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c 

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2 

‡ Deepthi Babu
‡ Femi Joseph
‡ Magniya Davis
‡ Sree rekha K P

2 
MS. BABITHA U.B
 c 

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A terrestrial vehicle designed and developed

specifically for surveillance operations. It can be
controlled by a mobile phone device

The system is capable of detection of SMOKE or

Gas. The Gas sensor is capable of detecting LPG,
butane, smoke etc
   c

An embedded system is a special purpose computer

system, which is completely encapsulated by the device
it controls. It is called ³embedded´ because the micro
controller is inside some other system.
‡ An embedded system has specific requirements and
performs pre-defined tasks unlike a general purpose
personal computer.

‡ An embedded system is a combination of computer

hardware and software and perhaps additional
mechanical or other parts, designed to perform a
dedicated function.
  c

‡ The microcontroller AT89c51 is compatible with

Intel 8051 core and the same instruction set can be
utilized.

‡ The coding is done in assembly language in the form

of sub routinesh
 
cc
2c

‡ A work on autonomous robot with gas sensor had

been done by Achim Lilienthal as a part of project
³sensors for mobile robot´.
‡ Robot was moved at a constant speed within the
investigation area. It had follow a fixed rectangular
path.
‡ But here the robot vehicle can be moved in any 2D
direction according to instructions given through cell
phone.

‡ An extension to this project can be made by making

3D motion possible, that is a flying robot.
 a a
 a2

The entire system is embedded with a

microcontroller (89C51) for controlling purposes.

Communication between the user and the vehicle is

established with a conventional mobile phone
device

Navigation and maneuverability are controlled by

the same deviceh
 c 2


The driving mechanism of the MOSS consists of
ordinary dc motors and powered by a 12v
battery.

The vehicle is equipped with a gas sensor

  ! "!#

÷
÷÷ ÷ 

 
 

÷





 
 

÷


 
Ê
 Ê
‡ The PULSES from the microcontroller is transmitted
using an IR transmitter. The internal timer of the
microcontroller counts the pulses to detect the
obstacle.


@ LCD serves as a useful interface for the user. The

most common type of LCD controller is the Hitachi
44780 which provides a relatively simple interface
between microcontroller and LCD.The message to be
displayed is send to the LCD through data-bus.
Ê   

‡ The microcontroller is the CPU of the system. The

microcontroller continuously read data available pin
of DTMF decoder.
‡ When this pin toggles, the CPU copy the data from
DTMF decoder. This data is compared with a fixed
data base.
‡ By doing this, the COU can understand the
commands from the remote side.
‡ After detecting the command, the CPU generates
appropriate control signals to the DC motor driver
L293D.

‡ The motor is rotated and vehicle moves to the

desired direction. The system reads the obstacle
sensor before driving the motor.
‡ The pulses reflected from the obstacle are collected
by TSOP 1738. The output of TSOP1738 is counted
using internal counter zero.

‡ When the pulse count crosses 250, then micro

controller identify the presence of obstacle and the
motor will not be rotated in this situation.

 
Ê
‡ The driver IC used here is L293D. It is used for
driving the motors without using the supply of
microcontroller and avoids kick back in the controller
pins.
‡ The microcontroller pins are connecting to motors
through the driver IC.
‡ One motor has two input pins from the
microcontroller. Using L293D, the motor directions
will control.





‡ The two motors are used for crane movements, i.e.

forward movement, backward movement, right
movement, left movement and stop conditionh



‡ The control commands are sending from mobile
phone key pad. The key pressed on the pad is
converted into a standard code known as DTMF
code. These tones are sending to the remote end.

‡ A DTMF decoder is employed at the robot control

stage. The DTMF decoder output is in BCD format.
‡ The IC HT9170B is used as DTMF decoder. The first
stage of the decoder is a pre amplifier. The gain can
be controlled by connecting a suitable resistor at GT
pin (pin 3) of HT 9170B.
‡ The second stage of the decoder is band pass filter.
The band pass filter split the DTMF tone into Low
and High Frequency group.
‡ Then individual frequencies are identified by the
decoder with the help of narrow band filters.
 !$%&!"!# 5V

VCC
U4

18

10
HT9170

VDD

OE
C7 1
LCD 16x2 VP 4
JP1 0.1uF VREF R5 100K C6 .1uF
17 2 DTMF TONE IN
1 VCC 5V R7 270K RT/GT VN
2 16 3
3 E EST GS
4 C4

40
GND U1 INT0 15 R6 100K 33pF
5 RS DV 7
6 X1

VCC
39 21 11
7 38 P0.0/AD0 P2.0/A8 22 12 D0 Y2
8 P0.1/AD1 P2.1/A9 D1

VSS
37 23 13 3.58MHz
9 36 P0.2/AD2 P2.2/A10 24 14 D2 8
10 35 P0.3/AD3 P2.3/A11 25 D3 X2
11 34 P0.4/AD4 P2.4/A12 26 C5 33pF
12 33 P0.5/AD5 P2.5/A13 27 E 5V

9
13 32 P0.6/AD6 P2.6/A14 28 RS 5V
14 VCC P0.7/AD7 P2.7/A15
15 GND 1 10 R9
16 2 P1.0 P3.0/RXD 11 R8 10K
3 P1.1 P3.1/TXD 12 INT0 470E 
c


4 P1.2 P3.2/INTO 13

2
SW1 5 P1.3 P3.3/INT1 14 D1
5V RESET 6 P1.4 P3.4/TO 15 Q1
1 2 7 P1.5 AT89C51 P3.5/T1 16 1
8 P1.6 P3.6/WR 17 LED c

C1 P1.7 P3.7/RD
9 29
RST PSEN

3
30 R2 10K
ALE/PROG
XTAL1

XTAL2

31
GND

10uF 10K EA/VPP 5V 12V

R1

16
19

18

20

8
VCC2
VCC1
2 3 RIGHT+VE
7 1A 1Y 6 RIGHT-VE
Y1
10 2A 2Y 11 LEFT +VE
15 3A 3Y 14 LEFT -VE
12MHz 1 4A 4Y 12
9 1,2EN GND 13
C3 4 3,4EN GND 5
C2 GND GND
33pF 33pF
U2

L293D

Title
MOSS

Size Document Number Rev

A <Doc> A

Date: Sheet 1 of 1
 !% !$ "

@This system is applicable to diverse exploration

projects

@It can be controlled from any part of the

worldh
 !% !$ "
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@If smaller hardware, then it is useful search into
small holes and corners that cannot size human body

@It can be made a much more sophisticated

surveillance system that makes it suitable for any sort
of surveillance and exploration operations.
 
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