MOBILE PHONE CONTROLLED DTMF BASED ROBOT

INTRODUCTION:
Mobile Phone Controlled DTMF Based Robot is capable of receiving a set of command (instructions) in the form of DTMF tones and performs the necessary actions. Here DTMF stands for Dual-tone multi-frequency. We will be using a dedicated modem/mobile at the receiver module i.e. with the robot itself and send the commands using DTMF tones as per the required actions. Description: The mobile unit which is dedicated at the robot is interfaced with an intellectual device called Microcontroller so that it takes the responsibility of decoding the tones received and perform the corresponding predefined tasks such as move forward, Backward , left or right directions etc. The micro controller is also interfaced with few DC motors in order to move the robot in different directions. The ON and OFF of the DC motors depends on the direction it has to move which is the complete responsibility of the controller to take those intelligent decisions. This project uses AT89S52 micro controller. Now when we dial the numbers in the mobile phone from the controlling side then it automatically recognizes which number has been recorded and it follows with the corresponding next step to be taken This Project uses DTMF Decoder which is controlled by a battery and in turn is connected to the mobile phone. This is controlled by the controller and is again connected to the driver circuit for driving the motor. This project uses battery The major building blocks of this project are:o Regulated Power Supply o GSM Modem/Phone o Microcontroller based Control Unit o Robot Mechanical Assembly o DTMF Drivers o H-Bridge

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

BLOCK DIAGRAM

Head set

Mobile Phone

AT89S52 MCU DTMF Decoder

Power Supply

H-Bridge Circuit

Motors

11.0592MHz Crystal Oscillator Power On Reset

Mobile Phone controlled DTMF based Robot

BLOCK DIAGRAM (1.1)

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

BLOCK DIAGRAM EXPLANATION:

The current project is a prototype implementation of Mobile phone controlled DTMF robot with direction controlling. It is based on the embedded microcontroller (AT89S52) with DTMF receiver connected with headset of mobile phone and H-Bridge to send the appropriate motions to the motors. The main aim of this project is to fulfill the needs in absence of human beings. Mobile phone controlled DTMF robot with direction controlling is capable of receiving a set of command (instructions) in the form of DTMF tones and performs the necessary actions. Here DTMF stands for Dual tone multiple frequency. We will be using a dedicated modem/mobile at the receiver module i.e. with the robot itself and send the commands using DTMF tones as per the required actions. The mobile unit which is dedicated at the robot is interfaced with an intellectual device called Microcontroller so that it takes the responsibility of decoding the tones received and perform the corresponding predefined tasks such as move front or back, left or right etc. The micro controller is also interfaced with few DC motors in order to move the robot in different directions. The ON and OFF of the DC motors depends on the direction it has to move which is the complete responsibility of the controller to take those intelligent decisions.

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

CIRCUIT DIAGRAM:

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

CIRCUIT DIAGRAM EXPLANATION:

The circuit diagram shows the wiring connections of the MOBILE PHONE CONTROLLED DTMF BASED ROBOT The supply given is the +5V D.C. The incoming power is 230V A.C.; there is a need to convert it into +5V D.C. The input A.C. supply is stepped down from 230V to 9-0-9V. The rectifier consists of diodes D1 and D2 makes the supply D.C. that is, unidirectional waveform. The output from rectifier is a URDC, whose value is 12.726V peak to peak. The voltage regulator makes this URDC to RDC of +5V. The capacitor C1 is used to maintain constant voltage between two consecutive positive cycles whereas C2 is used to remove the fluctuations caused by regulator. Here we are selecting 12.726V as a peak value. Because of fluctuations, the peak voltage may decrease, then regulator cannot step up to +5V. If we select peak value, a higher one, then the problem can be overcome.

Power Supply Circuit Diagram:

Fig : Block Diagram of R.P.S A regulated power supply which maintains the output voltage constant irrespective of A.C. mains fluctuations or load variations is known as regulated power supply. A regulated power supply consists of an ordinary power supply and voltage regulating device. The output of ordinary power supply is fed to the voltage regulator

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

which produces the final output. The output voltage remains constant whether the load current changes or there are fluctuations in the input A.C. voltage.

The rectifier converts the transformer secondary A.C. voltage into pulsating voltage. The pulsating D.C. voltage is applied to the capacitor filter. This filter reduces the pulsations in the rectifier D.C. output voltage. Finally, it reduces the variations in the filtered output voltage Need of RPS in an ordinary power supply, the voltage regulation is poor i.e. D.C. output voltage changes with load current. Output voltage also changes due to variations in the input A.C. voltage. This is due to the following reasons

Fig : Circuit Diagram of R.P.S

There are considerable variations in A.C. line voltage caused by outside factors beyond our control. This changes the D.C. output voltage. Most of the electronic circuits will refuse to work satisfactorily on such output voltage fluctuations.

Fig : Input Wave Form of R.P.S

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The internal resistance of ordinary power supply in relatively large. Therefore, output voltage is markedly affected by the amount of load current drawn from the supply. These variations in D.C. voltage may cause erratic operation of electronic circuits. Therefore, regulated D.C. power supply is the only solution in such situations.

Fig3.5: Output Wave Form of R.P.S

VOLTAGE REGULATOR
LM 7805 SERIES VOLTAGE REGULATOR

The LM 7805 series of the three terminal regulations is available with several fixed output voltages making them useful in a wide range of applications. One of these is local on card regulation. The voltages available allow these regulators to be used in logic systems, instrumentation and other solid state electronic equipment. Although designed primarily as fixed voltage regulators, these devices can be used with external components to obtain adjustable voltages and currents. The LM7805 series is available in aluminum to 3 packages which will allow over 1.5A load current if adequate heat sinking is provided. Current limiting is included to limit the peak output current to a safe value. The LM 7805 is available in the metal 3 leads to 5 and the plastic to 92. For this type with adequate heat sinking, the regulator can deliver 100mA output current. The advantage of this type of regulator is, it is easy to use and minimize the number of external components.

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The following are the features voltage regulators: a) Output current in excess of 1.5A for 78 and 78L series b) Internal thermal overload protection c) No external components required d) Output transistor sage area protection e) Internal short circuit current limit. f) Available in aluminum 3 package.
POSITIVE VOLTAGE REGULATOR

Nominal Output Voltage 5V 6V 8V 8.5V 10V 12V 15V 18V 24V

Regulator

uA7805C uA7806C uA7808C uA7885C uA7810C uA7812C uA7815C uA7818C uA7824C

The positive voltage regulator has different features like Output current up to 1.5A No external components Internal thermal overload protection High power dissipation capability Internal short-circuit current limiting
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Output transistor safe area compensation Direct replacements for Fairchild microA7800 series

GSM Modem/Phone
GSM TECHNOLOGY: GSM History: In 1982, the European Conference of Postal and Telecommunications Administrations (CEPT) created the Group Spcial Mobile (GSM) to develop a standard for a mobile telephone system that could be used across Europe. In 1987, a memorandum of understanding was signed by 13 countries to develop a common cellular telephone system across Europe. Finally the system created by SINTEF lead by Torleiv Maseng was selected. In 1989, GSM responsibility was transferred to the European Telecommunications Standards Institute (ETSI) and phase I of the GSM specifications were published in 1990. The first GSM network was launched in 1991 by Radiolinja in Finland with joint technical .

GSM Frequencies:
GSM networks operate in a number of different frequency ranges (separated into GSM frequency ranges for 2G and UMTS frequency bands for 3G). Most 2G GSM networks operate in the 900 MHz or 1800 MHz bands. Some countries in the Americas (including Canada and the United States) use the 850 MHz and 1900 MHz bands because the 900 and 1800 MHz frequency bands were already allocated. Most 3G GSM networks in Europe operate in the 2100 MHz frequency band The rarer 400 and 450 MHz frequency bands are assigned in some countries where these frequencies were previously used for first generation systems. GSM-900 uses 890915 MHz to send information from the mobile station to the base station (uplink) and 935960 MHz for the other direction (downlink), providing 124 RF channels (channel numbers 1 to 124) spaced at 200 kHz. Duplex spacing of 45 MHz is used. In some countries the GSM-900 band has been extended to cover a larger

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frequency range. This extended GSM, E-GSM, uses 880915 MHz(uplink) and 925 960 MHz (downlink), adding 50 channels (channel numbers 975 to 1023 and 0) to the

original GSM-900 band. Time division multiplexing is used to allow eight full-rate or sixteen half-rate speech channels per radio frequency channel. There are eight radio timeslots (giving eight burst periods) grouped into what is called a TDMA frame.

CDMA TECHNOLOGY:
Code division multiple access (CDMA) is a channel access method utilized by various radio communication technologies. It should not be confused with the mobile phone standards called cdma One and CDMA2000 (which are often referred to as simply CDMA), this uses CDMA as an underlying channel access method. One of the basic concepts in data communication is the idea of allowing several transmitters to send information simultaneously over a single communication channel. This allows several users to share a bandwidth of frequencies. This concept is called multiplexing. CDMA employs spread-spectrum technology and a special coding scheme(where each transmitter is assigned a code) to allow multiple users to be multiplexed over the same physical channel. By contrast, time division multiple access (TDMA) divides access by time, while frequency division multiple access (FDMA) divides it by frequency. CDMA is a form of spread-spectrum signaling, since the modulated coded signal has a much higher data bandwidth than the data being communicated. An analogy to the problem of multiple access is a room (channel) in which people wish to communicate with each other. To avoid confusion, people could take turns speaking (time division), speak at different pitches (frequency division), or speak in different languages

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

MICROCONTROLLER (AT89C52):

Description: The AT89S52 is a low-voltage, high-performance CMOS 8-bit microcontroller with 4K bytes of Flash programmable memory. The device is manufactured using Atmels high-density nonvolatile memory technology and is compatible with the industry-standard MCS-51 instruction set. 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. 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

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FEATURES:
Compatible with MCS-51 Products. 8K Bytes of In-System Reprogrammable Flash Memory. Endurance: 1,000 Write/Erase Cycles. Fully Static Operation: 0 Hz to 24 MHz Three-level Program Memory Lock. Three 256 x 8-Bit Internal RAM. 32 Programmable I/O Lines. Three 16-bit Timer/Counters. Eight Interrupt Sources. Programmable Serial Channel. Low Power Idle and Power Down Modes

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Architecture:

Figure: Architecture of AT89C52 (Diagram)

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Pin Configuration:
The Micro Controller generic part number actually includes a whole family of Micro Controllers that have numbers ranging from 8031to 8751 and are available in N-Channel Metal Oxide Silicon (NMOS) and Complementary Metal Oxide Silicon (CMOS) construction in a variety of package types.
PIN DIAGRAM:

(Diagram)

Vcc

Pin 40 provides supply voltage to the chip. The voltage source is +5V.

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GND:
Pin 20 is the ground.

XTAL1 and XTAL2:

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 11. 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 the below figure. 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.

Fig: Oscillator Connections C1, C2 = 30 pF 10 pF for Crystals= 40 pF 10 pF for Ceramic Resonators

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

Fig: External Clock Drive Configuration

RESET
Pin9 is the reset pin. It is an input and is active high. Upon applying a high pulse to this pin, the microcontroller will reset and terminate all the activities. This is often referred to as a power-on reset.

EA (External access)
Pin 31 is EA. It is an active low signal. It is an input pin and must be connected to either Vcc or GND but it cannot be left unconnected. The 8051 family members all come with on-chip ROM to store programs. In such cases, the EA pin is connected to Vcc. If the code is stored on an external ROM, the EA pin must be connected to GND to indicate that the code is stored externally.

Ports 0, 1, 2 and 3
The four ports P0, P1, P2 and P3 each use 8 pins, making them 8-bit ports. All the ports upon RESET are configured as input, since P0-P3 have value FFH on them
Port 0:

Port 0 is an 8-bit open drain bidirectional I/O port. As an output port each in 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.
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Port 1:

Port 1 is an 8-bit bidirectional I/O port with internal pull-ups. The Port 1 output buffers can sink/source four TTL inputs. When 1s are written to Port 1 pins they are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 1 pins that are externally being pulled low will source current (IIL) because of the internal pull-ups. Port 1 also receives the low-order address bytes during Flash programming and verification.
Port 2:

Port 2 is an 8-bit bidirectional I/O port with internal pull-ups. 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 pullups 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. 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,

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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 AT89C52 as listed below:

Internal RAM:

The 256-byte internal RAM. The upper 128 bytes occupy a parallel address space to the Special Function Registers. Instructions that use indirect addressing access the upper 128 bytes of RAM. Stack operations are examples of indirect addressing. Internal Data Memory addresses are always one byte wide, which implies an address space of only 256 bytes. However, the addressing modes for internal RAM can in fact accommodate 384 bytes, using a simple trick. Direct addresses higher than 7FH access one memory space and indirect addresses higher than 7FH access a different memory space. Thus Figure shows the Upper 128 and SFR space occupying the same block of addresses, 80H through FFH, although they are physically separate entities. The Lower 128 bytes of RAM are present in all 89C52 devices as mapped in Figure. The lowest 32 bytes are grouped into 4 banks of 8 registers. Program instructions call out these registers as R0 through R7.

ALE/PROG
Address Latch Enable is an 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

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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)

It is the read strobe to external program memory. When the AT89S8252 is executing code from external program memory, PSEN 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 when 12-volt programming is selected.

Programmable Clock Out:

A 50% duty cycle clock can be programmed to come out on P1.0. This pin, besides being a regular I/0 pin, has two alternate functions. It can be programmed to input the external clock for Timer/Counter 2 or to output a 50% duty cycle clock ranging from 61 Hz to 4 MHz (for a 16-MHz operating frequency).

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Theory of DC Motor:
The speed of a DC motor is directly proportional to the supply voltage, so if we reduce the supply voltage from 12 Volts to 6 Volts, the motor will run at half the speed. How can this be achieved when the battery is fixed at 12 Volts? The speed controller works by varying the average voltage sent to the motor. It could do this by simply adjusting the voltage sent to the motor, but this is quite inefficient to do. A better way is to switch the motor's supply on and off very quickly. If the switching is fast enough, the motor doesn't notice it, it only notices the average effect. When you watch a film in the cinema, or the television, what you are actually seeing is a series of fixed pictures, which change rapidly enough that your eyes just see the average effect - movement. Your brain fills in the gaps to give an average effect. Now imagine a light bulb with a switch. When you close the switch, the bulb goes on and is at full brightness, say 100 Watts. When you open the switch it goes off (0 Watts). Now if you close the switch for a fraction of a second, then open it for the same amount of time, the filament won't have time to cool down and heat up, and you will just get an average glow of 50 Watts. This is how lamp dimmers work, and the same principle is used by speed controllers to drive a motor. When the switch is closed, the motor sees 12 Volts, and when it is open it sees 0 Volts. If the switch is open for the same amount of time as it is closed, the motor will see an average of 6 Volts, and will run more slowly accordingly. The graph below shows the speed of a motor that is being turned on and off

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H-BRIDGE:
An H-bridge is an electronic circuit which enables DC electric motors to be run forwards or backwards. These circuits are often used in robotics. H-bridges are

S1 S2 S3 S4 Result

available as integrated circuits, or can be built from discrete

components. 1 0 0 1

Motor right

moves

The two basic states of a H-bridge. The term "H-bridge" is derived from the typical graphical representation of such a circuit. An H-bridge is built with

0 1 1 0 Motor moves left

four switches (solid-state or mechanical). When the 0 0 0 0 Motor free runs switches S1 and S4 (according to the first figure) are closed (and S2 and S3 are open) a positive voltage will be applied 0 1 0 1 Motor brakes across the motor. By opening S1 and S4 switches and closing S2 and S3 switches, this voltage is reversed, allowing reverse operation of the motor. Using the nomenclature above, the switches S1 and S2 should never be closed at the same time, as this would cause a short circuit on the input voltage source. The same applies to the switches S3 and S4. This condition is known as shootthrough.

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Operation
The H-Bridge arrangement is generally used to reverse the polarity of the motor, but can also be used to 'brake' the motor, where the motor comes to a sudden stop, as the motors terminals are shorted, or to let the motor 'free run' to a stop, as the motor is effectively disconnected from the circuit. The following table summarizes operation.

H-Bridge Driver:
The switching property of this H-Bridge can be replace by a Transistor or a Relay or a MOSFET or even by an IC. Here we are replacing this with an IC named L293D as the driver whose description is as given below.

Features:
600mA OUTPUT CURRENT CAPABILITY PER CHANNEL 1.2A PEAK OUTPUT CURRENT (non repetitive) PER CHANNEL ENABLE FACILITY OVERTEMPERATURE PROTECTION LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V (HIGH NOISE IMMUNITY) INTERNAL CLAMP DIODES

Description:
The Device is a monolithic integrated high voltage, high current four channel driver designed to accept standard DTL or TTL logic levels and drive inductive

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loads (such as relays solenoides, DC and stepping motors) and switching power transistors. To simplify use as two bridges each pair of channels is equipped with an enable input. A separate supply input is provided for the logic, allowing operation at a lower voltage and internal clamp diodes are included. This device is suitable for use in switching applications at frequencies up to 5 kHz. The L293D is assembled in a 16 lead plastic packaage which has 4 center pins connected together and used for heatsinking The L293D is assembled in a 20 lead surface mount which has 8 center pins connected together and used for heatsinking.

BLOCK DIAGRAM

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ABSOLUTE MAXIMUM RATINGS

PIN CONNECTIONS

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

DTMF Decoder
The CS9370 is a complete DTMF receiver integrating both the band split filter and digital decoder functions. The filter section uses switched capacitor techniques for high-and low-group filters and dial-tone rejection. Digital counting techniques are employed in the decoder to detect and decode all 16 DTMF tone-pairs into 4-bit code. External component count is minimized by on-chip provision of a differential input amplifier, clock-oscillator and latched 3-state bus interface.

PIN CONFIGURATION:

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FEATURES:
o

CMOS 5/3volt operation.

o Excellent performance with minimum board quality. o Central office quality. o Low power consumption. o Power down mode.
o o

Inhibit mode. Packages DIP18,SOP18.

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

CODING
#include<reg52.h> #define dtmfdata P1 void stop(void); void forward(void); void left(void); void right(void); void backward(void); void main() { dtmfdata=0xff; P0=0; P3=0;

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while(1) { if(dtmfdata==0x0f) { while(dtmfdata==0x0f) { stop(); } } if(dtmfdata==0x0e) { while(dtmfdata==0x0e) { forward(); } } if(dtmfdata==0x0d) { while(dtmfdata==0x0d) { left(); } } if(dtmfdata==0x0b) { while(dtmfdata==0x0b) { right(); } } if(dtmfdata==0x07) { while(dtmfdata==0x07) { DJR INSTITUTE OF ENGG.& TECH.

MOBILE PHONE CONTROLLED DTMF BASED ROBOT

backward(); } } } } void stop(void) { P0=0x00; P3=0x00; } void forward(void) { P0=0xCA; P3=0; } void left(void) { P0=0x42; //P3=0x42; } void right(void) { P0=0x88; // P3=0x88; } void backward(void) { P3=0xCA; P0=0; }

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

APPLICATIONS:

1. These kinds of robots are very useful in mining research applications.

2. It is also useful in extracting the samples from the places which cant be reached by the humans like volcanic erosion from which we can get the samples of the lava that is deposited and forms a layer on the earth. 3. It can also be used as an inspecting element for judging a route if it is suspected to have some uneven conditions.

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

FUTURE SCOPE:

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

CONCLUSION:
This project presents a Mobile phone controlled DTMF robot with direction controlling and it is designed and implemented with Atmel 89S52 MCU. The robot is moved in particular direction using DTMF Signals and it is based on the embedded microcontroller (AT89S52) with DTMF decoder connected with headset of mobile phone and H-Bridge for controlling the motors. The main aim of this project is to fulfill the needs in absence of human beings. Mobile phone controlled DTMF robot with direction controlling is capable of receiving a set of commands (instructions) in the form of DTMF tones and performs the necessary actions. Here DTMF stands for Dual tone multiple frequency. We will be

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MOBILE PHONE CONTROLLED DTMF BASED ROBOT

using a dedicated modem/mobile at the receiver module i.e. with the robot itself and send the commands using DTMF tones as per the required actions.

REFERENCE:

Books
1. The 8051Microcontroller by Kenneth J. Ayala 2. The 8051 Microcontroller and Embedded Systems by Muhammad Ali Mazidi.

References
1. www.alldatasheets.com 2. www.microcontroller.com

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3. www.8051microcontroller.com 4. www.wikipedia.com

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