and external states (the environment) to perform some of the tasks presently done by humans. As well, much more accurate and intelligent robots are expected to emerge with the newly developed sensors, especially visual sensors. Vision provides a robot with a sophisticated sensing mechanism that allows the machine to respond to its environment in an intelligent and flexible manner.

3.2. How this information is gathered by robots?

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First of all, this sensorial perceptions or measurements are gathered by electronic signals, or data that sensors could provide with a limited feedback to the robot so it can do its job. Although proximity, touch, and force sensing play a significant role in the improvement of robot performance. However, vision is recognized as the most powerful robot sensory capability. Robot vision may be defined as the process of extracting, characterizing, and interpreting information from images of a three-dimensional world. This process, also commonly referred to as computer or machine vision, may be subdivided into six principal areas: sensing, preprocessing, segmentation, description, recognition, and interpretation.

3.3. Different Type of Sensors: Proximity sensor:

Senses and indicates the presence of an object within a fixed space near the sensor without physical contact. Different commercially available proximity sensors are suitable for different applications.

Acoustic sensor:
Senses and interprets acoustic waves in gas, liquid, or solid. The level of sophistication of sensor interpretation varies among existing acoustic sensors, frequency of acoustic waves and recognition of isolated words in a continuous speech.

Range sensor:
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Surveillance Security Robot Measures the distance from a reference point to a set of points in the scene. Humans can estimate range values based on visual data by perceptual processes that include comparison of image sizes and projected views of world-object models. Range can be sensed with a pair of TV cameras or sonar transmitters and receivers.

Force sensor:
Measures the three components of the force and three components of the torque acting between two objects. In particular, a robot-wrist force sensor measures the components of force and torque between the last link of the robot and its end-effectors by transmitting the deflection of the sensor's compliant sections, which results from the applied force and torque.

Touch sensor:
Senses and indicates a physical contact between the object carrying the sensor and another object. The simplest touch sensor is a micro switch. Touch sensors can be used to stop the motion of a robot when its end-effectors make contact with an object.

Tactile sensors: These are sensors which respond to contact forces with another object. Some of these devices are capable of measuring the level of force involved. Miscellaneous types:
The miscellaneous category includes the remaining kinds of sensors that are used in robotics. These include sensors for temperature, pressure, and other variables.

Machine vision sensor:

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Surveillance Security Robot A machine vision sensor is capable of viewing the work-space and interpreting what it sees. These systems are used in robotics to perform inspection, parts recognition, and other similar tasks.

In our project we are using machine vision sensor a) b) c) Machine vision sensor is also called as computer vision and also Machine vision concerned with the sensing of data and its The typical vision system consists of the camera and digitizing The operation of the vision system consists of 3 functions: Sensing and digitizing image data. Image processing and analysis. Application

artificial vision. interpretation by a computer. hardware, computer and hardware and software necessary to interface.

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CHAPTER-4

POWER SUPPLY
4.1 Introduction:Any invention of latest technology cannot be activated without the source of power. So in this fast moving world we deliberately need a proper power source which will be apt for a particular requirement. All the electronic components starting from diode to ICs only work with a DC supply ranging from 5V to 12V.We are utilizing for the same, the cheapest and commonly available energy source of 230V-50Hz and stepping down, rectifying, filtering and regulating the voltage. . Microcontroller operates at +5v DC and also for other ICs and displays. A 220v ac to 12-0-12v transformer is used and for rectification, four diodes IN4007 are connected for rectification of the step down ac Page 38

Surveillance Security Robot supply. Filter capacitor of 1000Uf is used. It is regulated to +5v using a regulator 7805. 0.1 UF capacitor is used for filtration of high frequency noise. The power supply circuit is shown below.

4.2 DESCRIPTION:4.2.1 Transformer:A bridge rectifier coupled with a step down transformer is used for our design. The voltage rating of transformer used is 0-12V and the current rating is 500mA. When AC voltage of 230V is applied across the primary winding an output AC voltage of 12V is obtained. One alteration of input causes the top of transformer to be positive and the bottom negative. The next alteration will temporarily cause the reverse.

4.2.2 Rectifier:In the power supply unit, rectification is normally achieved using a solid state diode. Diode has the property that will let the electron flow easily at one direction at proper

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POWER SUPPLY CIRCIUT biasing condition. Bridge rectifiers of 4 diodes are used to achieve full wave rectification. Two diodes will conduct during the negative cycle and the other two will conduct during the positive half cycle.

4.2.3 Filtering unit:Filter circuit which is usually a capacitor acts as a surge arrester always follows the rectifier unit. This capacitor is also called as a decoupling capacitor or a bypass capacitor, is used not only to short the ripple with frequency to ground but also leave the frequency of the DC to appear at the output.

4.2.4 Regulators:The voltage regulators play an important role in any power supply unit. The primary purpose of a regulator is to aid the rectifier and filter circuit in providing a constant DC voltage to the device. Power supplies without regulators have an inherent problem of Page 40

Surveillance Security Robot changing DC voltage values due to variations in the load or due to fluctuations in the AC line voltage. With a regulator connected to DC output, the voltage can be maintained within a close tolerant region of the desired output. IC 7805 and 7812 regulators are used in this project for providing a DC voltage of +5V and +12V respectively.

4.2.5 Technical Details:Transformer Diodes : 230/12 volts step down transformer, 1 ampere : IN 4007

Voltage regulators : 78L Series 7812: The 7812 supplies 12 volts at 2 amp maximum with an input of 13-25 volts 7805 25 volts Electrolytic Capacitors: 100pF, 330pF and 100F, power rating of 25V. : The 7805 supplies 5 volts at 1 amp maximum with an input of 7-

4.2.6 Features: Gives a well regulated +12V and +5V output voltages Built in overheating protection shuts down output when regulator IC gets too hot. Very stable output voltages, reliable operation The circuit has overload and thermal protection.

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CHAPTER-5

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DTMF DECODER
5.1 INTRODUCTION:Dual-tone multi-frequency (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 tone dialing is known by the trademarked term Touch-Tone, and is standardized by ITU-T Recommendation Q.23. Other multi-frequency systems are used for signaling internal to the telephone network

5.2 HISTORY:In the time preceding the development of DTMF, telephone systems employed a system commonly referred to as pulse (Dial Pulse or DP in the USA) or loop disconnect (LD) signaling to dial numbers, which functions by rapidly disconnecting and connecting the calling party's telephone line, similar to flicking a light switch on and off. The repeated connection and disconnection, as the dial spins, sounds like a series of clicks. The exchange equipment counts those clicks or dial pulses to determine the called number. Loop disconnect range was restricted by telegraphic distortion and other technical problems, and placing calls over longer distances required either operator assistance (operators used an earlier kind of multi-frequency dial) or the provision of subscriber trunk dialing equipment. DTMF was developed at Bell Labs in order to allow dialing signals to dial longdistance numbers, potentially over nonwire links such as microwave radio relay links or satellites. For a few non crossbar offices, encoder/decoders were added that would convert the older pulse signals into DTMF tones and play them down the line to the remote end office. At the remote site another encoder/decoder could decode the tones and perform pulse dialing, for example Strowger switches. It was as if you were connected directly to that end office, yet the signaling would work over any sort of link. This idea of

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Surveillance Security Robot using the existing network for signaling as well as the message is known as in-band signaling. It was clear even in the late 1950s when DTMF was being developed that the future of switching lay in electronic switches, as opposed to the electromechanical crossbar systems then in use. Either switching system could use either dial system, but DTMF promised shorter holding times, which was more important in the larger and more complex registers used in crossbar systems. In this case pulse dialing made no sense at any point in the circuit, and plans were made to roll DTMF out to end users as soon as possible. Tests of the system occurred in the early 1960s, where DTMF became known as Touch Tone. Though Touch Tone phones were already in use in a few places, they were vigorously promoted at the 1964 New York World's Fair. The Touch Tone system also introduced a standardized keypad layout. After testing 18 different layouts, they eventually chose the one familiar to us today, with 1 in the upper-left and 0 at the bottom. The adding-machine layout, with 1 in the lower-left was also tried, but at that time few people used adding machines, and having the 1 at the "start" (in European language reading order) led to fewer typing errors. In retrospect, many people consider that this was a mistake. With the widespread introduction of computers and bank machines, the phone keyboard has become "oddball", causing mistakes. In another sense, DTMF was obsolete a decade after it was instituted, as FSK methods with fewer frequencies became cheaper, faster and more reliable. However, the technical complexities of digital filtering were more expensive to deal with than junking an adequate system.

#, *, A, B, C, and D:
The engineers had envisioned phones being used to access computers, and surveyed a number of companies to see what they would need for this role. This led to the Page 44

Surveillance Security Robot addition of the number sign (#) and star (*) keys (also known as Humphries),[citation needed] as well as a group of keys for menu selection: A, B, C and D. In the end, the lettered keys were dropped from most phones, and it was many years before the Humphries became widely used for vertical service codes such as *67 in the United States and Canada to suppress caller ID. Public payphones that accept credit cards use these additional codes to send the information from the magnetic strip. The U.S. military also used the letters, relabeled, in their now defunct Autovon phone system. Here they were used before dialing the phone in order to give some calls priority, cutting in over existing calls if need be. The idea was to allow important traffic to get through every time. The levels of priority available were Flash Override (A), Flash (B), Immediate (C), and Priority (D), with Flash Override being the highest priority. Pressing one of these keys gave your call priority, overriding other conversations on the network. Pressing C, Immediate, before dialing would make the switch first look for any free lines, and if all lines were in use, it would disconnect any non-priority calls, and then any priority calls. Flash Override will kick every other call off the trunks between the origin and destination. Consequently, it is limited to the White House Communications Agency. Precedence dialing is still done on the military phone networks, but using number combinations (Example: Entering 93 before a number is a priority call) rather than the separate tones. Present-day uses of the A, B, C and D keys on telephone networks are few, and exclusive to network control. For example, the A key is used on some networks to cycle through different carriers at will (thereby listening in on calls). Their use is probably prohibited by most carriers. The A, B, C and D tones are used in amateur radio phone patch and repeater operations to allow, among other uses, control of the repeater while connected to an active phone line. DTMF tones are also used by some cable television networks and radio networks to signal the local cable company/network station to insert a local advertisement or station identification. These tones were often heard during a station ID preceding a Page 45

Surveillance Security Robot local ad inserts. Previously, terrestrial television stations also used DTMF tones to shut off and turn on remote transmitters. DTMF tones are also sometimes used in caller ID systems to transfer the caller ID information, however in the USA only Bell 202 modulated FSK signaling is used to transfer the data.

Keypad:
The DTMF keypad is laid out in a 44 matrix, with each row representing a low frequency, and each column representing a high frequency. Pressing a single key such as '1' will send a sinusoidal tone of the two frequencies 697 and 1209 hertz (Hz). The original keypads had levers inside, so each button activated two contacts. The multiple tones are the reason for calling the system multifrequency. These tones are then decoded by the switching center to determine which key was pressed.

DTMF keypad frequencies:

1209 Hz 697 Hz 770 Hz 852 Hz 941 Hz 1 4 7 * 1336 Hz 1 2 5 8 0 477 Hz 3 6 9 # 1633 Hz A B C D

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5.3 MT 8870 DTMF decoder:IC MT8870/KT3170 serves as DTMF decoder. This IC takes DTMF signal coming via telephone line and converts that signal into respective BCD number. It uses same oscillator frequency used in the remote section so same crystal oscillator with frequency of 3.85M Hz is used in this IC.

Working of IC MT8870:
The MT-8870 is a full DTMF Receiver that integrates both band split filter and decoder functions into a single 18-pin DIP. Its filter section uses switched capacitor technology for both the high and low group filters and for dial tone rejection. Its decoder uses digital counting techniques to detect and decode all 16 DTMF tone pairs into a 4-bit code. External component count is minimized by provision of an on-chip differential input amplifier, clock generator, and latched tri-state interface bus. Minimal external components required include a low-cost 3.579545 MHz crystal, a timing resistor, and a timing capacitor. The MT-8870-02 can also inhibit the decoding of fourth column digits. MT-8870 operating functions include a band split filter that separates the high and low tones of the received pair, and a digital decoder that verifies both the frequency and duration of the received tones before passing the resulting 4-bit code to the output bus. Page 47

Surveillance Security Robot The low and high group tones are separated by applying the dual-tone signal to the inputs of two 6th order switched capacitor band pass filters with bandwidths that correspond to the bands enclosing the low and high group tones. The filter also incorporates notches at 350 and 440 Hz, providing excellent dial tone rejection. Each filter output is followed by a single-order switched capacitor section that smoothes the signals prior to limiting. Signal limiting is performed by high gain comparators provided with hysteresis to prevent detection of unwanted low-level signals and noise. The MT-8870 decoder uses a digital counting technique to determine the frequencies of the limited tones and to verify that they correspond to standard DTMF frequencies. When the detector recognizes the simultaneous presence of two valid tones (known as signal condition), it raises the Early Steering flag (ESt). Any subsequent loss of signal condition will cause Est. to fall. Before a decoded tone pair is registered, the receiver checks for valid signal duration (referred to as character- recognition-condition). This check is performed by an external RC time constant driven by ESt. A short delay to allow the output latch to settle, the delayed steering output flag (StD) goes high, signaling that a received tone pair has been registered. The contents of the

INTERNAL CIRCUIT DIAGRAM OF DTMF DECODER Page 48

Surveillance Security Robot output latch are made available on the 4-bit output bus by raising the three state control input (OE) to logic high. Inhibit mode is enabled by a logic high input to pin 5 (INH). It inhibits the detection of 1633 Hz. The output code will remain the same as the previous detected code. On the M- 8870 models, this pin is tied to ground (logic low).The input arrangement of the MT-8870 provides a differential input operational amplifier as well as a bias source (VREF) to bias the inputs at mid-rail. Provision is made for connection of a feedback resistor to the op-amp output (GS) for gain adjustment. The internal clock circuit is completed with the addition of a standard 3.579545 MHz crystal. The input arrangement of the MT-8870 provides a differential input operational amplifier as well as a bias source (VREF) to bias the inputs at mid-rail. Provision is made for connection of a feedback resistor to the op-amp output (GS) for gain adjustment. The internal clock circuit is completed with the addition of a standard 3.579545 MHz crystal.

5.4 DTMF decoder: IC MT8870/KT3170 serves as DTMF decoder. This IC takes DTMF signal coming via telephone line and converts that signal into respective BCD number. It uses same oscillator frequency used in the remote section so same crystal oscillator with frequency of 3.85M Hz is used in this IC.

5.4.1 Working of IC MT8870:The MT-8870 is a full DTMF Receiver that integrates both band split filter and decoder functions into a single 18-pin DIP. Its filter section uses switched capacitor technology for both the high and low group filters and for dial tone rejection. its decoder uses digital counting techniques to detect and decode all 16 DTMF tone pairs into a 4-bit code. To reject common-mode noise signals, a balanced differential amplifier input is used .The internal clock circuit is completed with the addition of a standard 3.5795MHZ crystal oscillator Page 49

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The input arrangement of the MT-8870 provides a differential input operational amplifier as well as a bias source (VREF) to bias the inputs at mid-rail. Provision is made for connection of a feedback resistor to the op-amp output (GS) for gain adjustment.

5.5 DTMF data output:Low group 697 697 697 770 770 770 852 852 852 941 941 941 697 770 852 941 High group 1209 1336 1477 1209 1336 1477 1209 1336 1477 1209 1336 1477 1633 1633 1633 1633 Digit 1 2 3 4 5 6 7 8 9 0 * # A B C D D3 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 D2 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 D1 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 D0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0

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CHAPTER-6

DC MOTORS
6.1 INTRODUCTION:-

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Surveillance Security Robot DC motors are widely used in industrial and consumer applications. In many cases, absolute precision in movement is not an issue but precise speed control is. How ever there are also applications that do require precise positioning. DC motors combined with feedback for either position or speed are called Servo motors. As this feedback mechanism has an edge over other closed loop systems when it comes to position control, we use DC motors in commissioning the lift. Some more important features of DC motor that accentuates its implementation are High output power relative to motor size and weight High efficiency. Can approach 90% at light load conditions High torque to inertia ratio. Can rapidly accelerate loads Has reserve power and torque Excellent speed control, Effective braking.

6.2 Types of DC Motors:

Shunt wound Series wound Compound wound Separately wound

6.2.1 Working of DC Motor:The DC motor has two basic parts: the rotating part that is called the armature and the stationary part that includes coils of wire called the field coils. The stationary part is also called the stator. The armature is made of coils of wire wrapped around the core, and the core has an extended shaft that rotates on bearings. The termination points are called the commutator, and this is where the brushes make electrical contact to bring electrical current from the stationary part to the part rotating of the machine. As the armature begins to move, the north pole of the armature comes closer to the south pole of the field, and the south pole of the armature is coming closer to the north pole of the field. As the two unlike poles near each other, they begin to attract. This attraction becomes Page 52

Surveillance Security Robot stronger until the North Pole moves directly in line with the fields South Pole, and its South Pole moves directly in line with fields poles. When the opposite poles area at their strongest attraction, the armature will be locked up and will resist further attempts to continue spinning. For the armature to continue its rotation, the armatures polarity must be switched. For this reason the armature must be a coil and a set of commutator segments must be added to provide a means of making contact between the rotating member and the stationary member. One commutator segment is provided for each terminal of the magnetic coil. Since this armature has only one coil, it will have only two terminals, so the commutator has two segments. Since the armature is now a coil of wire, it will need DC current flowing through it to become magnetized. This presents another problem; since the armature will be rotating, the DC voltage wires cannot be connected directly to the armature coil. A stationary set of carbon brushes is used to make contact to the rotating armature. The brushes ride on the commutator segments to make a contact so that current will flow through the armature coil. This is a simple two pole motor that is used primarily for instructional purposes. Since the motor has only two poles, the motor will operate rather roughly and not provide too much torque. Additional field poles and armature poles must be added to the motor for it to become useful for industry. Now as described earlier, the DC motor suits the lift applications, the electrical working of the motor is given below

6.2.2 DC Series Motor:Where there is a wide variation in load or where the motor must start under a heavy load, series motors have desirable features not found in shunt motors. The series wound motor is used where high starting torque and varying speed is desired. The armature and the series field are connected in series. With high armature and field currents, it has a very high starting torque and is well suited for starting heavy loads.

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DC MOTOR

DCMOTOR Notice that the series field is in series with the armature windings. When the motor is first started, with the negligible effects of the counter EMF, current flow through the armature is high. Since the armature and the series field are in series, the current in the armature is the same current through the series winding. Large current develops a very strong magnetic field and results in an extremely high torque, Conversely, if the motor is operating at rated speed, the counter EMF will be very high, and the current in the series field winding and armature is reduced proportionally .This means that the series motor can develop a very high torque and respond to increase in loading (reductions in armature RPM) rapidly. The series motor Page 54

Surveillance Security Robot will continue to increase in speed as long as there is more torque developed that is necessary to turn the load. This additional torque is called acceleration torque. When a series motor is heavily loaded, it slows and produces more torque. As the load is removed, the motor increases in speed. If the load is suddenly removed from the series motor, the accelerating torque is just enough to continue to increase the motors speed. The continuously increasing speed can destroy motor.

6.2.3 Technical Specifications:Voltage: 12V DC Speed : 30 rpm Current:2 Amp The motor is interfaced to the microcontroller through LM293D.

6.3 LM293D:The L293D is an IC designed for driving individuals loads, such as motors and solenoids form logic signals. This IC is used for back emf protection and current amplification. The chip has 4 push-pull channels, and each pair has an enabling input, and integral clamping (fly back) diodes. Each channel can source or sink up to 600mA continuous current. A push-pull channel consists of two transistors, a PNP and an NPN, in which the collectors and bases of the two devices are connected. In this arrangement, when a logic-level signal is applied to common base, one of the transistors will be saturated and the other cut-off. This arrangement allows the channel to either source (push) or sink (pull) current from the common collector junction, hence the name pushpull If two channels are used, a dc motor can be driven bi-directionally from the power supply of single polarity. The L293D is a 4-channel push-pull driver chip with integral clamping diodes. The chip needs +5V to operate and +Vs (the supply for the device to be driven by the chip), where Vs must be between 5 and 36V (in this circuit Vs is +12V). The channels are enabled by applying +5V to the enable 1 pin. If logic high is applied to pin2 (IN 1), pin3 (OUT 1) will go high (to about 1.4V lower than Vs). If a logic low is Page 55

Surveillance Security Robot applied to pin 2, pin 3 will go low (to about 1.2V above ground). Pins 6 and 7 operate in like fashion.

CONNECTIN DIAGRAM OF L293D IC

BLOCK DIAGRAM OF L293D IC

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Surveillance Security Robot Pin 1 of the L293D is enable input for the channels 1 and 2. When pin 1 is taken to logic high, the pair of the channels is enabled, meaning that they are made operational. Thus if a logic high is applied to pin 2 (input 1), pin3 (output 1) will go high (to about 1.4V lower than Vs ) if a logic low is applied to pin 2, pin 3 will go low (to about 1.2V above ground) when pin 1 is taken to logic low, the two channels are disabled , which means that the outputs effectively disconnected from the circuit.

Motor Operation Based On Driver

INPUT1/OUTPUT1 0 1 0

INPUT2/OUTPUT2 0 0 1

OPERATION Motor will not move Motor moves in clockwise Direction Motor moves in anticlockwise Direction

Motor will not move

Motor Operation Based On Driver

In this way the DC motor is rotated in clockwise and anti clockwise direction so that the lift can be moved from floor to floor in both directions.

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6.3.1 Features: Output Current 1A per channel Peak output current 2A per channel Inhibit facility High Noise Immunity Separate Logic supply Over Temperature Protection

6.3.2Technical Details:

Maximum Voltage Supply(VSS): 36V Maximum Input Voltage(VC): 7V Maximum Peak output current: 2A Total Power Dissipation: 5W at 800C Input Low Voltage: -0.3 to 1.5V Input high voltage: 2.3 to 7V Low Voltage Input Current :-10 A High Voltage Input current: 100 A

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CHAPTER-7

SOFTWARE
1.

PROGRAM CODE :

#include <REGX51.H> void main(){ while(1){ if(P1==2)

//forward Page 59

Surveillance Security Robot { P2_0=1; P2_1=0; P2_2=1; P2_3=0; } else if(P1==4) { P2_0=0; P2_1=1; P2_2=1; P2_3=0; } else if(P1==6) { P2_0=1; P2_1=0; P2_2=0; P2_3=1; } else if(P1==8) { P2_0=0; P2_1=1; P2_2=0; P2_3=1; } else //stop { P2_0=0; P2_1=0; P2_2=0; P2_3=0; } } }

//left

//right

//back

FINAL DESIGN :
TOP VIEW:

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SIDE VIEW:

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CHAPTER-8

APPLICATIONS
Scientific

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Surveillance Security Robot Remote control vehicles have various scientific uses including hazardous environments, working in the deep ocean , and space exploration. The majority of the probes to the other planets in our solar system have been remote control vehicles, although some of the more recent ones were partially autonomous. The sophistication of these devices has fueled greater debate on the need for manned spaceflight and exploration. The Voyager I spacecraft is the first craft of any kind to leave the solar system. The martian explorers Spirit and Opportunity have provided continuous data about the surface of Mars since January 3, 2004.

Military and Law Enforcement

Military usage of remotely controlled military vehicles dates back to the first half of 20th century. Soviet Red Army used remotely controlled Teletanks during 1930s in the Winter War and early stage of World War II. There were also remotely controlled cutters and experimental remotely controlled planes in the Red Army. Remote control vehicles are used in law enforcement and military engagements for some of the same reasons. The exposure to hazards are mitigated to the person who operates the vehicle from a location of relative safety. Remote controlled vehicles are used by many police department bombsquads to defuse or detonate explosives. See Dragon Runner, Military robot. Unmanned Aerial Vehicles (UAVs) have undergone a dramatic evolution in capability in the past decade. Early UAV's were capable of reconnaissance missions alone and then only with a limited range. Current UAV's can hover around possible targets until they are positively identified before releasing their payload of weaponry.Backpack sized UAV's will provide ground troops with over the horizon surveillance capabilities.

Search and Rescue

UAVs will likely play an increased role in search and rescue in the United States. Slowly other European countries (even some developing nations) are thinking about making use of these vehicles in case of natural calamities & emergencies. This can be a great asset to save lives of both people along with soldiers in case of terrorist attacks Page 63

Surveillance Security Robot like the one happened in 26 Nov, 2008 in Mumbai, India. The loss of military personnel can be largely reduced by using these advanced methods. This was demonstrated by the successful use of UAVs during the 2008 hurricanes that struck Louisiana and Texas.

Recreation and Hobby

See Radio-controlled model. Small scale remote control vehicles have long been popular among hobbyists. These remote controlled vehicles span a wide range in terms of price and sophistication. There are many types of radio controlled vehicles. These include on-road cars, off-road trucks, boats, airplanes, and even helicopters. The "robots"now popular in television shows such as Robot Wars, are a recent extension of this hobby (these vehicles do not meet the classical definition of a robot; they are remotely controlled by a human). Radio-controlled submarine also exist.

8.1.ADVANTAGES

Autonomous patrolling to monitor security in critical areas. Recognization of suspicious moving persons or objects and changes in sense. Autonomous inspection. Humans are removed from direct exposure to potentially dangerous situations. Robotic systems can perform many security and surveillance functions more effectively than humans.

Robots dont get bored and thereby inattentive during long hours of surveillance. IR sensors can be used to automatically detect & avoid obstacles if the robot goes beyond line of sight. This avoids damage to the vehicle if we are maneuvering it from a distant place.

Speed regulation of robots.

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Surveillance Security Robot Robotic systems can perform many security and surveillance functions more effectively than humans.

8.2 LIMITATIONS

The autonomous mode cannot work for longer distances. Cost of the surveillance robot is high compared to CC cameras. The camera cannot rotate so it is not possible to see the objects which are in top of the camera.

The stand by time of battery is less. It is not possible to recall the video.

8.3 FURTHER IMPROVEMENTS & FUTURE SCOPE : 1. IR Sensors:

IR sensors can be used to automatically detect & avoid obstacles if the robot goes beyond line of sight. This avoids damage to the vehicle if we are maneuvering it from a distant place.

2. Password Protection:
Project can be modified in order to password protect the robot so that it can be operated only if correct password is entered. Either cell phone should be password protected or necessary modification should be made in the assembly language code. This introduces conditioned access & increases security to a great extent.

3. Alarm Phone Dialer:

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Surveillance Security Robot By replacing DTMF Decoder IC CM8870 by a 'DTMF Transceiver IC CM8880, DTMF tones can be generated from the robot. So, a project called 'Alarm Phone Dialer' can be built which will generate necessary alarms for something that is desired to be monitored (usually by triggering a relay). For example, a high water alarm, low temperature alarm, opening of back window, garage door, etc. When the system is activated it will call a number of programmed numbers to let the user know the alarm has been activated. This would be great to get alerts of alarm conditions from home when user is at work.

4. Adding a Camera:
If the current project is interfaced with a camera (e.g. a Webcam) robot can be driven beyond line-of-sight & range becomes practically unlimited as GSM networks have a very large range.

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CONCLUSIONS

From project we concluded that the surveillance with robot is very efficient. The outcome of this project demonstrates that it is possible to produce a security robot. In addition to the well touted advantages of improved effectiveness and reduced manning for traditional security roles, more recent attention has been afforded to automated inventory functions using DTMF attached to sensitive or high value items

The unfortunate patterns of increased theft, violence, and even terrorism emerging throughout society in general, coupled with escalating costs of manpower and training, clearly suggest a sustained interest in this evolving alternative approach to security is very much in order.

As an embedded computer, the core of the security robot consumes very little power. Comparable video monitoring systems consume significantly more power than the robot. Moreover, maintenance costs and power requirements of the robot are negligible as compared to the salary of one or more human security personal capable of performing the same duties.

. The project has been tested successfully and has been approved by the concerned project guides.

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BIBLIOGRAPHY
The 8051 microcontroller Architecture, programming & Applications Author Kenneth J.Ayala

The 8051 Microcontroller & Embedded Systems Author Muhammad Ali Mazidi & Janice Gillispi Mazidi ATMEL Datasheet

WEBSITES

www.nicrochip.com www.microelect.com www.kpsec.freeuk.com www.atmel.com www.electrofriends.com

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