MALWA INSTITUTE OF TECHNOLOGY

Indore Dewas Bypass Road, Indore-462016 Approved By AICTE & Affiliated to RGPV Bhopal

A PROJECT REPORT ON MOBILE CONTROLLED ROBOT

In partial fulfillment for the award of the degree Of

BACHELOR OF ENGINEERING
In

ELECTRONICS & COMMUNICATION ENGINEERING

Session 2011-2012

Submitted To: Miss Sheetal Bawane (H.O.D.) Mr.Rohit Mehta Miss Neelima Baghel

Submitted By: Navneet Chandak Ashish Shrivastav

CERTIFICATE

This is to certify that Navneet Chandak and Ashish Shrivastav student of B.E. third year electronics & communication engineering in the academic year 2011-2012 of this institute have completed their project work entitled MOBILE CONTROLLED ROBOT and submit a satisfactory report as a part of requirement for the award of degree of bachelor of engineering from Rajiv Gandhi Technical University, Bhopal, (M.P.)

SIGNATURE

SIGNATURE

Internal Examiner

External Examiner

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DECLARATION

I hereby declare that the work presented in this project titled MOBILE CONTROLLED ROBOT submitted towards completion of minor project in sixth semester of B.E. (EC) at the Malwa Institute Of Technology (MIT), indore. It is an authentic record of my original work pursued under the guidance of Mr. Rohit Mehta, Miss Neelima Baghel, professors, MIT indore.

I have not submitted embodied in this project for the award of any other degree.

Place: Indore Date: Navneet Chandak Ashish shrivastav

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ACKNOWLEDGEMENT

Firstly and foremost, we would like to express our gratitude towards Mr. Rohit Mehta and Miss Neelima Baghel, department of Electronics & Communication. We take pride in saying that we have successfully completed our minor project under their able guidance. They were a major support to us throughout our project, be available at all hours with their ideas, inspiration and encouragement. It is through their competent guidance that we have been able to complete this project.

We are also thankful to Miss Sheetal Bawane, Head of Department, Electronics & Communication for intending all the facilities needed to carry out this work.

We would also like to thank all the laboratory staff for their suggestions that led us to improve our project to this perfection.

Navneet Chandak Ashish Shrivastav

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CONTENTS
S.NO. TITLE PAGE NO.

1 2 3

6 7

8 9

LIST OF FIGURES LIST OF TABLES PREFACE 3.1 Introduction 3.2 Block Diagram 3.3 Technology Used 3.3.1 Dual Tone Multi Frequency 3.3.2 Telephone Keypad LITERATURE SURVEY 4.1 Components Used 4.2 Description Of Components DESIGN OF IMPLEMENTATION 5.1 Circuit Diagram 5.2 PCB Layout WORKING SCOPE OF THE PROJECT 7.1 APPLICATIONS 7.2 ADVANTAGES & DISADVANTAGES 7.3 FUTURE SCOPE BIBLOGRAPHY DATA SHEETS

..06 .07 08 ..09 ..10 11 11 12 13 14 .15 .19 ..20 21 22 .24 .25 27 28 ..31 .32

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LIST OF FIGURES:

1. 2. 3. 4. 5. 6. 7. 8.

Block Diagram DTMF Keypad Frequencies DTMF Telephone Keypad Pin Diagram Of L298N Voltage Converter (KA7805) Various Resistors Circuit Diagram PCB Layout

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LIST OF TABLES:

1. 2.

Components Used DTMF Data Output Table

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PREFACE

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3.1 INTRODUCTION:

Radio control (often abbreviated to R/C or simply RC) is the use of radio signals to remotely control a device. The term is used frequently to refer to the control of model vehicles from a hand-held radio transmitter. Industrial, military, and scientific research organizations make [traffic] use of radio-controlled vehicles as well.

A remote control vehicle is defined 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 often a radio control device, cable between control and vehicle. A remote control vehicle (Also called as RCV) differs from a robot in that the RCV is always controlled by a human and takes no positive action autonomously.

One of the key technologies which underpin this field is that of remote vehicle control. It is vital that a vehicle should be capable of proceeding accurately to a target area; maneuvering within that area to fulfill its mission and returning equally accurately and safely to base.

Recently, Sony Ericsson released a remote control car that could be controlled by any Bluetooth cell phone. Radio is the most popular because it does not require the vehicle to be limited by the length of the cable or in a direct line of sight with the controller (as with the infrared set-up). Bluetooth is still too expensive and short range to be commercially viable.

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3.2 BLOCK DIAGRAM:

DISCRIPTION:
As shown in the above block diagram, first block is the cell phone. So, it acts as a DTMF generator with tone depending upon key pressed. DTMF Decoder, i.e., IC HT9170 decodes the received tone and gives binary equivalent of it to motor driver IC L298 which will drive the two DC motors connected to it. The concept used for driving is Differential Drive . So ultimately two motors rotate according to the key pressed on the keypad of the cell phone.

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3.3 TECHNOLOGY USED:

3.3.1 Dual-Tone Multi-Frequency (DTMF): Dual-tone multi-frequency (DTMF) signaling is used for telecommunication signaling over analog telephone lines in the voice-frequency band between telephone handsets and other communications devices and the switching center. The version of DTMF used for 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-frequency systems are used for signaling internal to the telephone network. As a method of in-band signaling, DTMF tones were also used by cable television broadcasters to indicate the start and stop times of local commercial insertion points during station breaks for the benefit of cable companies. Until better out-of-band signaling equipment was developed in the 1990s, fast, unacknowledged, and loud DTMF tone sequences could be heard during the commercial breaks of cable channels in the United States and elsewhere.

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3.3.2 Telephone Keypad: The contemporary keypad is laid out in a 34 grid, although the original DTMF keypad had an additional column for four nowdefunct menu selector keys. When used to dial a telephone number, pressing a single key will produce a pitch consisting of two simultaneous pure tone sinusoidal frequencies. The row in which the key appears determines the low frequency, and the column determines the high frequency. For example, pressing the '1' key will result in a sound composed of both a 697 and a 1209 hertz (Hz) tone. 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.

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LITERATURE SURVEY

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4.1 COMPONENTS USED:

Component
DTMF Decoder IC Motor Driver IC Voltage Converter IC Resistor Resistor Capacitor Capacitor Crystal Oscillator Battery Robotic Base Cell Phones Audio Cable

Rating
HT 9170 B L 298 N IC 7805 100 K 300 K 22 pF 0.1 uF 3.57 MHz 6 Volts

No.
01 01 01 02 01 02 02 01 01 01 02 01

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4.2 DESCRIPTION OF COMPONENTS:

DTMF Decoder (HT9170B): The HT9170 series are Dual Tone Multi Frequency (DTMF) receivers integrated with digital decoder and bandsplit filter functions. The HT9170B and HT9170D types supply power-down mode and inhibit mode operations. All types of the HT9170 series use digital counting techniques to detect and decode all the 16 DTMF tone pairs into a 4-bit code output. Highly accurate switched capacitor filters are employed to divide tone (DTMF) signals into low and high group signals. A built-in dial tone rejection circuit is provided to eliminate the need for pre-filtering.

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Motor Driver (L298N): The L298 is an integrated monolithic circuit in a 15-lead Multiwatt and PowerSO20 packages. It is a high voltage, high current dual fullbridge driver designed to accept standard TTL logic levels and drive inductive loads such as relays, solenoids, DC and stepping motors. Two enable inputs are provided to enable or disable the device independently of the input signals. The emitters of the lower transistors of each bridge are connected together and the corresponding external terminal can be used for the connection of an external sensing resistor. An additional supply input is provided so that the logic works at a lower voltage.

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Voltage Converter (KA7805): The KA78XX/KA78XXA series of three-terminal positive regulator are available in the TO-220/D-PAK package and with several fixed output voltages, making them useful in a wide range of applications. Each type employs internal current limiting, thermal shut down and safe operating area protection, making it essentially indestructible. If adequate heat sinking is provided, they can deliver over 1A output current. Although designed primarily as fixed voltage regulators, these devices can be used with external components to obtain adjustable voltages and currents.

Paper Capacitor: Paper Capacitors are typically constructed of flat thin strips of metal foil conductors that are divided by waxed paper. Paper capacitors are sealed with wax to prevent the harmful effects of moisture and to prevent corrosion and leakage. Paper capacitors usually vary in value from about 300 picofarads to about 4 microfarads. The working voltage of a paper capacitor rarely exceeds 600 volts.

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Resistor: The fixed resistors commonly used in DIY stompboxes look like small cylinders with leads (or wires) coming out of each end. Such components are called axial leaded. Resistors can be soldered onto a circuit board oriented either way; the leads are interchangeable. The leads are bent so that they can stick into holes on the circuit board. As a result, this type of resistor is also called through-hole. These resistors have a fixed value and the color bands on the cylindrical case of a resistor tell this value. The case itself identifies the type of resistor. Carbon film (labelled B and C) and metal film (labelled D) resistors are common types in stompbox builds. Older guitar effects were usually made with carbon composition resistors (labelled A).

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DESIGN OF IMPLEMENTATION

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5.1 CIRCUIT DIAGRAM:

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5.2 PCB LAYOUT:

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WORKING

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6.1 WORKING:
The important components of this robot are a DTMF decoder, and motor driver.

A HT 9170 series DTMF decoder is used here. All types of the HT 9170 series use digital counting techniques to detect and decode all the 16 DTMF tone pairs into a 4-bit code output. The built-in dial tone rejection circuit eliminates the need of pre-filtering.

When the input signals are given at pins 1(IN+) & 2(IN-) , a differential Input configuration is recognized to be effective, the correct 4-bit decode signal of the DTMF tone is transferred to (pin11) through (pin14) outputs. The pin11 to pin14 of DTMF decoder are connected to the inputs IN1 through IN4 and enable pins (EN1 and EN2) of motor driver L298 N IC.

The L298 N is a quad, high-current, half-h driver designed to provide bidirectional drive currents of up to 600mA at voltages from 4.5V to 36V. It makes it easier to drive the dc motors. The L298 N consists of four drivers. Pins IN1 through IN4 and OUT1 through OUT4 are the input and output pins, respectively of driver 1 through driver 4. Drivers 1 and 2, and driver 3 and 4 are enabled by enable pin 1(EN1) and pin 9 (EN2), respectively. When enable input EN1 (pin1) is high, drivers 1 and 2 are enabled and the outputs corresponding to their inputs are active. Similarly, enable input EN2 (pin9) enables drivers 3 and 4. The motors are rotated according to the status of IN1 to IN4 pins of L298 N which in turn are depending on output pins of HT9170B, viz., pin 11 to 14.

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SCOPE OF THE PROJECT

7.1 APPLICATIONS:
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Scientific: Remote control vehicles have various scientific uses including hazardous environments, working in the deep ocean , and space exploration. The majority of the probes to the other planets in our solar system have been remote control vehicles, although some of the more recent ones were partially autonomous. The sophistication of these devices has fueled greater debate on the need for manned spaceflight and exploration. The Voyager I spacecraft is the first craft of any kind to leave the solar system. The martian explorers Spirit and Opportunity have provided continuous data about the surface of Mars since January 3, 2004.

Military and Law Enforcement: Military usage of remotely controlled military vehicles dates back to the first half of 20th century. Soviet Red Army used remotely controlled Teletanks during 1930s in the Winter War and early stage of World War II. There were also remotely controlled cutters and experimental remotely controlled planes in the Red Army. Remote control vehicles are used in law enforcement and military engagements for some of the same reasons. The exposures to hazards are mitigated to the person who operates the vehicle from a location of relative safety. Remote controlled vehicles are used by many police department bomb-squads to defuse or detonate explosives. See Dragon Runner, Military robot. Unmanned Aerial Vehicles (UAVs) have undergone a dramatic evolution in capability in the past decade. Early UAV's were capable of reconnaissance missions alone and then only with a limited range. Current UAV's can hover around possible targets until they are positively identified before releasing their payload of weaponry. Backpack sized UAV's will provide ground troops with over the horizon surveillance capabilities.

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Search and Rescue: UAVs will likely play an increased role in search and rescue in the United States. Slowly other European countries (even some developing nations) are thinking about making use of these vehicles in case of natural calamities & emergencies. This can be a great asset to save lives of both people along with soldiers in case of terrorist attacks like the one happened in 26 Nov, 2008 in Mumbai, India. The loss of military personnel can be largely reduced by using these advanced methods. This was demonstrated by the successful use of UAVs during the 2008 hurricanes that struck Louisiana and Texas.

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

7.2 ADVANTAGES & DISADVANTAGES:

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Advantages: 1. Robust controlling. 2. Working range as large as the coverage area of the service provider. 3. Less complex circuit. 4. Vehicle Navigation with use of 3G technology.

Disadvantages: 1. It will not work where network of current sim is not available. 2. We cannot see the scenario that where to be operated in particular direction. 3. This controlling is costly because we have to pay some money to service provider for driving our robot. 4. Mobile batteries drain out early so charging problem.

7.3 FUTURE SCOPE:

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Password Protection: Project can be modified in order to password protect the robot so that it can be operated only if correct password is entered. Either cell phone should be password protected or necessary modification should be made in the assembly language code. This introduces conditioned access & increases security to a great extent.

Alarm Phone Dialer: By replacing DTMF Decoder IC HT9170 by a 'DTMF Transceiver IC HT9180, DTMF tones can be generated from the robot. So, a project called 'Alarm Phone Dialer' can be built which will generate necessary alarms for something that is desired to be monitored (usually by triggering a relay). For example, a high water alarm, low temperature alarm, opening of back window, garage door, etc. When the system is activated it will call a number of programmed numbers to let the user know the alarm has been activated. This would be great to get alerts of alarm conditions from home when user is at work.

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IR Sensors: 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.

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

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BIBLOGRAPHY

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BIBLOGRAPHY:

Text Books Referred: 1. 2. 3. 4. THE CIRCUIT SCRAPBOOK by Forrest Mims. Electronics Devices and Circuits by A.P. Godse, U.A. Bakshi. CNC Robotics by Geoff Williams. Hand book for ic s from analogical device.

Websites viewed: 1. 2. 3. 4. 5. www.holtek.com/english/docum/comm/9170.htm www.electronicsforu.com/ www.datasheetarchive.com/HT9170B-datasheet.html www.robosapiensindia.com/res_counter.php?ide=17 www.datasheetcatalog.com/datasheets_pdf/L/.../L298N.shtml

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DATA SHEETS

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