1

DTMF OPERATED ROBOT

CONTENTS:
1. HISTORY...................1
2. PRESENT SCENARIO ............2
3. TYPES OF COMMUNICATIONS ............3
3.1 DTMF TECHNOLOGY ............4
4. DTMF REMOTE CONTROL ROBOT .......7
4.4. COMPONENTS LIST ............14
4.5. CIRCUIT DESCRIPTION ...........16
4.5.1. POWER SUPPLY SECTION.........16
4.5.2. TONE DECODER SECTION........19
4.5.3. CONTROL SECTION...........31
4.5.4 MOTOR DRIVER SECTION.........40
4.6 SYSTEM DESIGN...............43
4.7 WORKING................45
4.8 IMPLEMENTATION............46
4.8.1 HARDWARE.................46
4.8.1.1 ROBOT CONSTRUCTION.......46
4.8.1.2 EAR PHONE CONNECTION......48
4.8.2 SOFTWARE..............49

5. ADVANTAGES & DIS-ADVANTAGES .....63

6. APPLICATIONS ...............64

7. FUTURE SCOPE...............66

8. REFERENCES...................68


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DTMF OPERATED ROBOT


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DTMF OPERATED ROBOT

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DTMF OPERATED ROBOT
HISTORY: -
Dual-tone multi-Irequency (DTMF) signaling is used Ior
telecommunication signaling over analog telephone lines in the
voice-Irequency band between telephone handset sand other
communications devices and the switching center. The version oI
DTMF used Ior telephone tone dialing is known by the trademarked
term Touch-Tone (canceled March 13, 1984), and is standardized by
ITU-T Recommendation Q.23. It is also known in the UK as MF4.
Other multi-Irequency systems are used Ior signaling internal to the
telephone network.
Radio control (oIten abbreviated to R/C or simply RC) is
the use oI radio signals to remotely control a device. The term is used
Irequently to reIer to the control oI model vehicles Irom a hand-held
radio transmitter. Industrial, military, and scientiIic research
organizations make |traIIic| use oI radio-controlled vehicles as well.
A remote control vehicle is deIined as any mobile device
that is controlled by a means that does not restrict its motion with an
origin external to the device. This is oIten a radio control device,
cable between control and vehicle, or an inIrared controller. A remote
control vehicle (Also called as RCV) diIIers Irom a robot in that the
RCV is always controlled by a human and takes no positive action
autonomously.


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DTMF OPERATED ROBOT
2. PRESENT SCENARIO: -
$imilar projects have been made by several people, but most oI
the times a land line phone is being used to control various Home
Appliances. II a land line phone is used than a separate ring detector
circuit is required Ior detecting the number oI rings and then picking
up the phone. It uses an extra relay and we have to enter inside the
mechanism oI phone.
n our project we have used the auto answer Iacility which is
present in many oI the cell phones today, so we escaped Irom
designing the ring detector circuit.
e have used this concept to control a mobile robotic car.










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DTMF OPERATED ROBOT
3. TYPE'S OF COMMUNICATION:
Due the modular nature oI this system, in the Iuture I could
swap out the cordless phone Ior a newer one, or a pair oI FRS radios,
or some other transmitter/receiver pair. It doesn't really matter. We used
DTMF technology oI cell phone because oI its range is very large (only
limited by cell network)


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DTMF OPERATED ROBOT

3.1. DTMF TECHNOLOGY (DuaI Tone MuIti
Frequency):-
For signaling we used dual-tone multi-Irequency (DTMF)
tones. These are the tones that you hear when you press keys on a
telephone keypad. The reason Ior using this standard is that you can
buy a single, very accurate IC (usually used in automatic answering
machines and the like, Ex: - when using the e-recharge Iacility in our
cell phone) that takes care oI all the Iiltering, ampliIying and
interpreting necessary to determine which key was pressed. And
because it's just an analog audio signal that is being exchanged, I can
use a number oI ordinary, low-cost transmitter/receiver pairs Ior
sending that audio signal.
e will send the DTMF tones over an old 900MHz cell
phone, So then based on which key is pressed, the robot will be able
to interpret the tone and activate relays and such to turn on motors
and move about.
The Irequencies Ior the DTMF tones oI the corresponding keys
on the keypad
are as shown below: -




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DTMF OPERATED ROBOT

D1MI kcypad rcqucncics (wiih sound clips)
::o Hz :o Hz :+ Hz :o Hz
o Hz : : A
o Hz + : o B
s:: Hz s C
+: Hz o 4 D


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DTMF OPERATED ROBOT






TRODUCTO















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DTMF OPERATED ROBOT
4. DTMF REMOTE COTROL ROBOT: -
4.1. TRODUCTO: -
The objective oI this project is to develop a device that allows
Ior a user to remotely control a robotic car using a cellular phone.
This system will be a powerIul and Ilexible tool that will oIIer this
service at any time, and Irom anywhere with the constraints oI the
technologies being applied. Possible targets include (but are not
limited to) industrial robots, security and spy robots, and robotic
arms; anything with an electrical interIace. The proposed approach
Ior designing this system is to implement a microcontroller-based
control module that receives its instructions and commands Irom a
cellular phone over the GSM network. The microcontroller then will
carry out the issued commands. For security purposes, a means oI
identiIication and user authentication will be implemented.

The whole system will include two separate cellular phones;
one placed on the robot and other will be with the user. There will
thereIore be two operating environments. The cellular phone and the
robot will operate indoors as well as outdoors.





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DTMF OPERATED ROBOT

The Iollowing is a list oI assumptions Ior the project: -
1. The user and control unit will establish communication
via G$M.
2. All service charges from service provider apply.
3. The controlled robot will have to have an electrical
interface in order to be controlled by microcontroller.












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DTMF OPERATED ROBOT
4.2. BLOCK DAGRAM: -



Block Diagram Description: -

Phone on the transmitting side:
The person who wants to switch on/oII any device kept at the
controller side calls Irom a phone and, once the call gets picked up,
enters the password and tones Ior a corresponding device. Every key
has to be pressed Ior a minimum amount oI time to get it latched at
the decoder IC.


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DTMF OPERATED ROBOT

Mobile phone on the receiving side:
The mobile phone on the receiver side picks up the phone
automatically aIter 5seconds, and then makes the tones available to
the DTMF tone decoder IC through the headphone jack oI the phone.
%MF %one ecoder IC:
The DTMF tone decoder IC converts the received tones to
their respective binary values and then gives them as an input to the
micro-controller. The DTMF tone decoder IC`s internal architecture
consists oI a band split Iilter section which separates the low and the
high tone oI the received tone pair, Iollowed by a digital decode
(counting) section which veriIies both the Irequency and duration oI
the received tones beIore passing resultant 4-bit code to the output
bus. These 4-bits along with a bit, which validates a received tone is
given as an input to the port1 oI microcontroller.
%he Microcontroller:
The Iive output bits oI the decoder IC serve as an input to
port1 oI the microcontroller. Then each tone is veriIied by the
programmed microcontroller and once a correct sequence oI code is
received, output corresponding to the tones sent by the user is made
available at the port0, which is connected to motor through a motor
driver.


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DTMF OPERATED ROBOT


Motor Circuitry:
The output Irom the port0 oI the microcontroller is given to the
motor driver IC which drives the corresponding motor, so as to move
the robot appropriately.
Motor:
Each oI the geared motor (12V, 200RPM) is connected to motor
driver. As soon as the motors are driven by the microcontroller the
robot moves accordingly.










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DTMF OPERATED ROBOT



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DTMF OPERATED ROBOT



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DTMF OPERATED ROBOT

4.4 COMPOET$ L$T: -
To build and access this project the requisites are:
O A voltage regulator
IC (7805)
O 4 diodes
(1N4007)
O 1 electrolytic capacitors oI
470uI.
O 4 ceramic capacitors,
2 oI 33pI
2 oI 0.1uI.
O 4 Resistances:
100Kohms (2 q)
300Kohms (1q)
10Kohms (1q)

O 2 crystals:
3.58MHz
12MHz

O 3 two pin connectors (male and Iemale).


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DTMF OPERATED ROBOT

O Two phones - We need one cell phone with auto answer
Iacility on the receiver side and one phone (which can either
be a cell phone or land line) with the remote user.

O A Chord with a male connector-We need a chord with a male
connector connected on one side and one end leIt open. The
dimensions oI the connector should be same as the dimensions
oI the jack present in the phone with the control unit. (In our
case we used a 3.5mm jack)

O . DTMF tone decoding IC-IC Ior converting DTMF Tones
to their respective binary values. We used CM8870.

O Microcontroller-AT89c51.
O Motor driver IC- L293D
O .Two motors oI 12V driving voltage and 200 RPM each
.



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DTMF OPERATED ROBOT

4.5. CRCUT DE$CRPTO: -

POWER SUPPLY SEC%IOA: -

Power supply section consists oI Voltage Regulator L7805C,
two capacitors C
1
and C
o
oI 0.33uF and 0.1uF respectively. This
section is not included in the above diagram. It provides the constant
5V V
cc
voltage required Ior the operation oI microcontroller and
other components.
COMPOAEA% ESCRIP%IOA: -
L78C: -
The L78xx series oI three-terminal positive regulators is
available in TO-220, TO-220FP, TO-3, D2PAK and DPAK packages
and several Iixed output voltages, making it useIul in a wide range oI
applications. These regulators can provide local on-card regulation,
eliminating the distribution problems associated with single point
regulation. Each type employs internal current limiting, thermal shut-
down and saIe area protection, making it essentially indestructible. II
adequate heat sinking is provided, they can deliver over 1 A output
current. Although designed primarily as Iixed voltage regulators,
these devices can be used with external components to obtain
adjustable voltage and currents.


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DTMF OPERATED ROBOT
Features: -
Output current to 1.5 A
Output voltages of 5; 6; 8; 8.5; 9; 12; 15; 18; 24 V
Thermal overload protection
$hort circuit protection
Output transition $OA protection

Circuit
Diagram


The capacitors Ci and Co act as Decoupling capacitors to
remove ripple in the input.



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DTMF OPERATED ROBOT

Different packages available: -





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DTMF OPERATED ROBOT



%OAE ECOER SEC%IOA: -
This section consists DTMF Decoder IC CM8870, a Iew resistors,
a capacitor and a Crystal. This section is responsible Ior decoding oI the
DTMF tones and giving out the corresponding binary out to the
microcontroller.
COMPOAEA% ESCRIP%IOA: -

The CAMD CM8870/70C provides Iull DTMF receiver

capability by integrating both he band-split Iilter and digital decoder
Iunctions into a single 18-pin DIP, SOIC, or 20-pin PLCC package.
The CM8870/70C is manuIactured using state-oI-the-art CMOS
process technology Ior low power consumption (35mW, max.) and
precise data handling. The Iilter section uses a switched capacitor
technique Ior both high and low group Iilters and dial tone rejection.
The CM8870/70C decoder uses digital counting techniques Ior the
detection and decoding oI all 16 DTMF tone pairs into a 4-bit code.
This DTMF receiver minimizes external component count by
providing an on-chip diIIerential input ampliIier, clock generator, and a
latched three-state interIace bus. The on-chip clock generator requires

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DTMF OPERATED ROBOT
only a low cost TV crystal or ceramic resonator as an
external component.

Features: -
W Full DTMF receiver
W Less than 35m power consumption
W ndustrial temperature range
W Uses quartz crystal or ceramic resonators
W Adjustable acquisition and release times
W 18-pin DP, 18-pin DP EA1, 18-pin $OC, 20-pin PLCC
W CM8870C
- Power down mode
- inhibit mode
- Buffered O$C3 output (PLCC package only)

CM8870C is Iully compatible with CM8870 Ior 18-pin
devices by grounding pins 5 and 6

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DTMF OPERATED ROBOT




TERAL BLOCK DAGRAM: -












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DTMF OPERATED ROBOT





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DTMF OPERATED ROBOT

Functional Description: -
Filter Section: -
$eparation oI the low-group and high-group tones is achieved
by applying the dual tone signal to the inputs oI two 9th-order
switched capacitor band-pass Iilters. The bandwidths oI these Iilters
correspond to the bands enclosing the low-group and high group
tones (See Figure3). The Iilter section also incorporates notches at
350Hz and 440Hz, which provides excellent dial tone rejection.
Each Iilter output is Iollowed by a single order switched
capacitor section, which smoothens the signals prior to limiting.
Signal limiting is perIormed by high-gain comparators. These
comparators are provided with a hysteresis to prevent detection oI
unwanted low-level signals and noise. The outputs oI the comparators
provide Iull-rail logic swings at the Irequencies oI the incoming
tones.
ecoder Section: -
The CM8870/70C decoder uses a digital counting technique to
determine the Irequencies oI the limited tones and to veriIy that these
tones correspond to standard DTMF Irequencies. A complex averaging
algorithm is used to protect against tone simulation by extraneous
signals (such as voice) while providing tolerance to small Irequency
variations.


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DTMF OPERATED ROBOT

The averaging algorithm has been developed to ensure an
optimum combination oI immunity to 'talk-oII and tolerance to the
presence oI interIering signals (third tones) and noise. When the
detector recognizes the simultaneous presence oI two valid tones
(known as 'signal condition), it raises the 'Early Steering Ilag (ESt).
Any subsequent loss oI signal condition will cause EST to Iall.
Steering Circuit: -
BeIore the registration oI a decoded tone pair, the receiver
checks Ior a valid signal duration (reIerred to as 'character-
recognition-condition). This check is perIormed by an external RC
time constant driven by Est. Logic high on Est. causes VC (See
Figure 4) to rise as the capacitor discharges. Providing signal
condition is maintained (Est. remains high) Ior the validation period
(tGTP), VC reaches the threshold (VTSt) oI the steering logic to
register the tone pair, thus latching its corresponding 4-bit code (See
Figure 2) into the output latch. At this point, the GT output is
activated and drives VC to VDD. GT continues to drive high as long
as ESt remains high, signaling that a received tone pair has been
registered. The contents oI the output latch are made available on the
4-bit output bus by raising the three-state control input (TOE) to logic
high.



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DTMF OPERATED ROBOT

The steering circuit works in reverse to validate the inter-digit
pause between signals. Thus, as well as rejecting signals too short to
be considered valid, the receiver will tolerate signal interruptions
(drop outs) too short to be considered a valid pause. This capability
together with the capability oI selecting the steering time constants
externally, allows the designer to tailor perIormance to meet a wide
variety oI system requirements.

uard %ime Adjustment: -
n situations, which do not require independent selection oI
receive and pause, the simple steering circuit oI Figure 4 is
applicable. Component values are chosen according to the Iollowing
Iormula:
t
REC
t
DP
+ t
GTP

t
GTP
0.67 RC
The value oI
t
DP
is a parameter oI the device and t
REC
is the
minimum signal duration to be recognized by the receiver. A value
Ior C oI 0.1 uF is recommended Ior most applications, leaving R to
be selected by the designer.


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DTMF OPERATED ROBOT

For example, a suitable value oI R Ior a t
REC
oI 40 milliseconds
would be 300K. A typical circuit using this steering conIiguration is
shown in Figure 1. The timing requirements Ior most
telecommunication applications are satisIied with this circuit.
DiIIerent steering arrangements may be used to select independently
the guard times Ior tone-present (t
GTP
) and tone absent (t
GTA
). This
may be necessary to meet system speciIications, which place both
accept and reject limits on both tone duration and inter-digit pause.
Guard time adjustment also allows the designer to tailor system
parameters such as talk-oII and noise immunity. Increasing t
REC
improves talk-oII perIormance, since it reduces the probability that
tones simulated by speech will maintain signal condition Ior long
enough to be registered. On the other hand, a relatively short t
REC
with
a long t
DO
would be appropriate Ior extremely noisy environments
where Iast acquisition time and immunity to dropouts would be
requirements. Design inIormation Ior guard time adjustment is shown
in Figure 5.

Input Configuration: -
The input arrangement oI the CM8870/70C provides a
diIIerential input operational ampliIier as well as a bias source
(VREF) which is used to bias the inputs at mid-rail.


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DTMF OPERATED ROBOT

Provision is made Ior connection oI a Ieedback resistor to the
op-amp output (GS) Ior adjustment oI gain. In a single-ended
conIiguration, the input pins are connected as shown in Figure 1, with
the op-amp connected Ior unity gain and VREF biasing the input at .
VDD. Figure 6 shows the diIIerential conIiguration, which permits
the adjustment oI gain with the Ieedback resistor R5.

Clock Circuit: -
The internal clock circuit is completed with the addition oI a
standard television color burst crystal or ceramic resonator having a
resonant Irequency oI 3.579545 MHz. The CM8870C in a PLCC
package has a buIIered oscillator output (OSC3) that can be used to
drive clock inputs oI other devices such as a microprocessor or other
CM887X`s as shown in Figure 7. Multiple CM8870/70Cs can be
connected as shown in Iigure 8 such that only one crystal or resonator
is required.






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DTMF OPERATED ROBOT







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DTMF OPERATED ROBOT


SingIe Ended Input Configuration: -





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DTMF OPERATED ROBOT


P DAGRAM: -







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DTMF OPERATED ROBOT

COA%ROL SEC%IOA: -
t consists oI the microcontroller, a reset circuitry and a crystal
oscillator. The carries out the task or Iunction assigned to that
particular number according to the code written in the
microcontroller.
COMPOET DE$CRPTO: -
A%89C: -
The AT89C51 provides the Iollowing standard Ieatures:
4K bytes oI Flash 128 bytes oI RAM, 32 I/O lines, two 16-bit
timer/counter, Iive vector two-level interrupt architecture, a Iull
duplex serial port, and on-chip oscillator and clock circuitry. In
addition, the AT89C51 is designed with static logic Ior operation
down to zero Irequency and supports two soItware selectable power
saving modes. The Idle Mode stops the CPU while allowing the
RAM, timer/counters, Serial port and interrupt system to continue
Iunctioning.
The Power-down Mode saves the RAM contents but Ireezes the
oscillator disabling all other chip Iunctions until the next hardware reset.

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DTMF OPERATED ROBOT

Pin Description: -
'CC: -
$upply voltage 5V regulated power supply Ior the proper
working oI the IC.
A: -
ReIerence Ground potential.
Port : -
Port 0 is an 8-bit open-drain bi-directional I/O port. As an
output port, each pin can sink eight TTL inputs. When 1s are written
to port 0 pins, the pins can be used as high-impedance inputs.
Port 0 may also be conIigured to be the multiplexed low-order
address/data bus during accesses to external program and data memory.
In this mode P0 has internal pull-ups. Port 0 also receives the code bytes
during Flash programming, and outputs the code bytes during program
veriIication. External pull-ups are required during program veriIication.
Port : -
Port 1 is an 8-bit bi-directional I/O port with internal pull-ups.
The Port 1 output buIIers can sink/source Iour TTL inputs. When 1s
are written to Port 1 pins they are pulled high by the internal pull-ups
and can be used as inputs. As inputs, Port 1 pins that are externally
being pulled low will source current (IIL) because oI the internal

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DTMF OPERATED ROBOT

pull-ups. Port 1 also receives the low-order address bytes
during Flash programming and veriIication.
Port : -
Port 2 is an 8-bit bi-directional I/O port with internal pull-ups.
The Port 2 output buIIers can sink/source Iour TTL inputs. When 1s
are written to Port 2 pins they are pulled high by the internal pull-ups
and can be used as inputs. As inputs, Port 2 pins that are externally
being pulled low will source current (IIL) because oI the internal
pull-ups.
Port 2 emits the high-order address byte during Ietches Irom
external program memory and during accesses to external data
memories that use 16-bit addresses (MOVX DPTR). In this
application, it uses strong internal pull-ups when emitting 1s. During
accesses to external data memory that use 8-bit addresses (MOVX
RI), Port 2 emits the contents oI the P2 Special Function Register.
Port 2 also receives the high-order address bits and some
control signals during Flash programming and veriIication.

Port : -
Port 3 is an 8-bit bi-directional I/O port with internal pull-ups.
The Port 3 output buIIers can sink/source Iour TTL inputs. When 1s
are written to Port 3 pins they are pulled high by the internal pull-ups

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DTMF OPERATED ROBOT

and can be used as inputs. As inputs, Port 3 pins that are
externally being pulled low will source current (IIL) because oI the
pull-ups.
Port 3 also serves the Iunctions oI various special Ieatures oI
the AT89C51 as listed below: Port 3 also receives some control
signals Ior Flash programming and veriIication.
Port Pin Alternate Functions



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DTMF OPERATED ROBOT

RS%: -
Reset input. A high on this pin Ior two machine cycles while
the oscillator is running resets the device.


ALE/PRO: -
Address Latch Enable output pulse Ior latching the low byte oI
the address during accesses to external memory. This pin is also the
program pulse input (PROG) during Flash programming. In normal
operation ALE is emitted at a constant rate oI 1/6 the oscillator
Irequency, and may be used Ior external timing or clocking purposes.

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DTMF OPERATED ROBOT

Note, however, that one ALE pulse is skipped during each
access to external Data Memory. II desired, ALE operation can be
disabled by setting bit 0 oI SFR location 8EH. With the bit set, ALE
is active only during a MOVX or MOVC instruction. Otherwise, the
pin is weakly pulled high. Setting the ALE-disable bit has no eIIect iI
the microcontroller is in external execution mode.
PSEA: -
Program Store Enable is the read strobe to external program
memory. When theAT89C51 is executing code Irom external
program memory, PSEN is activated twice each machine cycle,
except that two PSEN activations are skipped during each access to
external data memory.
EA/'PP (External Access Enable): -
EA must be strapped to GND in order to enable the device to
Ietch code Irom external program memory locations starting at
0000H up to FFFFH. Note, however, that iI lock bit 1 is programmed,
EA will be internally latched on reset. EA should be strapped to VCC
Ior internal program executions. This pin also receives the 12-volt
programming enable voltage (VPP) during Flash programming, Ior
parts that require 12-volt VPP.

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DTMF OPERATED ROBOT

X%AL: -
nput to the inverting oscillator ampliIier and input to the
internal clock operating circuit.

X%AL: -
t is the output Irom the inverting oscillator ampliIier.
Oscillator Characteristics: -
XTAL1 and XTAL2 are the input and output, respectively, oI
an inverting ampliIier, which can be conIigured Ior use as an on-chip
oscillator, as shown in Figure 1. Either a quartz crystal or ceramic
resonator may be used. To drive the device Irom an external clock
source, XTAL2 should be leIt unconnected while XTAL1 is driven as
shown in Figure 2. There are no requirements on the duty cycle oI the
external clock signal, since the input to the internal clocking circuitry
is through a divide-by-two Ilip-Ilop, but minimum and maximum
voltage high and low time speciIications must be observed.






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DTMF OPERATED ROBOT








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DTMF OPERATED ROBOT

Pin Diagram of AT89C51: -







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DTMF OPERATED ROBOT

4.5.4 MOTOR DRVER $ECTO: -
This consists oI dual H-bridge motor driver IC L293D. As
microcontroller pin output power is very low and is not suIIicient Ior
driving the motors. It is responsible Ior providing enough power to
the motors to be able to run .The Device is a monolithic integrated
high voltage, high current Iour channel driver designed to accept
standard DTL or TTL logic levels and drive inductive loads (such as
relays solenoids, DC and stepping motors) and switching power
transistors.
To simpliIy use as two bridges each pair oI channels is
equipped with an enable input. A separate supply input is provided
Ior the logic, allowing operation at a lower voltage and internal clamp
diodes are included. This device is suited Ior use in switching
applications at Irequencies up to5kHz.
The L293D is assembled in a 16 lead plastic package, which
has 4 center pins connected together and used Ior heat sinking





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DTMF OPERATED ROBOT

The L293DD is assembled in a 20 lead surIace mount, which
has 8 center pins connected together and used Ior heat sinking










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DTMF OPERATED ROBOT








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DTMF OPERATED ROBOT

4.6 $$TEM DE$G: -
esign values for CM887: -
1. The DTMF tones Irom the mobile phone on the receiver side
are given to a diIIerential ampliIier whose gain can be varied by
connecting a Ieedback resistor Irom pin no. 3(which is the output oI
op-amp) oI CM8870. In our application the required gain is unity so
we select,
R1100Kohms
R2100Kohms
>GainR2/R11.
2. The internal clock circuit oI CM8870 is completed with
addition oI a ceramic resonator having resonant Irequency oI
3.58MHz.
3. BeIore the registration oI a decoded tone pair, the receiver
(CM8870) checks Ior a valid signal duration (duration Ior which a
key is pressed by the remote user).This check is perIormed by an
external RC time constant driven by Est. The minimum time duration
Ior which a key should be pressed to validate itselI is decided by R3
& C3.There values are decided by the Iormula:
t
rec
t
dp
tgtp
Where,

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DTMF OPERATED ROBOT

tgtp0.67*R3*C3
t
dp
is the time to detect the presence oI a valid signal. So it is a
parameter oI the device. trec is the minimum time duration Ior which
a key must be pressed by the remote user Ior validation.
For
t
rec
40ms
R3300Kohms
C30.1uI
4. TOE (pin no. 10 oI CM8870): - This is the Tone Output
Enable. A low level shiIts Q1-Q4 to its high impedance state. A high
level makes the binary output available on the output pins (Q1-Q4).
Design values for Microcontroller (AT89C51): -
1. Port 1 oI the microcontroller is made an input port by
writing all one`s to it, and port 0 is the output port which is connected
to the relay driver IC (U3).
2. The reset pin oI U2 (pin no. 9) is connected to the reset
circuit i.e.
R410Kohms. C510uI


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DTMF OPERATED ROBOT

4.7 ORKG: -
hen the power supply is switched ON, Iirst we have to call to
the receiver cell phone mounted on the robot Irom the cell phone
present at the user (transmitter).AIter about Iive rings the receiver cell
phone, which is set in the automatic answer mode liIts the call. Now
the user will have to press the keys on the cell keypad to move the
robot accordingly. At the receiver side the cell phone audio out (ear
phones) is connected to the DTMF decoder IC CM8870 which
decodes the audio beep tone generated by the DTMF Irequencies and
gives the corresponding binary outputs oI the number pressed as
shown in the table above.
The microcontroller now carries out the Iunction assigned to
that particular number as written in the code oI microcontroller.

n our case the microcontroller gives signals to motor driver IC
to rotate the motors as long as the particular key is pressed. The
motor driver takes the input Irom the microcontroller in which
direction the motors are to be rotated and with what speed the motors
are to be rotated. The speed oI rotation oI motors can be determined
by the duty cycle oI the PWM signal Ied by the microcontroller.
Hence by pressing the appropriate keys oI the cell phone the user can
control the movement oI the robot. AIter the robot has been moved to
the required location, the user ends the call.

49
DTMF OPERATED ROBOT

4.8 MPLEMETATO: -
8 HARWARE: -
8 ROBO% COAS%RUC%IOA: -
The robot itselI will basically be a box (made oI either wood or
sheet metal, depending on how tough the design should be) it should
measure roughly 1 Ioot by 0.5Ieet. At the center oI mass will sit a 12-
volt SLA (sealed lead acid) battery (the kind used in uninterruptable
power sources and electric wheelchairs). Two 12-volt drill motors
will be connected with bicycle chains and sprockets to Iour wheels,
providing 4WD mobility Ior the robot. Power Ior the robot will all
come Irom the 12-volt SLA battery. One regulated DC-to-DC
converter will provide 9-volt power to the telephone receiver and to
the wireless camera. Another regulated DC-to-DC converter will
provide 6-volt power to the logic circuits. This power will then go
through anL78M05CV 5-volt regulator to get the proper voltage to
the sensitive ICs.






50
DTMF OPERATED ROBOT

As mentioned earlier, atop the robot will be mounted a wireless
camera that will be rotatable leIt-to-right with the use oI a motor.
This will provide a remote view oI the robot's surroundings, and
should transmit a good 100-200 Ieet. And I may add a bank oI IR
LED`s to give it some night-vision (these Ieatures are optional).





51
DTMF OPERATED ROBOT



8 EAR PHOAE COAAEC%IOA: -

e need a chord with a male connector connected on one side
and one end leIt open or else we can use the ear phone wire by
cutting it at one end. The dimensions oI the connector should be same
as the dimensions oI the jack present in the phone with the control
unit. (In our case we used a 2.5mm jack)

The internal connection of the earphone


52
DTMF OPERATED ROBOT



e can cut the speaker wires and Ieed it to the DTMF decoder
IC CM8870. Now the cell phone won`t recognize it as earphone. So
we have to add a 33-ohm resistor in parallel so that cell phone see`s it
as 30-ohm speaker.
8 SOF%WARE: -
Algorithm:
System Algorithm:
1. Person who wants to switch on/oII a device calls on the
phone at the receiver side.
2. The call gets answered automatically iI it is not picked up
manually till 5seconds.
3. Once the call gets answered we have to enter a password Ior
authentication (in our case it is 1 2).
4. Then aIter entering the password we have to make a choice
Ior selecting the speed (Press *` Ior increasing speed and #` Ior
decreasing speed).

53
DTMF OPERATED ROBOT
5. Then we have to enter the corresponding
number Ior the robot to move in a particular direction (2` Ior
Iorward, 4` Ior leIt, 6` Ior right & 8` Ior reverse directions).
Aote:
On the transmitter side the user controlling the appliance`s has
to press each digit Ior a minimum duration oI time, which is 40ms.
Program algorithm:
1. On start oI the system all the values are at their deIault state.
2. I a key press is detected, program goes to 3, else it stays
here.
3. I the pressed key is 1 then program goes to 4, else it goes to
4. I 2 is pressed (correct password) program goes to 5,else it
goes to 2.
5. ow the microcontroller checks whether you want to
increase/decrease the speed (*` Ior increasing and #` Ior decreasing
speed)




54
DTMF OPERATED ROBOT
i). I any other key except '*' or '#' is pressed,
program goes to step 2.
ii). I * is pressed than it goes to (iii), iI # then it goes to (v)
iii). ow the microcontroller decrements the timer count i.e.
increase speed.
iv). I 2 or 4 or 6 or 8 are pressed it switches on momentarily
motor number 1 or 2 or both respectively, and goes to 2, else it goes
to 2 without switching on any motor.
v). Now the microcontroller increments the timer count i.e.
decrease speed.









55
DTMF OPERATED ROBOT

CODE: -
#include <AT89X52.h>
#include <stdio.h> /` standard /O .h-file
`/
#include <ctype.h> /` character functions `/
#include <string.h>
#include <intrins.h>
#include <absacc.h>
sbit enable1 P2^0;
sbit input1 P2^1;
sbit input2 P2^2;
sbit enable2 P2^3;
sbit input3 P2^4;
sbit input4 P2^5;
sbit strb P1^4;
sbit bcd1 P1^0;
sbit bcd2 P1^1;
sbit bcd3 P1^2;
sbit bcd4 P1^3;


56
DTMF OPERATED ROBOT


bit rcvdataflag, tranflag;
unsigned char i, j, p, q, srcvval, transtate, stsofset;
char strnarray8], adctmp8];
unsigned int temp, a;

void poweroninit(void)
P0 0Xff;
P1 0xff;
P2 0;
P3 0xff;
PCO 0;
P$ 0;
T2CO 0;
srcvval 0;
transtate 0;


57
DTMF OPERATED ROBOT

stsofset 0;
rcvdataflag 0;
tranflag 0;
enable1 0;
E 0x00;
]
void main(void)

poweroninit();

enable1 0;
//stop

while(1)

srcvvalP1;

58
DTMF OPERATED ROBOT

srcvval&0x0f;
switch(srcvval)
case 1: input1 1;
//forward
input2 0;
input3 1;
input4 0;
enable1 1;
enable2 1;
break;
case 2: input1 0;
//reverse
input2 1;
input3 0;
input4 1;
enable1 1;
enable2 1;
break;

case 3: input1 1;
//left

59
DTMF OPERATED ROBOT
input2 0;
enable1 1;
enable2 0;
for(a0; a<8000; a++)
_nop_ ();
_nop_ ();
_nop_ ();
_nop_ ();
]
input1 0;
//left
input2 0;
enable1 0;
enable2 0;

break;
case 4: input3 1;
//right
input4 0;

enable2 1;

60
DTMF OPERATED ROBOT

enable1 0;
for(a0; a<8000; a++)
_nop_ ();
_nop_ ();
_nop_ ();
_nop_ ();
]
input3 0;
//right
input4 0;
enable1 0;
enable2 0;
break;
case 0:
input3 0;
//right
input4 0;


input1 0;
//left

61
DTMF OPERATED ROBOT

input2 0;
enable1 0;
//stop enable2 0;
break;
case 5:
input3 0;
//right
input4 0;


input1 0;
//left
input2 0;
enable1 0;
//stop
enable2 0;
break;

case 6:
input3 0;
//right
input4 0;

62
DTMF OPERATED ROBOT

input1 0;
//left
input2 0;
enable1 0;
//stop
enable2 0;
break;

case 7:
input3 0;
//right
input4 0;
input1 0;
//left
input2 0;

enable1 0;
//stop
enable2 0;
break;
case 8:

63
DTMF OPERATED ROBOT

input3 0;
//right
input4 0;
input1 0;
//left
input2 0;

enable1 0;
//stop
enable2 0;
break;
case 9:


input3 0;
//right
input4 0;

input1 0;
//left
input2 0;

64
DTMF OPERATED ROBOT

enable1 0;
//stop
enable2 0;
break;
case 10:
input3 0;
//right
input4 0;
input1 0;
//left
input2 0;
enable1 0;
//stop
enable2 0;
break;
case 15:
input3 0;
//right
input4 0;
input1 0;

//left

65
DTMF OPERATED ROBOT
input2 0;

enable1 0;
//stop
enable2 0;
break;

]

]

]








66
DTMF OPERATED ROBOT



5. ADVANTAGES: -
1. e can control the robot Irom any where in the world.
2. The circuit is not eIIected by any noise or other voice
signals.
3. e can use it to control other electrical equipments.
DISADVANTAGES: -
1. Always cell phone network must be available to be able to
operate.
2. Cell phone battery must charged.







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DTMF OPERATED ROBOT




6. APPLICATIONS:-
1. Scientific: -
Remote control vehicles have various scientiIic uses including
hazardous environments, working in the deep ocean , and space
exploration. The majority oI the probes to the other planets in our
solar system have been remote control vehicles, although some oI the
more recent ones were partially autonomous. The sophistication oI
these devices has Iueled greater debate on the need Ior manned
spaceIlight and exploration.
2. Military and Law Enforcement: -
Military usage oI remotely controlled military vehicles dates
back to the Iirst halI oI 20th century. Soviet Red Army used remotely
controlled Tele tanks during 1930s in the Winter War and early stage
oI World War II.
3. Search and Rescue: -
UAV`s will likely play an increased role in search and rescue
in the United States. This was demonstrated by the successIul use oI
UAVs during the 2008 hurricanes that struck Louisiana and Texas.

68
DTMF OPERATED ROBOT


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










69
DTMF OPERATED ROBOT

7. FURTHER IMPROVEMENTS: -
1. IR Sensors:
R sensors can be used to automatically detect & avoid
obstacles iI the robot goes beyond line oI sight. This avoids damage
to the vehicle iI we are maneuvering it Irom a distant place.
2. Password Protection:
Project can be modiIied in order to password protect the robot
so that it can be operated only iI correct password is entered. Either
cell phone should be password protected or necessary modiIication
should be made in the assembly language code. This introduces
conditioned access & increases security to a great extent.
3. Alarm Phone Dialer:
By replacing DTMF Decoder IC CM8870 by a 'DTMF
Transceiver IC`CM8880, DTMF tones can be generated Irom the
robot. So, a project called 'Alarm Phone Dialer' can be built which
will generate necessary alarms Ior something that is desired to be
monitored (usually by triggering a relay). For example, a high water
alarm, low temperature alarm, opening oI back window, garage door,
etc. When the system is activated it will call a number oI
programmed numbers to let the user know the alarm has been
activated. This would be great to get alerts oIalarm conditions Irom
home when user is at work.


70
DTMF OPERATED ROBOT

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














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DTMF OPERATED ROBOT

8. REFERENCES: -
ikipedia - The free encyclopedia
http://www.8051projects.info/
0http://www.instructables.com/
0$chenker, L (1960), "Pushbutton Calling with a Two-
Group
Voice-Frequency Code", The Bell system technical journal 39
(1): 235-255, $$ 0005-8580
DTMF Tester , Electronics For ou` Magazine Edition
(1une 2003)
http://www.alldatasheet.com/
http://www.datasheet4u.com/
http://www.datasheetcatalog.com/






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DTMF OPERATED ROBOT


















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DTMF OPERATED ROBOT


















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DTMF OPERATED ROBOT