MOBILE CONTROLLED LAND ROLAR

2010-2011

Major Project Report

Submitted toward partial fulfillment of the Degree of

Bachelor of Engineering
In

Electronics & Tele Communication Engg.

GUIDED BY:- SUBMITTED BY:-

PROF. ANURAG SHRIVASTAVA RAKESH KU. GOTHWAL

NAVEEN MUKATI
PRITI YADAV
PANKAJ VYAS
MAHESH CHANDRA SONI

Department of Electronics & Tele Communication Engg.

Shri G.S. Institute of Technology & Science , indore
 CERTIFICATE
This is to certify that Rakesh Ku.Gothwal, Naveen Mukati, Mahesh Chandra

Soni, Pankaj Vyas, Priti Yadav have satisfactorily completed the major Project

phase-1 titled “Mobile Controlled Land Rolar”as required for the final year B.E.

(PTDC) examination year 2010-2011 leading to award of degree of Bachelor of

Engineering (Electronics & Tele Communication Engineering) .

Internal Examiner External Examiner

 ACKNOWLEDGEMENT

We offer our sincere appreciation to all of the people providing support to this
project. To create something in words is quite a difficult task, that too without
anybody’s co-operation and help.

We are grateful to Prof. L D Malviya (Electronics and Communication Department,

SGSITS, INDORE) for his important guidance and motivation in the project which
proved to be an immense support to us. His boosting attitude and incredible co-
operation was a great support to the performance we had pnt in during the project.

First and foremost we would like to pay the depth of gratitude with sense of heartfelt
and indebtness to Prof. Anurag Shrivastava a (Electronics and Communication
Department, SGSITS, INDORE) our project guide for his valued help and guidance.
It was only due to her sincere help and efforts that we are able to complete this
project And finally thanks to all the others, too many to mention, who helped us in
completing the project work.

Mahesh Chandra soni

Naveen Mukati
Rakesh Ku. Gothwal
Pankaj Vyas
Priti Yadav
DESIGN OBJECTIVE
 TO DESIGN CELL PHONE OPERATED LAND ROVER which can be operated using
RF circuit to overcome the limited working range of remote control and to provide
larger coverage area.

So, we designed cell phone operated land rover which can be operated where the
area is available and we can use land rover at most of the places.
 We can control up to 10 devices. It may be any electric or electronic appliances or
devices with simple to heavy appliances. Each device is given a unique code.
 It makes accurate switching, without any false switching of device.
 To perform any operations through remote phone line, the user needs to dial to the
local telephone (to which the interfacing circuit is connected) then the respective
code of the device is dialed.
 We can control devices from local telephone.
 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

INTRODUCTION
Controlling devices using switches are common. From a few decades controlling
devices using remote control switches like infrared remote control switch, wireless
remote control switches, light activated switches are becoming popular. But these
technologies have their own limitations. Laser beams are harmful to mankind.
Some technologies like IR remote control are used for short distance applications. In
such case if we have system which does not require any radiations or which is not
harmful, long remote control switch!! Yes here is the solution. Here we are
introducing a system which does not require any radiations, any laser beam which
has no limitation of range; I mean it can be used from any distance from meters to
thousand kilometers using a simple telephone line or mobile phone.
Here we are using a telephone as a media, which serves main part of this system, by
using home phone as a local phone and another phone, either landline or mobile
phone as a remote phone.
Robotics is an interesting field where every engineer can showcase his creative and
technical skills. In this competitive world there is need for every enthusiastic, from
amateur to professional, to make a simple robot having innovated application and
with robust control
Mobile phones today became an essential entity for one and all and so, for any
mobile based application there is great reception. In this scenario making a mobile
phone operated land rover is a good idea.
Although the appearance and capability of robots vary vastly, all robots share the
feature of a mechanical, movable structure under some form of control. This control
of robot involves three distinct phased-perception, processing and action. In common
the preceptors are sensor mounted on the robot, processing is done by onboard
microcontroller or processor and task (action) is performed using motor or with some
other actuators
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
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 controls.
The control of robot involves three distinct phases: PRECEPTION, PROCESSING
and ACTION.
 PRECEPTION: Perception is due to sensors mounted on the robot.
 PROCESSING: Processing is done by the on-board microcontroller.
 ACTION: Action (task) is performed using motors or with some other
actuators.

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Overview of Project:
In this project the robot is controlled by a mobile phone which 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 DTMF tone. The robot perceives this DTMF tone with the help of a
phone stacked in the robot. The processing of the received tone is done by AT89C51
microcontroller IC with the help of DTMF decoder IC, MT8870. The decoder decodes
the D1’MF tone in to its equivalent binary digit and this binary number is sent to the
microcontroller. The microcontroller is preprogrammed to take a decision for any
given input. The microcontroller directs motor drivers to drive the motor either in
forward or backward motion or a run. Any mobile which a call to the mobile phone
stacked in the robot will act as remote. So. this a simple robotics project which even
dose not require the construction of receiver and transmitter kits, but has an
innovated application of cell phone robust control.
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.
DTMF assigns a specific frequency (consisting of two separate tones) to each key so
that it can easily be identified by a microcontroller. The signal generated by a DTMF
encoder is a direct algebraic summation, in real the amplitude of two sine(cosine)
waves of different frequencies i.e. pressing ‘5’ will send a tone made by adding
1336Hz and 770Hz to the other end of the line.

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3.2 SYSTEM BLOCK DIAGRAM & DESCRIPTION:

Fig1: Block Diagram of Cell Phone Operated Land Rover

Description:
The received DTMF tone is processed by the AT89C51 microcontroller with the help
of DTMF decoder MT8870. The decoder decodes the DTMF tone into its equivalent
binary digit and this binary number is sent to the microcontroller. The microcontroller
is preprogrammed to take a 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. So this simple robotic project does not
require the construction of receiver and transmitter units.

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DTMF signaling is used for telephone signaling over the line in the voice-frequency
band to the version of DTMF used for telephone tone dialing is known as ‘touch-
tone’. DTMF assigns a specific frequency (consisting of two separate tones) to each
separate tones) to each key so that it can easily be identified by the electronic circuit
The signal generated by the DTMF encoder is a direct algebraic summation, in real
time, of the amplitudes of two sine (cosine) waves of different frequencies, i.e.,
pressing ‘6’ will send a tone made by adding 1477 Hz and 770 Hz to the other end of
the line. The tones and assignment in a DTMF system are shown in table 2.
TABLE 2
TONES AND ASSIGNMENTS IN A DTMF SYSTEM

Frequencies 1209 1336 1477

1633 Hz
(Hz) Hz Hz Hz

697 1 2 3 A

770 4 5 6 B

852 7 8 9 C

941 * 0 # D

In order to control the robot, a call is made to the cell phone attached to the robot
(through head phone) from any phone, which sends DTMF tunes on pressing the
numeric buttons. The cell phone in the robot is kept in ‘auto answer’ mode (if the
mobile does not have the auto answering facility, receive the call by ‘OK’ key on the
rover-connected mobile and then it in hands-free mobile.) So after a ring, the cell
phone accepts the call.

Now you may press any button on your mobile to perform actions as listed in table 4.
The DTMF tones this produced are received by the cell phone in the robot. These
tones are fed to the circuit by the headset of the cell phone. The MT8870 decodes
the received tone and sends the equivalent binary number to the microcontroller.
According to the program in the microcontroller, the robot starts moving.

User makes the call to the mobile phone connected to robotic assembly. After
receiving the call, when user presses the keys on his mobile phone a tone (DTMF) is
generated which is being given to a DTMF converter at the robotic side. The DTMF
tone will be having specific meaning depending on key pressed and the program

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written in the microcontroller at robots side.

The Mobile based user interface is to easily maneuver the robot. Microcontroller at
the robot side is interfaced to four DC motors through relays providing individual
control for all the movements

Low High Digit OE D3 D2 D0 D0

group(Hz) group
(Hz)

697 1209 1 H L L L H

697 1336 2 H L L H L

697 1477 3 H L L— H H

770 1209 4 H L H L L

770 1336 5 H L H L H

770 1477 6 H L H H L

852 1209 7 H L H H H

852 1336 8 H H L L L

852 i477 9 H H L L H

941 1336 0 H H L H L

941 1209 * H H L H H

941 1477 # H H H L L

697 1633 A H H H L H

770 1633 8 H H H H L

852 1633 C H H H H H

941 633 D H L L L L

-- -- Any L Z Z Z Z

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

TABLE 4
ACTIONS PERFORMED CORRESPONDING TO THE KEYS PRESSED

Number Output of Input to the Output from Action

user pressed by Microcontroller Microcontroller Performed
MT8870
DTMF
decoder

2 0*02 0*02 O*0A Forward motion

00000010 00000010 00001010

4 0*04 0*04 0*09 Left turn Right

00000100 00000100 00001001 motor forwarded
Left motor
backwarded

6 0*06 0*06 0*06 Right turn Right

00000110 00000110 00000110 motor
backwarded left
motor forwarded

8 0*08 0*08 0*05 Backward motion

00001000 00001000 00000101

5 0*05 0*05 0*00 Stop

00000101 00000101
00000000

Details of Use Components (ICs):

Power Supply (7805):

Power is required to drive any circuitry. The power requirement of the various
modules of our circuitry are as follows:

We are using ONE voltage regulator 1CKA7805 to generate the +V. In order to
provide supply to the voltage regulator, we are using DC Battery of 12V.The
generate +5V supply provide to the Microcontroller (AT89C51), for Motor Driver
lC(L293D). for MTMF Decoder IC(MT8870)and LEDs. The 12V supply direct provide
to motor to move the Land Rover.
The LM7805 is a 3 terminal positive voltage regulator IC available in TO-220/D-PAK
package with a fixed output voltage, making it to use in wide range application.

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LM7805 has following features:

3 terminal positive voltage regulators.
• Thermal overload protection.
• Internal current limiting.
• Output transistor safe operating area protection.
• If adequate heat sinking is provided it can deliver over IA current.
Module Max. Voltage Current Power

LED 5V 50mA 250mW

LDR 9V SOmA 250mW

Microcontroller +5V 25mA 125mW

Motor Drive Logic supply - 7V 2A 25W

Power supply 50V (DC operation)
Input & Enable
Voltage -3V to 7V

Motor l2V 500mA 300mW

Fig 2: IC 78xx
It is not easy to detect and recognize DTMF with satisfactory precision. Often,
dedicated integrated circuits are used. It is rather complicated, so it is used only
marginally. Most often, a MT 8870 or compatible circuit would be used.
The MT8870 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; 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 chip provision of a differential input amplifier, clock oscillator and
latched three-state bus interface.
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Features of DTMF Decoder

• Complete DTMF Receiver

• Low power consumption
• Internal gain setting amplifier
• Adjustable guard time
• Central office quality
• Power-down mode
• Inhibit mode
• Backward compatible with MT887OC/MT8870C- I

Typical Applications for DTMF decoders

• Paging systems
• Repeater systems/mobile radio
• Credit card systems
• Remote control
• Personal computers
• Telephone answering machine
The DTMF system uses eight different frequency signals transmitted in pairs to
represent sixteen different numbers, symbols and letters. This table shows how the
frequencies are organized

High Group Frequency

1290 Hz 1366 Hz 1477 Hz 1633 Hz

697 Hz 1 ABC DEF A

2 3

770 Hz GHI JKL MNO B

Low
4 5 6
Group
Frequenc
852 Hz PRS TUV WXY C
y
7 8 9

941 Hz * OPER # D
0

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Pin Configurations of MT8870:

Fig 3: IC MTSS7O
MICRONTROLLER (AT89C51):
The Microcontroller has following features:
Features:
• 4K Bytes of In-System Reprogrammable Flash Memory
 Endurance: 1,000 Write/Erase Cycles.
• Fully Static Operation: 0 Hz to 24 Ml-Iz.
• Three-level Program Memory Lock.
• 128 x 8-bit Internal RAM.
• 32 Programmable I/O Lines.
• Two 16-bit Timer/Counters.
• Six Interrupt Sources.
• Programmable Serial Channel.
• Low-power Idle and Power-down Modes.
Description:
The ATS9C51 is a low power, high performance CMOS 8 bit microcomputer with
4Kbytes of Flash programmable and erasable read only memory (PEROM). The on
chip flash allows the program memory to be reprogrammed in system or by a
conventional non volatile memory programmer. By combining a versatile 8-bit CPU
with Flash on a monolithic chip, the Atmel ATS9C5 I is a powerful microcomputer
which provides a highly-flexible and cost-effective solution to many embedded
control applications.

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Pin Configuration OF AT89C51:

Fig 5: IC ATS9C51

The Microcontroller has four port devices. But here we are using only two ports for

Input and Output. Port I use as INPUT and Port 0 use as OUTPUT. Both of the ports

uses only four pins of each port as per applications

MOTOR DRIVER (L293D):

The L293D has the following features:
• It is high voltage, high current dual full bridge driver.
• It is designed to accept standard TTL logic levels.
• It is designed to drive inductive loads like DC & stepper motors.
• It can drive at the max two DC motor.
• It has two enable inputs to enable or disable the device independently of the
inputs.
• It has an additional supply inputs so that the logic works at a lower voltage.
Due to the above reason we are using Relay motor driver card.
We are using two DC motors to drive the two rear wheels of the robot. By simple
reversing polarity of the inputs applied the motor can be made to run in reverse
direction, the features help us choose a DC motor

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The DC motor used in the project has rating of I 2V & 45 rpm. The reasons for
selecting a DC motor are as follows:
• A 12V motor is sufficient to produce the necessary torque needed to run the
robot in forward, reverse direction & turn left & right.
• The weight of this motor is lighter as compared to other motor a in these
ratings.
Weight is a major issue in our project since if the weight is more than the required to
drive the motor, then there is chance that the vehicle will either not move or topple
down due to its weight while taking turn.
Using this truth table, the interfacing of the microcontroller and the motor driver is
done.

Here the figure shows bidirectional working of a single motor connected to the
driver .We can drive two DC motors in the same manner. The inputs required to the
motors in forward, reverse directions or to stop are fed by microcontroller according
to the motor position on the tape. The flow chart in the following sections will enable
to understand the working of the circuitry property.

Fig 5: Truth Table

INPU INPU INPUT INPUT OUTPUT OUTPUT OUTPUT OUTPUT Description

T T Relay3
Relay1 Relay2
Realy4

L L L L L L L L Braking (both terminals

of motor are ground)
Motor is stop

H L H L H L H L Forward Running

L H L H L H L H Backward Running

H L L H H L L H Motor is turn to Left

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

L H H L L H H L Motor is turn to Right

MOTOR:

Fig 6
Here we are using two DC I 2V 45rpm motor for moving the robot. The two motors
are connected to the two rear wheel of robot.
A Robot is an electromechanical device that has the intent or agency of its own. A
robot must of the following properties:
1) It is artificially created.
2) It can sense its environment.
3) It has some degree of intelligence or ability to make choice based on the
environment.
4) It is programmable.

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FLOW CHART

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SCHEMATIC CIRCUIT DIAGRAM

L O

C 3 C 4
C C

1 0 0 m f d 4 7 0 p f
1 4 7 0 m f d
1 2
0 N C 2 1 1 . 1 m f d
. 1 m f d N C
N C 3 1 0
1 0 0 e c t c 8 1 0 T a b V o u t
T a b O P A M P 1 0 e
2 2 k
4
V i n 9 S t e r i o
S t e r e o i n 3 3 e
5 8 O u t
6 7

1 0 m f d . 0 1 m f d 1 0 0 m f d

+ 5 v 1 0 0 k

L O

D 1 L E D

1 0 m f d . 1 m f d
3 . 3 v Z E N E R 1 0 0 e

0
F o r
M i c r o c o n t r o l l e r
R 2 U 2 1 8
0 2 2 m f 1d 0 0 k
R 1 1 1
2 I N + Q 1 1 2
I N - Q 2 1 3
4 Q 3 1 4
HT9170

C 7 V R E F Q 4
O S C 1
V i n 8
O S C 2 E S T3
1 6
4 . 0 M H z
1 0 G S 1 5
9 T O E S T D 0
1 7 3 3 0 k
0 3 3 p f 3 3 p f S T / G T

5 56 . 1 m f d

+ 5 V R e la y 1
H I

8
6
ic 7
4 0

A T 8 9 C 5 1 R 2 4
3 9 2 1 2 0 0 E 3
V C C

H I P 0 . 0 / A D 0P 2 . 0 / A 82 2
H I
3 8 D 1 5
F R O M D T M F 3 7 P 0 . 1 / A D 1P 2 . 1 / A 92 3 1
H I P 0 . 2 / A D P2 2 . 2 / A 1 20 4
H I
3 6 2
3 5 P 0 . 3 / A D P3 2 . 3 / A 1 21 5 D 5
3 4 P 0 . 4 / A D P4 2 . 4 / A 1 22 6 3 9 0 E
3 3 P 0 . 5 / A D P5 2 . 5 / A 1 23 7 R 6 - R 1 0 L E D D P D T
3 2 P 0 . 6 / A D P6 2 . 6 / A 1 24 8
P 0 . 7 / A D P7 2 . 7 / A 1 5
1 1 0 Q 1 R e la y 2
2 P 1 . 0 P 3 . 0 / R X 1D 1 B C 5 5 7 8
3 P 1 . 1 P 3 . 1 / T X D1 2 6
4 P 1 . 2 P 3 . 2 / I N T1 0 3 7
5 P 1 . 3 P 3 . 3 / I N T1 1 4 R 3 4
6 P 1 . 4 P 3 . 4 / T 01 5 g n d2 2 0 E 3
7 P 1 . 5 P 3 . 5 / T 11 6 D 2 5
8 P 1 . 6 P 3 . 6 / W R1 7 1
P 1 . 7 P 3 . 7 / R D 2
1 9 3 0 D 6
1 8 X T A L 1 A L E / P R O 2 G9
X T A L 2 P S E N L E D D P D T
3 1
G N D
H I

9 E A / V P P
+ 5 V R S T Q 2 R e la y 3
B C 5 5 7 8
2 0

6
1 2 M H z 7
c y r s t a l R 4 4
g n d2 2 0 E 3
g n d D 3 5
1
C 2 C 1 C 4 2
3 3 p f 3 3 p f 1 0 u f D 7

R 1 L E D D P D T
8 . 2 k
R e la y 4
g n d Q 3 8
B C 5 5 7 6
S W 1 7
R 5 4
R e s e t s w 2 2 0 E 3
g n d D 4 5
1
g n d 2
D 8

L E D D P D T

Q 4
B C 5 5 7

g n d

T it le
M O B I L E O P R A T E D L A N D R O L A R

S iz e D o c u m e n t N u m b e r R e v
A 1 F I R S T

D a t e : S a t u r d a y , M a r c h 0 7 , 2 0S 0h 9e e t 1 o f 1

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Description:
Block diagram (fig. 1) shows the micro-controller based mobile phone operated land
rover. The important components of this land rover are a DTMF decoder,
microcontroller and motor driver.
There are two LEDs provided to indicate of power supply and security to our Mobile
Based Robot. The description is shown in working part.
An MT8870 series DTMF decoder is used here. All types of the MT8870 series use
digital counting techniques to detect all the 16 DTMF tone pair into a 4-bit code
output. The built- in dial tone rejection circuit eliminates the need for pre-filtering.
When the input signal given at pin 2 (IN-) in single-ended input configuration is
recognized to be effective, the correct 4-bit decode signal of the DTMF tone is
transferred to QI (pin II) through Q4 (pin 14) outputs.
Table II shows the DTMF data output table of MT8870. Ql through Q4 outputs of the
DTMF decoder (IC I) are connected to port pins P0.0 through P0.3 of AT89C51
microcontroller (IC 2).
The AT89C51 is a low-power, 8-bit, CMOS microcontroller. It provides the following
features: 4Kb of in-system programmable Flash program memory with read-while-
write compatibilities, RAM expandable externally to 64Kbytes, four 8-bits I/O ports.
Output form port pins P1.0 through P1.3 of microcontroller are fed to inputs of motor
driver card . The microcontroller output is not sufficient to drive the DC motors, so
current drivers are required for the motor rotation.

WORKING:
In order to control the robot, a call is made to the cell phone attached to the robot
(through head phone) from any phone, which sends DTMF tunes on pressing the
numeric buttons. The cell phone in the robot is kept in ‘auto answer’ mode (if the
mobile does not have the auto answering facility, receive the call by ‘OK’ key on the
rover-connected mobile and then it in hands-free mobile). So after a ring, the cell
phone accepts the call.
Now press any button on the mobile to perform actions as listed in table 3. The
DTMF tones this produced are received by the cell phone in the robot. These tones
are fed to the circuit by the headset of the cell phone. The MT8870 decodes the
received tone and sends the equivalent binary number to the microcontroller.
According to the program in the microcontroller, the robot starts moving.
When turn you power supply the LED (BLUE) glow to give the information the power
is delivered to all the circuit.
If any key is pressed before the PASSWORD is entered there is no operation
performed according to microcontroller programmed. When the PASSWORD is
entered the microcontroller know the programmed password, it is allowed to perform
any operation. If the PASSWORD is correct the RED LED glows to indicate that
password is correct. If Key “5” (STOP) is pressed the microcontroller stops the

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operation and operation starts again when the password is entered.

When key ‘2’ is pressed on mobile phone, the microcontroller gives output
‘10001001’ binary equivalent. Port pins P0.0, P0.3 and P0.7 are high. The high
output at P0.7 of the microcontroller drives the motor driver (L293D). Port pins P0.0
and P0.3 drive motors Ml and M2 move for left turn, right turn, backward motion and
stop condition as per Table 3.
User makes the call to the mobile phone connected to robotic assembly. After
receiving the call, when user presses the keys on his mobile phone a tone (DTMF) is
generated, this is being given to a DTMF converter at the robotic side. The DTMF
tone will be having specific meaning depending on key pressed and the program
written in the microcontroller at robots side.
The Mobile Based user interface is to easily maneuver the robot. Microcontroller at
the robot side is interfaced to four DC motors through relays providing individual
control for all the movements

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Software Details:-
start: mov p0,#0fh
mov p1,#0fh
mov p2,#0fh
mov a,#0ffh
setb p2.7
mov r0,#50h
mov r1,#60h
mov r2,#04h
mov a,#00000011b
mov @r0,a
inc r0
mov a,#00000110b
mov @r0,a
inc r0
mov a,#00001001b
mov @r0,a
inc r0
mov a,#00001100b
mov @r0,a
acall delay
setb p1.7
acall delay

front: jnb p2.7,front

mov a,p0
cjne a,#00000010b,help1
clr p1.0
clr p1.2
setb p1.1
setb p1.3
acall delay
f2: jnb p2.7,f2

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mov a,p0
srightf: cjne a,#00000110b,lrightf
clr p1.1
clr p1.2
setb p1.0
setb p1.3
acall ldelay
clr p1.0
clr p1.2
setb p1.1
setb p1.3
sjmp f2

help1: ljmp back

sleftf: cjne a,#00000101b,lleftf

clr p1.0
clr p1.3
setb p1.1
setb p1.2
acall ldelay
clr p1.0
clr p1.2
setb p1.1
setb p1.3
sjmp f2
lrightf: cjne a,#00001001b,sleftf
clr p1.1
clr p1.2
setb p1.0
setb p1.3
acall ldelay
cpl a
acall ldelay
cpl a

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

acall ldelay
cpl a
acall ldelay
clr p1.0
clr p1.2
setb p1.1
setb p1.3
sjmp f2

lleftf: cjne a,#00001000b,stopf

clr p1.0
clr p1.3
setb p1.1
setb p1.2
acall ldelay
cpl a
acall ldelay
cpl a
acall ldelay
cpl a
acall ldelay
clr p1.0
clr p1.2
setb p1.1
setb p1.3
sjmp f2
stopf: cjne a,#00001100b,help2
setb p1.0
setb p1.1
setb p1.2
setb p1.3
ljmp front

help2: ljmp back

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

back: cjne a,#00000011b,help3

clr p1.1
clr p1.3
setb p1.0
setb p1.2
acall delay
b2: jnb p2.7,b2
mov a,p0
srightb: cjne a,#00000110b,lrightb
clr p1.0
clr p1.3
setb p1.1
setb p1.2
acall ldelay
clr p1.1
clr p1.3
setb p1.0
setb p1.2
sjmp b2
help3: ljmp front

sleftb: cjne a,#00000101b,lleftb

clr p1.1
clr p1.2
setb p1.0
setb p1.3
acall ldelay
clr p1.1
clr p1.3
setb p1.0
setb p1.2
sjmp b2

lrightb: cjne a,#00001001b,sleftb

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

clr p1.0
clr p1.3
setb p1.1
setb p1.2
acall ldelay
cpl a
acall ldelay
cpl a
acall ldelay
cpl a
acall ldelay
clr p1.1
clr p1.3
setb p1.0
setb p1.2
sjmp b2

lleftb: cjne a,#00001000b,stopb

clr p1.1
clr p1.2
setb p1.0
setb p1.3
acall ldelay
cpl a
acall ldelay
cpl a
acall ldelay
cpl a
acall ldelay
clr p1.1
clr p1.3
setb p1.0
setb p1.2
sjmp b2
stopb: cjne a,#00001100b,help4

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

setb p1.0
setb p1.1
setb p1.2
setb p1.3
ljmp front

help4: ljmp front

down: setb p3.0

acall ldelay
ljmp start

delay: mov r4,#255

l1: mov b,#255
l2: djnz r3,l2
djnz r4,l1
ret
ldelay: mov r5,#09h
h1: mov r6,#50h
h2: mov r7,#90h
h3: djnz r7,h3
djnz r6,h2
djnz r5,h1
ret

end

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

Top View:-

List Of Components
Parts Specifications Qua Approx. Price in Rs.
ntity

Microcontroller AT89C51 I 45

Motor driver L293D 1 120

DTMF Decoder MT8870 1 80

DC Motors I 2V, 45 rpm 2 500

Voltage Regulator 7805 1 14

DC Battery 12V I 250

Switch Reset Switch I 12

Wheels Plastic + Rubber Belt 2 150

PCB Normal Copper PCB 1 80

Robot Base Aluminum 1 45

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

Parts Specifications Qua Approx. Price in Rs.

ntity

100 kQ,330 kΩ (All ¼-

Resistors 3 3
watt,+/-5% carbon)

Resistor Array 10 kΩ 1 12

Ceramic 22 pF, 0.luiF, 0.47 μF

6 6
Capacitors (+/-25W)

Electrolytic
IFIF 1 3
Capacitor

Crystal
11.5MHz, 3.57MHz 2 20
Oscillator

Diode 1N4007 I I

LEDs RED, BLUE 2 2

Battery Simple battery

1 5
connector connector.

To connect Mobile
Head-phone 1 70
Phone to circuit.

BUG Pins Male, Female 8 8

To connect battery to
DC Connector 1 5
circuit.

Total Cost 1431

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

Result:-
We have been able to successfully implement the mobile phone on the circuit. The
following will be achieved by us:
• The DTMF tone from mobile phone is successful detected by DTMF Decoder
and output gives to microcontroller. According to program the microcontroller
the motor driver is drives the two motor.
• In our project robot is moved with security code, so no one can moves the
robot which are not know the security code.
• Our robot required only motor which is the biggest advantage of our project.
• It can moves in forward (no.2), back (no.3),right (no. 6), and left ( no. 4)
direction using the number on mobile phone.

Conclusion:-
Our project “Mobile Controlled Land Rolar” is working properly and is making
the following movement as per the key instruction given by mobile phone.
Key No. 2 Left
Key No. 3 Right
Key No. 5 Forward
Key No. 6 Backward
Key No. # Stop

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

Application
In Military:
The vehicle is controlling through ell the technology presently being used for
communication and these are well present on the border so that vehicle can be
used to continuously observe the border, continuous supply of food, weapons
and in case of any accident to bring the patients from war fields.
In nuclear Reactor:
For the inspection of the nuclear reactor because during nuclear process no
person can enter in the nuclear reactor.

In Industry:-
Today all the industries are facilitated with data communication network so
that our vehicle can be used for transporting purpose with flexibility in place of
conventional conveyor trolleys. Our vehicle can be controlled from any place of
the industry so it is very easy to change the route of transportation and we can
also provide the fixed route for transporting through microcontroller program.

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 SHRI G.S. INSTITUTE OF TECHNOLOGY & SCIENCE, INDORE

Limitation:-
• The robot is not able to work in water bodies. Even it wont be able to
perform tasks in rainy areas and rainy season.
• This robot needs installation of antenna and available mobile coverage to
perform as its working is based on mobile networks.
• It may not take desired step when it has to climb a slop and while moving
down on slop.
• On a rough land area it may turn about and stop working or may get stuck
at big stones.

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