Land Rover Original

Surveillance Security Robot
CONTENTS
CHAPTER-1
PROJECT DESCRIPTION
1.1 Definition of Robot....3
1.2 Security Robot....3
1.3 Surveillance System4
1.3 Project Outline....7
1.4 Interfaces used 7
1.5 Software used......7
1.6 Cell phone Operated Robot.....9
1.7 Overview Of Project9
CHAPTER-2
MICRO CONTROLLER
2.1 Introduction.10
2.2. Microcontroller vs microprocessor12
2.3. Advantages of microcontrollers...12
2.4. Types of 8051 microcontroller..14
2.5 Microcontroller Architectural Block Diagram...15
2.6 Pin out Diagram..19
CHAPTER 3
SENSORS
3.1 Introduction.36
3.2 Types of Sensors.36
3.3 Different Type of Sensors:.37
CHAPTER-4
POWER SUPPLY
4.1 Introduction.40
4.2. Description.40
4.2.1 Transformer40
4.2.2 Rectifier..40
4.2.3 Filtering Unit..41
4.2.4 Regulators..41
ECE Department, GITAM UNIVERSITY
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4.2.5 Technical details42
4.2.6 Features..42
CHAPTER-5
DTMF DECODER
5.1 Introduction.43
5.2 History.43
5.3 MT8870 DTMF Decoder.47
5.4 DTMF Decoder49
5.4.1 Working of Ic MT 887049
5.5 DTMF data output ...50
CHAPTER-6
DC MOTOR
6.1 Introduction..51
6.2 Types of dc motor 51
6.2.1working of dc motor 52
6.2.2Dc series motor.53
6.2.3 Technical specification55
6.3 LM293D55
6.3.1 Features ...57
6.3.2 Technical details..58
CHAPTER-7
SOFTWARE
Code .59
CHAPTER-8
APPLICATIONS
8.1. Adavantages.61
8.2 Limitations62
CONCLUSION..63
BIBLIOGRAPHY..64
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CHAPTER-1
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)
1.2Security 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.
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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, and recording images. Others provide accessory
equipment such as multiplexers, enclosures, cables, and mounting hardware.
Complete surveillance systems with closed-circuit 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.
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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 PCbased 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
short-term 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.
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
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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
RELAYS
DTMF
DECODER
LEFT
MOTOR
8051
Controller
MOTOR
DRIVER
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.
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
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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
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.
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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 keys that it can easily be identified by the electronic circuit.
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CHAPTER-2
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.
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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.
An ADC to allow the microcontroller to accept analogue input

data for processing.
A BLOCK DIAGRAM OF MICROCONTROLLER (EXPANDED)
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ALU
TIMER/COUNTER
I/O
PORTS
ACCUMULATOR
I/O
PORTS
REGISTERS
INTERNAL
RAM
INTERNAL
ROM
STACK POINTER
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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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.
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Among the MAJOR manufacturers are:

AMD
Atmel
Enhanced 8051 parts (no longer producing 80x51
parts)
FLASH and semi-custom parts
Cygnal
Fastest 8051 with Flash with 12-bit 1LSB A/D.
20MHz
internal clock
Dallas
Intel
-Fast variant. Also battery backed

-8051 through 80C51GB / 80C51Sl. They invented the
8051
ISSI
-IS80C51/31 runs up to 40MHz
Matra
- 80C154, low voltage static variants
OKI
-80C154, mask parts
Philips
-87C748 thru 89c588, mostly old legacy 8051 parts

from
Signetics.
Infineon -80C501 through 80C517A, and a wide variety of CAN

devices.
SMC
COM20051 with ARCNET token bus network
engine
SSI
- 80x52, 2 x HDLC variant for MODEM use
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2.5 Microcontroller Architectural Block Diagram:
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Atmel At89c51 Pin out and Description:

The smallest current device is the ATMEL 89c51, a 40 Pin FLASH
variant with 2 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.
Why we go for AT89C51?
The AT89C51 is a low power, high performance CMOS 8-bit
microcontroller with 4Kbytes of Flash programmable and erasable
read only memory (PEROM). This device is compatible with the
industry standard 8051 instruction set and pinout. The on-chip 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 microcomputer which
provides a highly flexible and cost effective solution to many
embedded control applications.
Features of AT89C51:
1. It is a 8-bit microcontroller.
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2. It has a flash memory of 4KB for storing the program.

3. It has RAM of 128 bytes.
4. It has 32 I/O ports .
-Port 0 (pin 39 to pin 32).
5. It has four register banks.
6. It has two 16-bit timers.
- Timer 0
- Timer 1
7. It has full duplex asynchronous serial port.
8. It can support up to 64KB of external memory with the help of PC
and
DPTR.
9. It has 16-bit address bus.

10. Six interrupts with two priority levels
-2 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).
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12. It will operate on 5V dc supply.

13. It can support maximum of 500mA of current.
In addition, the 8951 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.
2.6 PINOUT DIAGRAM:

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Fig : Microcontroller Pin 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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.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:
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.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
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+.
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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 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
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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.
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40: VCC: Power +5V
INPUT OUTPUT (I/O) PORTS:

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.
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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
are illustrated in the following figure: On-Chip Memory,
External Code Memory, and External RAM.
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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).
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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 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.
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Fig: Ram Memory.

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
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variables may be either 1 or 0. There are 128 bit variables available

to the user, numbered 00h through 7Fh.
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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Page 31
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,
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2) Counting the events themselves, or

3) Generating baud rates for the serial port.
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
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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 Explanation of Function
Timer
When this bit is set the timer will only
7 GATE1
run when INT1 (P3.3) is high. When

this bit is clear the timer will run
regardless of the state of INT1.

When this bit is set the timer will
count events on T1 (P3.5). When this
6 C/T1
1
bit is clear the timer will be
5 T1M1
4 T1M0
incremented every machine cycle.

Timer mode bit (see below)
1
1
When this bit is set the timer will only
run when INT0 (P3.2) is high. When
3 GATE0
0
this bit is clear the timer will run
2 C/T0
regardless of the state of INT0.

When this bit is set the timer will
count events on T0 (P3.4). When this

bit is clear the timer will be
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incremented every machine cycle.

1 T0M1
0 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
Explanation of Function
Timer
Address
Timer 1 Overflow. This bit is set by the
7 TF1
8Fh
1
microcontroller when Timer 1 overflows.
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Timer 1 Run. When this bit is set Timer 1 is

6 TR1
8Eh
turned on. When this bit is clear Timer 1 is 1

off.
Timer 0 Overflow. This bit is set by the
5 TF0
8Dh
0
microcontroller when Timer 0 overflows.
Timer 0 Run. When this bit is set Timer 0 is
4 TR0
8Ch
turned on. When this bit is clear Timer 0 is 0

off.
CHAPTER 3
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
Page 36
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?
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 threedimensional 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.
Page 37
Range sensor: 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 robotwrist 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.
Page 38
Machine vision sensor: 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
Machine vision sensor is also called as
computer vision and also artificial vision.
Machine vision concerned with the sensing
of data and its interpretation by a computer.
The typical vision system consists of the
camera and digitizing hardware, computer and

hardware and software necessary to interface.
The operation of the vision system consists
of 3 functions:
a)
Sensing and digitizing image data.
b)
Image processing and analysis.
c)
Application
Page 39
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 40

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
POWER SUPPLY CIRCIUT
Page 41

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
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: 230/12 volts step down transformer, 1 ampere
Diodes:
IN 4007
Voltage regulators: 78L Series 7812: The 7812 supplies 12 volts at 2 amp maximum
with an input of 13-25 volts
7805: The 7805 supplies 5 volts at 1 amp maximum with an input of 7-25 volts
Electrolytic Capacitors: 100pF, 330pF and 100F, power rating of 25V.
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.
Page 42
CHAPTER-5
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
Page 43

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 long-distance
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 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 upperleft 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
Page 44

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 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
Page 45

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 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
Page 46

Click here for 8051 Microcontroller FORUM
1209 Hz
1336 Hz
1477 Hz
1633 Hz
697 Hz 1
770 Hz 4
852 Hz 7
941 Hz *
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

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.
Figure (F).Block diagram of IC MT8870
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
Page 48
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
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.
Page 49

DTMF keypad frequencies
697 Hz
770 Hz
852 Hz
941 Hz
1209 Hz 1336 Hz 1477 Hz1633 Hz

1
2
3
A
4
5
6
B
7
8
9
C
*
0
#
D
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
Page 50
CHAPTER-6
DC MOTORS:
6.1 INTRODUCTION: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.
The last advantage is certainly subtle because, the motor though for short periods is used
frequently.
6.2 Types of DC Motors:Depending upon the connection of the field circuit DC machines can be classified in to
four categories.
SHUNT WOUND
Page 51
SERIES WOUND
COMPOUND WOUND
SEPARATELY EXITED
Considering the requirement of lift, we need high torque at low speeds as the elevator
moves vertically against gravity. So by observing our requirements, DC series motor
becomes the best choice for our application.
6.2.1 Working of DC Motor:A brief account on the working of DC motor is described below.
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 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
Page 52

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.
DC MOTOR
Page 53
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 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.
Page 54

6.2.3 Technical Specification: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
applied to
pin 2, pin 3 will go low (to about 1.2V above ground). Pins 6 and 7 operate in like
fashion.
Page 55
CONNECTIN DIAGRAM OF L293D IC
BLOCK DIAGRAM OF L293D IC
Page 56

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
INPUT2/OUTPUT2
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.
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
Page 57

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
CHAPTER-7
Page 58
SOFTWARE
#include<reg51.h>
void main(void)
{
unsigned int k, h;
while (1)
{
k =P0;
h=k
switch (h)
{
case 0x02:
{
P2=0x89;
break;
}
case 0x08:
{
P2=0x86;
break;
Page 59

}
case 0x04:
{
P2=0x85;
break;
}
case 0x06:
{
P2=0x8A;
break;
}
case 0x05:
{
P2=0x00;
break;
}
}
}
}
CHAPTER-8
Page 60
APPLICATIONS
Applications of the proposed system include surveillance of large

environments such as airports, museums and warehouses.
In particular, this paper focuses on monitoring specific areas of

interest to detect entering unknown persons.
Surveillance of public and industrial buildings

(e.g.stadiums,waterworks,power plants, chemical facilities.etc) facing
risks
Operating indoor and outdoor environments.
Surveillance of borders and sites (in a particular home).
People detection and observation in a particular area.
Remote surveillance, defence, homeland security, building

surveillance, vehicles and UAV/UGV.
It can be used in military applications also.
Remote control vehicles have various scientific uses including

hazardous environments, working in the Deep Ocean, and space
exploration.
8.1.ADAVANTAGES
Autonomous patrolling to monitor security in critical

areas.
Page 61
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.
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.
Page 62
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.
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
Page 63
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.
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
Page 64
www.microelect.com
www.kpsec.freeuk.com
www.atmel.com
www.electrofriends.com
Page 65

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Surveillance Security Robot

Surveillance Security Robot

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

The motion of the robot is controlled by cell phone by using DTMF

1.3 Surveillance System

Surveillance Security Robot

Surveillance systems include video surveillance, digital surveillance,

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

In this project, the robot is controlled by a mobile phone that makes a

Surveillance Security Robot

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

Fig 2.1: Microcontroller Block Diagram.

A Timer module to allow the microcontroller to perform tasks

A serial I/O port to allow data to flow between the

An ADC to allow the microcontroller to accept analogue input

A BLOCK DIAGRAM OF MICROCONTROLLER (EXPANDED)

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

Surveillance Security Robot

4. Microcontrollers are designed by using CMOS (complementary

2.4. TYPES OF 8051 MICROCONTROLLER:

package, 8 x 16 Bit PWMs, and other

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

Among the MAJOR manufacturers are:

Enhanced 8051 parts (no longer producing 80x51

Fastest 8051 with Flash with 12-bit 1LSB A/D.

-Fast variant. Also battery backed

-IS80C51/31 runs up to 40MHz

- 80C154, low voltage static variants

-80C154, mask parts

-87C748 thru 89c588, mostly old legacy 8051 parts

Infineon -80C501 through 80C517A, and a wide variety of CAN

COM20051 with ARCNET token bus network

- 80x52, 2 x HDLC variant for MODEM use

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

2.5 Microcontroller Architectural Block Diagram:

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

ECE Department, GITAM UNIVERSITY

Surveillance Security Robot

Atmel At89c51 Pin out and Description:

Surveillance Security Robot

2. It has a flash memory of 4KB for storing the program.

9. It has 16-bit address bus.

Surveillance Security Robot

12. It will operate on 5V dc supply.

2.6 PINOUT DIAGRAM:

Surveillance Security Robot

Fig : Microcontroller Pin Diagram.

.18: Port 1: Each of these pins can be used as either input or