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, or an infrared
controller. 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.
 1.1 STATEMENT OF THE PROBLEM

The objective of our project, is to control the robot by a mobile phone (as
transmitter) that makes call to the mobile phone (as receiver) attached to the robot.
Now after answering the call, and in the course of the call, if any button is pressed
control corresponding to the button pressed is heard at the other end of the call.
This tone is called dual tone multi frequency tome (DTMF) robot receives this
DTMF tone with the help of phone stacked in the robot.
The received tone is processed by the 16F72 microcontroller with the help of
DTMF decoder MT8870 the decoder decodes the DTMF tone in to its equivalent
binary digit and this binary number is send to the microcontroller, the
microcontroller is preprogrammed to take a decision for any give input and outputs
its decision to motor drivers in order to drive the motors for forward or backward
motion or a turn. The mobile that makes a call to the mobile phone stacked in the
robot acts as a remote. So this simple robotic project does not require the
construction of receiver and transmitter units. DTMF signaling is used for
telephone signaling over the line in the voice frequency band to the call switching
center. The version of DTMF used for telephone dialing is known as touch
tone. DTMF assigns a specific frequency (consisting of two separate tones) to each
key s that it can easily be identified by the electronic circuit. The signal generated
by the DTMF encoder is the direct al-gebric submission, in real time of the
amplitudes of two sine (cosine) waves of different frequencies, i.e., pressing 5 will
send a tone made by adding 1336 Hz and 770 Hz to the other end of the mobile.
 Interface

SPYROBO
Cell phone as a Cell phone as a
Transmitter Receiver

FIG. 1.1 PROJECT IDEA

BACKGROUND OF THE PROBLEM

The First Remote Control Vehicle / Precision Guided Weapon :

This propeller-driven radio controlled boat, built by Nikola Tesla in 1898, is the
original prototype of all modern-day uninhabited aerial vehicles and precision
guided weapons. In fact, all remotely operated vehicles in air, land or sea. Powered
by lead-acid batteries and an electric drive motor, the vessel was designed to be
manoeuvred alongside a target using instructions received from a wireless remote
control transmitter. Once in position, a command would be sent to detonate an
explosive charge contained within the boat's forward compartment.
 The weapon's guidance system incorporated a secure communications link
between the pilot's controller and the surface-running torpedo in an effort to assure
that control could be maintained even in the presence of electronic
countermeasures. To learn more about Tesla's system for secure wireless
communications and his pioneering Implementation of the electronic logic-gate
circuit read ‘Nikola Tesla — Guided Weapons & Computer Technology’, Tesla
Presents Series Part 3, with commentary by Leland Anderson.

Use of Remote Controlled Vehicles During World War II :

During World War II in the European Theater the U.S. Air Force experimented
with three basic forms radio control guided weapons. In each case, the weapon
would be directed to its target by a crew member on a control plane. The first
weapon was essentially a standard bomb fitted with steering controls. The next
evolution involved the fitting of a bomb to a glider airframe, one version, the GB-4
having a TV camera to assist the controller with targeting. The third class of
guided weapon was the remote controlled B-17. It's known that Germany deployed
a number of more advanced guided strike weapons that saw combat before either
the V-1 or V-2. They were the radio-controlled Henschel's Hs 293A and
Ruhrstahl's SD1400X, known as "Fritz X," both air-launched, primarily against
ships at sea.
 TECHNOLOGY USED- DTMF
INTRODUCTION
DTMF (dual tone multi frequency) is the signal to the phone company that you
generate when you press an ordinary telephone's touch keys. In the United States
and perhaps elsewhere, it's known as "Touchtone" phone (formerly a registered
trademark of AT&T). DTMF has generally replaced loop disconnect ("pulse")
dialing. With DTMF, each key you press on your phone generates two tones of
specific frequencies. So that a voice can't imitate the tones, one tone is generated
from a high-frequency group of tones and the other from a low frequency group.
Here are the signals you send when you press your Touch-tone phone keys

: Digit Low High

frequency frequency
1 697 1209 Hz
2 697 1336
3 697 1477
4 770 1209
5 770 1336
6 770 1477
7 852 1209
8 852 1336
9 852 1477
0 941 1336
* 941 1209
# 941 1477
1.3.2 KEYPAD

The DTMF keypad is laid out in a 4×4 matrix, with each row representing a low
frequency, and each column representing a high frequency. Pressing a single key
(such as ‘1’) will send a sinusoidal tone for each of the two frequencies (697 and
1209 hertz (Hz)). The original keypads had levers inside, so each button activated
two contacts. The multiple tones are the reason for calling the system multi
frequency. These tones are then decoded by the switching center to determine
which key was pressed.

Fig. 1.4 Keypad:

.3.3 DTMF TONES

The sounds used for touch tone dialing are referred to as DTMF (Dual Tone
Multiple Frequencies) tones. Each number (as well as the "#" and "*") is
represented by a pair of tones. For instance, the number "1" is represented by the
frequencies 1209 Hz and 697 Hz. For example, in order to generate the DTMF
tone for "1", you mix a pure 697 Hz signal with a pure 1209 Hz signal.
Tones #, *, A, B, C, and D
The engineers had envisioned phones being used to access computers, and
surveyed a number of companies to see what they would need for this role. This
led to the addition of the number sign (#, sometimes called 'octothorpe' in this
context) and asterisk or "star" (*) keys as well as a group of keys for menu
selection: A, B, C and D. In the end, the lettered keys were dropped from most
phones, and it was many years before these keys became widely used for vertical
service codes such as *67 in the United States and Canada to suppress caller ID.
The U.S. military also used the letters, relabelled, in their now defunct AutoVIN
phone system. Here they were used before dialling the phone in order to give some
calls priority, cutting in over existing calls if need be. The idea was to allow
important traffic to get through every time. The levels of priority available were
Flash Override (A), Flash (B), Immediate (C), and Priority (D), with Flash
Override being the highest priority.

Special tone frequencies

National telephone systems define additional tones to indicate the status of lines,
equipment, or the result of calls with special tones. Such tones are standardized in
each country and may consist of single or multiple frequencies. Most European
countries use a single frequency, where the United States uses a dual frequency
system, presented in the following table.
Event Low High
Frequency Frequency
Table 1.5 Special tones
Busy Signal 480 Hz 620 Hz

Ringback 440 Hz 480 Hz

Tone (US)

Dial Tone 350 Hz 440 Hz

were initially designed with a ratio of 21/19, which is slightly less than a whole
tone. The frequencies may not vary more than ±1.8% from their nominal
frequency, or the switching center will ignore the signal. The high frequencies may
be the same volume or louder as the low frequencies when sent across the line. The
loudness difference between the high and low frequencies can be as large as 3
decibels (dB) and is referred to as "twist." The minimum duration of the tone
should be at least 70 ms, although in some countries and applications DTMF
receivers must be able to reliably detect DTMF tones as short as 45ms. As with
other multi-frequency receivers, DTMF was originally decoded by tuned filter
banks. Late in the 20th century most were replaced with digital signal processors.
DTMF can be decoded using the Goertzel algorithm

1.3.4 DTMF DECODER CONNECTED TO GSM MODULE

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 MT8870 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.

1.3.5 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 MT8870C and MT8870C-1
1.3.6 APPLICATIONS FOR DTMF DECODERS

• Paging systems
• Repeater systems/mobile radio
• Credit card systems
• Remote control
• Personal computers
• Telephone answering machine

1.4 PICTURES OF THE PROJECT MADE

FIG. STATIC MODEL

 DESCRIPTION OF PROJECT

2.1 DESIGN
Several options were considered for the design of the system. The first option was
to send DTMF signals through the cell phone and decode it at the receiving end
and control the car. However, since the robot needed to be fully controllable and a
DTMF circuit could only send 16 tones at maximum, this idea was not chosen. The
other option was to use actual voice commands to control the robot.

CELL PHONE

CELL PHONE

DTMF DECODER

MICROCONTROLLER

MOTOR DRIVER

LEFT MOTORS RIGHT MOTORS

Fig. 1.2 Block Diagram

However the team could not come up with a satisfactory decoding scheme and this
idea was not implemented either. The team decided to use another option, which
was to send two single-tone frequencies in a continuous manner and decode them
at the receiving end. This option worked best with the requirements of the project
since the two frequencies sent could be easily adjusted on the transmitter side. This
would allow a larger continuous range of frequencies to be used which would
allow a full analog range of control for the car. On the receiving end, it would be
relatively easy to decode the signal and change it into control signals. The
following block diagram summarizes the overall final design that used to solve the
problem

2.2 BLOCK DIAGRAM DESCRIPTION

As shown in the above block diagram, Fig 1.2 the over all overview of our project
is figured out and description of each component is given below :

FIRST BLOCK
It is the Cell Phone, which act as a Transmitter and it acts as a DTMF generator
with tone depending upon key pressed. According to the key pressed it sends its
tone to the receiver side.

SECOND BLOCK
And at the receiver side i.e. second block there is another cell phone which hear the
tones pressed at transmitter side and whatever it hears it send its output to towards
third block.

THIRD BLOCK
It is a DTMF Decoder, i.e., IC M8870 decodes the received tone & gives binary
equivalent to the fourth block. i.e. to Microcontroller.

FOURTH BLOCK
Microcontroller processed the output according to the programming and
appropriate output is given to fifth block.

FIFTH BLOCK
Motor Driver which is basically a H-Bridge made by Relay switches which will
drive the four DC Motors connected to it. The concept used for driving is
‘Differential Drive’. So, ultimately the four motors rotate according to the key
pressed on the keypad of the cell phone.

SIXTH AND SEVENTH BLOCK

They are DC Motors which will drive by the H-Bridge in order to move
SPYROBO from one place to another.

2.3 FLOW CHART OF THE PROJECT OPERATION

The operation of our project can be described by the flow chart given below:

START

READ THE I/P FROM

THE DTMF DECODER
(PORT A)

M1 =FWD, M2=FWD CALL

If I/P =2 APPROPRIATE
M3= FWD, M4=FWD DELAY

M1 =REV, M2=REV CALL

If I/P =8 APPROPRIATE
M3= REV, M4=REV DELAY

M1 =STOP, M2=STOP CALL

APPROPRIATE
If I/P =5
M3= STOP, M4=STOP DELAY

M1 =FWD, M2=FWD CALL

If I/P =4 APPROPRIATE
M3= REV, M4=REV DELAY

M1 =REV, M2=REV CALL

If I/P =6 APPROPRIATE
M3= FWD, M4=FWD DELAY
2.4 WHY WE ARE USING MOBILE NETWORK FOR
CONTROLLING THE ROBOT?

 Wireless-controlled robots use Radio frequency circuits, which have the

drawbacks of limited working range, limited frequency range and the limited
control.
 Mobile phone for robotic control can overcome these limitations and provides
the advantage of robust control, working range as large as the coverage area of
the service provider, no interference with other controllers.

2.5 ADVANTAGES
This project has advantages over other remote controlled devices;

• It has unlimited operating range because mobile network is worldwide.

• It has little noise interference.
• It has large bandwidth.

2.6 APPLICATIONS
• 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 fuelled 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

• SEARCH AND RESCUE
• RECREATION AND HOBBY
 DESIGN ASPECTS

For the designing of our project we require we some specific hardware and
software and then interfacing the components each other to accomplish the task
required by our project .
Hence our mainly consist of two parts-

1. Hardware
2. Software

3.1 HARDWARE REQUIREMENTS

The main components of the hardware section of our project is given as:
• Microcontroller (PIC 16F72)
• Crystal Oscillator (4 MHz)
• DTMF decoder IC(MT8870)
• Motor driver (H-bridges using Relay switches)
• DC Motor
• Optocouplers
• Voltage Regulator (IC 7805)
• Head-phone
• Wireless Camera
• TV Tuner Card
• Resistors
• Capacitors
• Transistors
• LEDs
The hardware components is described in sub-section below one by one and there
interfacing with each other.

3.1.1 MICROCONTROLLER

A microcontroller is a small computer on a single integrated circuit containing a

processor core, memory, and programmable input/output peripherals. We are using
microcontroller of Microchip Company which is controller of PIC series called as
PIC16F72. The description of this controller is given below.

3.1.1.1 PIC16F72
High Performance RISC CPU
Only 35 single word instructions to learn
• All single cycle instructions except for program branches, which are two-cycle
• Operating speed: DC - 20 MHz clock input, DC - 200 ns instruction cycle
• 2K x 14 words of Program Memory,128 x 8 bytes of Data Memory (RAM)
• Pin out compatible to PIC16C72/72A and PIC16F872.
• Interrupt capability.
• Eight-level deep hardware stack
• Direct, Indirect and Relative Addressing modes.

Peripheral features:
High Sink/Source Current: 25 mA
• Timer0: 8-bit timer/counter with 8-bit prescaler
• Timer1: 16-bit timer/counter with prescaler, can be incremented during SLEEP
via external crystal/clock
• Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler
• Capture, Compare, PWM (CCP) module
• 8-bit, 5-channel analog-to-digital converter
• Synchronous Serial Port (SSP) with SPI™ (Master/Slave) and I2C™ (Slave)
• Brown-out detection circuitry for Brown-out Reset (BOR)
Special Microcontroller features:
1,000 erase/write cycle FLASH program memory typical
• Power-on Reset (POR), Power-up Timer (PWRT) and Oscillator Start-up Timer
(OST)
• Watchdog Timer (WDT) with its own on-chip RC oscillator for reliable operation
• Programmable code protection
• Power saving SLEEP mode
• Selectable oscillator options
• In-Circuit Serial Programming™ (ICSP™) via 2 pins
• Processor read access to program memory.

Key Reference Manual PIC16F72

Features
Operating Frequency DC - 20 MHz

RESETS and (Delays) POR, BOR, (PWRT, OST)

FLASH Program Memory - (14-bit words, 2K

1000 E/W cycles)

Data Memory - RAM (8-bit bytes) 128

Interrupts 8

I/O Ports PORTA, PORTB, PORTC

Timers Timer0, Timer1, Timer2

Capture/Compare/PWM Modules 1

Serial Communications SSP

8-bit A/D Converter 5 channels

Instruction Set (No. of Instructions) 35

3.1.1.2 PIN DIAGRAM OF PIC 16F72
FIG.3.2 PIC16F72 BLOCK DIAGRAM
Fig 3.8 Interfacing of DTMF decoder IC