INDEX

SR.NO CHAPTER NO
1. 1.INTRODUCTION
1.1.INTRODUCTION
1.2 CONCEPT
2. PROJECT-OVERVIEW
2.1 BLOCK DIAGRAM
2.2 BLOCK DIAGRAM DISCRIPTION
3. SYSTEM HARDWARE
3.1 MT8870D
3.2 MICROCONTROLLER AT89C51
3.3 ULN2803A
3.4 CIRCUIT DIAGRAM
3.5WORKING
4 . SYSTEM SOFTWARE
4.1SOFTWARE PROGRAM
4.2SOFTWARE REQ DISCRIPTION
4.3 CIRCUIT OPERATION
4.4FLOWCHART
4.5ALP
5 PRINTED CIRCUIT BOARD
5.1 GENERAL DESCRIPTION
5.2 PBC LAYOUT
6. CIRCUIT STUFFING,TESTING AND TROUBLESHOTTING
7. APPLICATION,RESULT AND CONCLUSION
7.1 APPLICATION
7.2RESULT
7.3 CONCLSION
8. FUTURE SCOPE AND LIMITATIONS
8.1 FUTURE SCOPE
8.2LIMITATION
9. APPENDIX
9.1 COMPONENT COST.
9.2 BIBLIOGRAPHY.










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ABSTRACT
Robot is a machine which is able to carry our task or the series of task of
automatics when programmed. the wireless robot generally uses IR remote as
tx&rx where range is the matter of concerns we are using mobile phone as
tx&rx pair. The mobile phone will be using DTMF technique to transmit the
signal for the signal for controlled the motion of the robot.
Basic circuit consist of DTMF rx,microcontroller unit,releys,motor
driver IC and robot car prototype.the microcontroller used is AT89C51.noder to
driver the motor the driver IC is used.
The datasheet of various compents have have also been included
in the report.













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CHAPTER 1

INTRODUCTION
1.1 INTRODUCTION :-
Robot can be defined as a machine which is able to carry out a task or series of
task or series of tasks automatically ESP when programmed .
Basically it can be divided as :-
A) Wireless
B) Wired
In wireless robot is operated by using a Tx and Rx pair, which is used to
transmit the required singals to the robot .
The wireless generally uses IR remotes as Tx or Rx pair. But using this option
the range is upto some meter and hence become a disadvantage.
We are aiming to use the mobile phones for Tx , Rx pair.
This mobile will be using the Dual tone multiple frequency technique to
transmit the signals between each other. The signals will be analong
frequency signals within the voice band. Due to this the range of application
increase. It depends upon the network provided by the service provider .
The robot which we are using small sized having degree of freedom
(X & Y axix) . It can move forward, backward and sideways. The movements
depend upon the functions assigned to the keys on keypad according to
program.
Wirless robot uses IR remote which has very low range so we are using
Mobile phones which has better range . So the principle of working of our
system is DTMS (Dual tone multiple frequency )

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1.2 CONCEPT :-
DUAL TONE MULITPLE FREQUENCY DECODER :-
DTMF signaling is used for telecommunication signaling over analogn
telephone lines in the voice frequency band between telephone handsets and
other communication devices and switching centre.

KEYPAD :-

DTMF keypad is a matrix with each row representing low frequency & each
column representing high frequency respectively. The multiple tones are the
reason for calling the system multi frequency. If a single key is pressed then it
sends a sinusoidal tone for each of two frequencies. Suppose I is pressed then
it will send a sinusoidal tone for each of 2 frequencies. The original keypad-has
levers inside so each button activates 2 Contacts. These tones are then
decoded by the switching centre to determine which key is pressed .
The DTMF decoder is used in telephone systems to detect DTMF tones in the
incoming signal and convert them into actual digit.


1

2

3

4

5

6

7

8

9

*

0

#

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1209Hz 1336Hz 1477Hz 1633Hz
697Hz 1 2 3 A
770Hz 4 5 6 B
852Hz 7 8 9 C
941Hz * 0 # D

Low frequency High frequency
Busy singal 480 Hz 620Hz
Ring back tone 440 Hz 480Hz
Dial tone 350Hz 440Hz

DTMF decoder is used in telephone systems to detect DTMF tones in the
incoming singal & covert them into actual digits .
DTMF detection is suitable for computer application such as voice mail &
telephone control features such as conference calling & forwarding.





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CHAPTER 2
PROJECT AN OVERVIEW
2.1 BLOCK DIAGRAM :




2.2 BLOCK DIAGRAM DESCRIPTION :
1) Tx & Rx: Transmitter & receiver both are mobile phones used to transmit
the signals.
Type of mobile used: Those use the principle of DTMF singnaling.
These signals are in the form of sinusoidal tone.

2) DTMF decoder: The sinusoidal tone signal is received by the receiver.
The Tone is signal is being detected by the decoder and converted into
actual digit (Digital signal ).
Type: IC MT 8870
It is DTMF receiver integrating both the band split filter and digital
decoder functions. The filter section uses switched capacitor techniques
for high & low group filter the decoder uses digital counting techniques
to detect & 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 lathed 3 State bus interface.



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3) Microcontroller: The input signal to the microcontroller is digital signals
received from the DTMF decoder. The robot performs the functions
Tx
Mobile
Rx
Mobile
DTMF
Decirder
Micro
Controller
Driver
M




according to the programming done. Depending upon the incoming
signal particular instruction is executed and digital signal is being
outputted driver.

4) Motor driver. The motor can not be integrated to microcontroller &
signals can not directly drive the motor. These signals are given to the
driver and then the proper signals are given to the motor.



The driver IC provides the proper voltage & Current required for driving
the motor in next stage.
Type IC 293D this is high current half H driver. It provides bidirectional
drive current of upto 600mA at voltage 4.5V to 36V. It has separate input
supply. It has thermal shutdown.
















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DESCRIPTION :-

The Mt 8870D 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 filter; the 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 on
provision of a differential input amplifier, clock oscillator and latched
three-state bus interface.
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Features
. Complete DTMS receiver
. Low power consumption
. Internal gain setting amplifier
. Adjustable guard time
. Central office quality
. Power down mode
. Inhibit mode
Description
The AT89C51 is a low power,high performance CMOS 8 bit Microcomputer
with 4k bytes of flash programmable and erasable read only memory, the
device is manufactured using Atmels high-density non volatile memory
programmer. By combining a versatile 8 bit CPU with flash on the monolithic
chip,the Atmels AT89C51 is a powerful microcomputer which provides a highly
flexible and cost effective solution to many embedded control applications.
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Features :-

1. Compatible with MCS-51 products
2. 8k Bytes of In-system reprogrammable Flash Memory
3. Endurance:1000 Write/Erase Cycles
4. Fully static operation : Ohz to 24 MHz
5. Three Level Program Memory Lock
6. 256*8-bit Internal RMA.
7. 32 Programmable I/O lines.
8. Three 16-bit Timers/counters.
9. Eight interrupt Sources.
10. Programmable Serial Channel.
11. Low power Idle and Power down Modes.

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DESCRIPTION











The device is a monolithic integrated high voltage ,high current four channel
diriver designed to accept standard DTL or TTL logic levels and drive inductive
loads (such as relays solenoids 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 devices is suitable for use in switching applications at frequencies up to
5kHz.
The L293D is assembled in a 16 lead plastic package which has 4 centre pins
connected together and used for heat sinking.



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FEATURES :-

600mA output current capability
Per channel .
! 2A peak output current (non repetitive) per channel
Enable facility .
Over temperature protection.
Logical 0 input voltage up to 1.5V
(High noise immunity)
Internal clamp diodes .


3.5 WORKING
In this project robot is controlled by cell-phone that makes a call to the
cell-phone attached to the robot. In the course of a call if any button is pressed
is heard at the other end of the end of the call the 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.
The received tone is processed by the microcontroller AT89C51 with the
help of DTMF decoder MT8870. The decoder decodes the DTMF tone into its
equivalent binary digit and this binary number is send to the microcontroller.
The microcontroller is preprogrammed to take a decision for any given input
and out-put its decision to motor drives in order to drive the motor 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.
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So the simple robotic project does not require the contruction of receiver and
transmitter unit.

DTMF assigns specific frequency to each key so that it can easily be
identified by the electronic circuit. The singal generated by the DTMF encoder
is a direct algebraic summation, in real time, of the amplitudes of two
sine(consine) waves of different frequencys, i.e.pressing 5 will send a tone
made by adding1336 Hz and 770 Hz to the other end of the line.
The tones and assignment in a DTMF system are shown in fig.















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CHAPTER 5
PRIENTED CIRCUIT BOARD

5.1 General Description :-
The PCB layout for the circuti is attached. Board consists of insulating material
coated with conducting material. Mostly copper- coated boards are used
instead fo copper, silver and gold can also be used, but as copper is cheaper
mostly it is preferred. The metal conducting pattern serves as connecting
medium for electronic components that are assembled on the board
components are mounted by leads passing through the holes that are drilled or
punch on the based material and the foil. These leads are soldered to the
conducting pattern to form complete PCB. The base or insulating material used
for PCB is glass, glass epoxy paper, polyester, paper phenolic etc. The copper
foil on the base meterial is developed by process of electrode position in
etching process.
Some of the etchant are used as follows:-
FeCl3
Cucl2
Chromic Acid, etc

But FeCl3 is most commonly used in etching process.

PCB acts as a heat sink.

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ARTWORK OF PCB :-
Perfect artwork is most important process in production of PCB. The
circuit is initially tested and location of component is fixed. Artwork is the
drawing showing conduction pattern on PCB . After testing the circuit a rough
layout is prepared on paper then that layout is transferred on PCB by using PCB
aids. The artwork can also be prepared on transparent paper with sticking
tapes and pads self- adhesive (stickers) in various ranges.

FILMING OF PCB :-
To prepare a PCB at home following procedure is adopted
Measure the dimensions of all components for e.g. Resistors Capacitor ,
Inductors, etc and prepare a layout by using components mounting rules

Using trace paper or carbon paper draws the mirror image of the figure.
Draw this mirror image on Cu coating of PCB by using PCB pen, pencil or
tapes and pads then drill the hole by using drilling machine
After drying the paint put the PCB in FeCl3 solution for etching . If you
want fast etching add some drops of HCL during etching unwated Cu is
dissolved in FeCl3.
After etching wash it with water and if you to remove paint then use
acetone.
Then mount the component on opposite sides of a track.
Cut the leads of proper length and solder all the terminals of the
components.
In this way PCB is fabricated manually.



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For PCB designing you should have following things :-
Detail circuit diagram
Physically each component with you
Determination of the size of PCB
Layout & Filming

PCB manufacturing

Bear board testing

ACTUAL PCB DESIGNING :-
Cutting the larger copper clad plastes in required size Pieces accroding to
the measurement of the actual layout of the circuit a small copper clad was
also used for the power supply. Proper case should be taken while cutting the
Copper clad should be symmetric.

CLEANING COPPER CLAD :-
For cleaning the copper clade ,first of all the fecl3 solution was completely me
a dilute selution (by adding water fecl3)
Draw the PCB layout of the circuit on paper considering actual component size.
Consider the actual size of the components and the conduction line the layout
of the circuit was drawn on the paper. First of all we should consider the actual
size of the integrated circuit, displays & many more. While constructing the
layout it should be notice that :-
i.Fewer jumpers are more preferable because to make the circuits more
compact, more neat in look.
ii. For conducting line we should go for more caned line instead of 90-degrecue
due to this also the circuit become more compact.

TRACING OF THE LAYOUT FROM PAPER CLAD :-
First of all the actual circutit layout is taken on the tracing paper with exact
dimension of the components. Now placing this tracing paper on the copper
clad under a carbon paper traced the layout on the copper clad. It should be
noticed that the tracing on the clad should be accurate .

APPLING NON-ETCHING MATERIALS ON THE LAYOUT:-
Applying the non-etching materials on the layout is done manually . The non-
etching materials are drafting ads, oil paints, etc . on the PCB drafting aids are
used, because more linearity conducting are obtained. The drafting aids are
different shapes & z-size for every components are should be no crack on the
drafting aids, because due at this after etching there will be no conduction
between two lines.

ETCHING PROCEDURE :-
After applying the non-etching on the copper clad then this copper clad is kept
in the fecl3 solution for etching procedure. The etching procedure longs for the
about 5 to 6 hours. During the etching procedure the copper under the
drafting aids does not get etched, while all other copper on the clad gets
etched & only the layout remain.

CLEANING THE PCB & REMAINING NON-ETCH MATERIALS :-

After the etching the cleaning of PCB is done. It is done with the help of the
soap solution & brush to remove the transferred pattern with the cotton swab-
dipped in pattern remover solution. Against wash with coup & water & dry it.

DRILLING :-
After the PCB is ready, drilling is necessary. Drilling is done with the help of the
hand drill or drilling machine. For mounting of components proper drilling
(holes) are necessary. The holes are of the dimension so that the terminals of
each component and pins of the JC can easily pass through it to make a contact
with the conducting line on the PCB.






CHAPTER 6
CIRCUIT STUFFING, TESTING AND TROUBLE SHOOTING .

1. The circuit was prepared, tested and trouble shoot in the followig
manner.
2. The complete hardware was prepared as per the circuit diagram.
3. The software was also prepared using the assembler.
4. 89C51 IC was successfully programmed with MS.Hex file.
5. After programming of 89C51 the IC base was put on the PCB and
soldering is done.
6. After soldering of the circuit is over a 12V DC supply from battery was
connected to the hardware.













CHAPTER 7
APPLICATION, RESULT AND CONCLUSION

7.1 APPLICATION :-
1. Due to its small size & feature to be controlled from a distance, it can be
used to reach human inaccessible areas e.g. in chemical industries, where
small space is available due to complicated machineries .
2. As the robot is small in size, it can be operated from the distance & functions
are very user friendly. By just integrating a camera and some required sensiors
it can be used as a pick & place robot.
7.2 RESULT :-
The basic robot design, PCB art work, Microcontroller hardware and
programming were completed to develop a DTMS signaling based robot.
The software in assembly language for the system was developed and
souccessfully implemented using programmer .
7.3 CONCLUSION :-
This system provides a good range and simple way of communication.
In this way we have implemented our engineering learing through the project
of DTMF signaling based MOBILE CONTROLLED ROBOT.







CHAPTER 8
FUTURE SCOPE AND LIMITATIONS

8.1 FUTURE SCOPE :-
1. Due to improving feactures of the cell phones, voice mail & call
conferencing it could be opera operated by multiple users at a time with
ease
By improving the features of the robot, the robot can be used for
various applications e.g. household chores .
Security purposes
Industrial labour & applications
Scientific & space research & applications

8.2 LIMATIONS & CORRECTIVE MEASURES :-

1. We cannot operate this robot in range less areas.
It can be overcome by the use of Satellite phones.

2. In areas with petro- chemical vapors, operation of cell phones can lead to
ignition & hence an explosion .
Aviod use fo systems in such areas .

3. If the battery of the cell- phone or the one used for supply discharges,
system comes to a grinding halt.
Use of batteries with suffciently high AH- rating.









CHAPTER 9
APPENDIX
9.1 Component Cost
NO DESCRIPTION QTY RATE TOTAL
1 IC 89C51 1 180/- 180.00
2 MT 8870 1 180/- 80.00

3 LM 324 1 6/- 6.00

4 Crstal of frequency 11.059
MHz 3.75 MHz

1
1

20/-
20/-
40.00
5 Capacitor 1Mf
10uF
0.1uF
33pF
2
1
2
2
10/-
5/-
4/-
4/-

41.00
6 Resistors 10 1/- 10.00

7 IC Base 3

5/- 15.00
8 Diodes 8 4/- 32.00

9 Relays 4 5/- 20.00

10 IC ULN 803A 1 80/- 80.00

TOTAL=504.00

9.2 BIBLOGRAPHY :-

BOOKS :-
1) Digital Signal Processing by Ramesh Babu
2) Digital Signal Processing by J.S. Katre & R.A. Barapate
WEBSITES :-
1) Htt://enWikipedia.org/wiki/Dual _tone_multi_frequency_signaling
2) Searchnetworkingtecharget.com/o.sid7_gei213922.00html
3) www.polar.electric.com/DTMF/Index.html
4) www.alldatasheets.co










DATASHEETS