PRESENTATION ON
WIRELESS
CONTROLLED
VEHICLE
WHY…?
• Conventionally, wireless-controlled robots use RF circuits, which
have the drawbacks of limited working range, limited frequency
range and limited control.
SO…
• Use of a mobile phone for robotic control can overcome these
limitations.
• It provides the advantages 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.
• Long lasting.
INTRODUCTION
• In this project, the robot is controlled by a mobile phone that
makes a call to the mobile phone attached to the robot.
• 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
‘dual-tone multiple-frequency’ (DTMF) tone. The robot perceives
this DTMF tone with the help of the phone stacked in the robot.
• The received tone is processed by the micro-controller 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 pre programmed to take a decision for any
given input and outputs it’s 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.
BLOCK DIAGRAM
The block diagram of the
cell phone based land
rover consists of the
following blocks. They
are:-
• DTMF Decoder
• Microcontroller
DTMF DECODER CM8870
• DTMF stands for DUAL TONE MULTI FREQUENCY,
DTMF signaling is used for telecommunication
signalling over analog telephone lines in the voice-
frequency band between telephone handsets and other
communications devices and the switching centre .
• The version of DTMF used for telephone tone dialling is
known by the trademarked term Touch-Tone Other multi-
frequency systems are used for signalling internal to the
telephone network.
• DTMF tones were also used by cable television
• The version of DTMF used for
telephone tone dialing is known
as ‘Touch-Tone’. DTMF assigns a
specific frequency 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 ‘5’ will
send a tone made by adding
MT8870:
• The MT8870D/MT8870D-1 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. The features of MT 8870 are:
• Complete DTMF Receiver
• Low power consumption
• Internal gain setting amplifier
• Adjustable guard time
• Central office quality
• Power-down mode
• Inhibit mode
74LS04 HEX INVERTERS
THE FUNCTIONAL TABLE AT EACH THESE DEVICES CONTAIN SIX
INVERTER IS AS FOLLOWS: INDEPENDENT INVERTERS. THE IC
PACKAGE IS AS FOLLOWS.
ATMEL 89C51
• AT89C51 is an 8-bit microcontroller and belongs to Atmel's 8051
family. AT89C51 has 4KB of Flash programmable and erasable
read only memory (PEROM) and 128 bytes of RAM.
• In 40 pin AT89C51, there are four ports designated as P 1, P2, P3
and P0. All these ports are 8-bit bi-directional ports, i.e., they can
be used as both input and output ports. Except P0 which needs
external pull-ups, rest of the ports have internal pull-ups.
• When 1s are written to these port pins, they are pulled high by the
internal pull-ups and can be used as inputs. These ports are also
bit addressable and so their bits can also be accessed individually.
Port P0 and P2 are also used to provide low byte and high byte
• Port 3 has multiplexed pins for special functions like serial
communication, hardware interrupts, timer inputs and read/write
operation from external memory. AT89C51 has an inbuilt UART
for serial communication. It can be programmed to operate at
different baud rates. Including two timers & hardware interrupts, it
has a total of six interrupts.
• These ports are also bit addressable and so their bits can also be
accessed individually. Port P0 and P2 are also used to provide low
byte and high byte addresses, respectively, when connected to
an external memory. Port 3 has multiplexed pins for special
functions like serial communication, hardware interrupts, timer
inputs and read/write operation from external memory. AT89C51
has an inbuilt UART for serial communication. It can be
PIN CONFIGURATION:
• AT89C51 FEATURES:
• Compatible with MCS-51™ Products
• 4K Bytes of In-System Reprogrammable Flash Memory
• Endurance: 1,000 Write/Erase Cycles
• Fully Static Operation: 0 Hz to 24 MHz
• 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
INFRARED SENSOR:
• In this IR detector and transmitter circuit the IC 555 is
working under astable mode. The pin 4 i.e. reset pin is
when grounded via IR receiver the pin 3 output is low.
• As soon as the IR light beam transmitted is
obstructed, a momentary pulse actuates the relay
output (or LED).
• The IR transmitter is simple series connected resistor
network from battery. The timing capacitor connected
WORKING OF THE INFRARED SENSOR
WORKING OF THE INFRARED SENSOR
RELAY
• Relay is a common, simple application of
electromagnetism. It uses an electromagnet
made from an iron rod wound with hundreds of
fine copper wire.
• When electricity is applied to the wire, the rod
becomes magnetic. A movable contact arm
above the rod is then pulled toward the rod until
it closes a switch contact.
• When the electricity is removed, a small spring
pulls the contract arm away from the rod until it
closes a second switch contact. By means of
• Or we can say that, a relay is an electrical switch that opens
and closes under control of another electrical circuit. In the
original form, the switch is operated by an electromagnet to
open or close one or many sets of contacts.
• It was invented by Joseph Henry in 1835. Because a relay is
able to control an output circuit of higher power than the input
circuit, it can be considered, in a broad sense, to be a form of
USES OF RELAY:
• to control a high-voltage circuit
with a low-voltage signal, as in
some types of modems,
• to control a high-current circuit
with a low-current signal, as in
the starter solenoid of an
automobile,
• to detect and isolate faults on
transmission and distribution
lines by opening and closing
circuit breakers (protection
L293D
• The L293 and L293D are quadruple high-current half-H
drivers. The L293 is designed to provide bidirectional drive
currents of up to 1 A at voltages from 4.5 V to 36 V.
• The L293D is designed to provide bidirectional drive currents
of up to 600-mA at voltages from 4.5 V to 36 V. Both devices
are designed to drive inductive loads such as relays,
solenoids, dc and bipolar stepping motors, as well as other
high-current/high-voltage loads in positive-supply
applications.
• All nputs are TTL compatible. Each output is a complete
totem-pole drive circuit, with a Darlington transistor sink and
a pseudo-Darlington source. Drivers are enabled in pairs, with
drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled
by 3,4EN. When an enable input is high, the associated
drivers are enabled and their outputs are active and in phase
with their inputs
• . When the enable input is low, those drivers are disabled
and their outputs are off and in the high-impedance state.
With the proper data inputs, each pair of drivers forms a full-
H (or bridge) reversible drive suitable for solenoid or motor
applications.
WORKING
• In order to control the robot, you need to make a call 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. So after a ring, the cellphone
accepts the call. Now you may press any button on your mobile to perform actions as listed
in Table III. The DTMF tones thus produced are received by the cellphone in the robot.
These tones are fed to the circuit by the headset of
cellphone.
• 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 you press key ‘2’ (binary equivalent 00000010) on your mobile phone, the
microcontroller outputs ‘10001001’ binary equivalent. Port pins PD0, PD3 and PD7 are
high. The high output at PD7 of the microcontroller drives the motor driver (L293D). Port
pins PD0 and PD3 drive motors M1 and M2 in forward direction. Similarly, motors M1 and
M2 move for left turn, right turn, backward motion and stop condition as per Table III.
SOURCE CODE:
#include<reg51.h>
char getPassword='0';
char getCommand='0';
char digit;
unsigned int i=0;
unsigned int nDigits=0;
unsigned char password[9];
char original[9]={'5','5','4','3'};
sbit q3=P1^3;
sbit q2=P1^2;
sbit q1=P1^1;
sbit q0=P1^0;
char equal='1';
sbit Bm=P2^0;
sbit Am=P2^1;
sbit r=P2^6;
sbit l=P2^7;
void ex0_isr(void) interrupt 0
if(getPassword=='1')
{ if(q3==0&q2==0&q1==0&q0==0)
digit='0';
else if(q3==0&q2==0&q1==0&q0==1)
digit='1';
else if(q3==0&q2==0&q1==1&q0==0)
digit='2';
else if(q3==0&q2==0&q1==1&q0==1)
digit='3';
else if(q3==0&q2==1&q1==0&q0==0)
digit='4';
else if(q3==0&q2==1&q1==0&q0==1)
digit='5';
else if(q3==0&q2==1&q1==1&q0==0)
digit='6';
else if(q3==0&q2==1&q1==1&q0==1)
digit='7';
else if(q3==1&q2==0&q1==0&q0==0)
digit='8';
else if(q3==1&q2==0&q1==0&q0==1)
digit='9';
else if(q3==1&q2==1&q1==0&q0==0)
digit='#';
password[nDigits++]=digit;
if(getCommand=='1')
//if(q3==0&q2==0&q1==0&q0==0)
//P2=0x01;
if(q3==0&q2==0&q1==0&q0==1) //1 for glowing left LED
{l=1;}
else if(q3==0&q2==0&q1==1&q0==0) //2 for forward direction
{Am=0;Bm=1;}
else if(q3==0&q2==0&q1==1&q0==1) //3 for glowing right LED
r=1;
//else if(q3==0&q2==1&q1==0&q0==0)
//P2=0x10;
else if(q3==0&q2==1&q1==0&q0==1) //5 to stop the car
{Am=0;Bm=0;}
else if(q3==1&q2==0&q1==0&q0==0) //8 for backward direction.
{Am=0;Bm=0;}
else if(q3==0&q2==1&q1==1&q0==1) //7 for left LED to stop glowing
{l=0;}
else if(q3==1&q2==0&q1==0&q0==1) //9 for right LED to stop glowing
r=0;
else if(q3==1&q2==0&q1==1&q0==1)
{ getCommand='0';
getPassword='1';
return;
void main(void)
getCommand='0';
getPassword='1';
P1=0xff;
P2=0x00;
TCON=0x01;
IE=0x81;
HOME : while( nDigits==0){}
while(password[nDigits-1]!='#'){}
password[nDigits-1]='\0';
i=0;
equal='1';
while(i<nDigits)
{
if(password[i]!=original[i])
{
equal='0';
break;
}
i++;
}
if(equal=='1')
{
getPassword='0';
getCommand='1';
nDigits=0;
password[0]='\0';
goto HOME;
}
if(equal=='0')
nDigits=0;
password[0]='\0';
goto HOME;
}
}
ADVANTAGES:
• Wireless control
• Surveillance System.
• Vehicle Navigation with use of 3G technology.
• Takes in use of the mobile technology which is almost
available everywhere.
• This wireless device has no boundation of range and can
be controlled as far as network of cell phone
DISADVANTAGES:
• Cell phone bill.
• Mobile batteries drain out early so charging problem.
• Cost of project if Cell phone cost included.
• Not flexible with all cell phones as only a particular ,cell
phone whose earpiece is attached can only be used.
CONCLUSION
• Conventionally, wireless-controlled robots use RF circuits, which have
the drawbacks of limited working range, limited frequency range and
limited control. In our project with the use of a mobile phone for robotic
control can overcome these limitations.
• It provides the advantages 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. Although the appearance and
capabilities of robots vary vastly, all robots share the features of a
mechanical, movable structure under some form of control.
• The control of robot involves three distinct phases: reception,
processing and action. Generally, the preceptors are sensors mounted
on the robot, processing is done by the on-board microcontroller or
Query…!!!
