MALWA INSTITUTE OF TECHNOLOGY

Indore Dewas Bypass Road, Indore-462016

Approved By AICTE & Affiliated to RGPV Bhopal

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: Submitted By:

Miss Sheetal Bawane (H.O.D.) Navneet Chandak

[Link] Mehta Ashish Shrivastav
Miss Neelima Baghel
 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

[Link]. TITLE PAGE NO.

1 LIST OF FIGURES…………………………………………………..06
2 LIST OF TABLES…………………………………………………….07
3 PREFACE………………………………………………………………08
3.1 Introduction………………………………………………..09
3.2 Block Diagram……………………………………………..10
3.3 Technology Used…………………………………………11
3.3.1 Dual Tone Multi Frequency……………………11
3.3.2 Telephone Keypad…………………………………12
4 LITERATURE SURVEY……………………………………………13
4.1 Components Used………………………………………14
4.2 Description Of Components……………………….15
5 DESIGN OF IMPLEMENTATION…………………………….19
5.1 Circuit Diagram…………………………………………..20
5.2 PCB Layout…………………………………………………21
6 WORKING……………………………………………………………22
7 SCOPE OF THE PROJECT……………………………………….24
7.1 APPLICATIONS…………………………………………….25
7.2 ADVANTAGES & DISADVANTAGES………………27
7.3 FUTURE SCOPE……………………………………………28
8 BIBLOGRAPHY……………………………………………………..31
9 DATA SHEETS……………………………………………………….32

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LIST OF FIGURES:

1. Block Diagram
2. DTMF Keypad Frequencies
3. DTMF Telephone Keypad
4. Pin Diagram Of L298N
5. Voltage Converter (KA7805)
6. Various Resistors
7. Circuit Diagram
8. PCB Layout

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LIST OF TABLES:

1. Components Used
2. DTMF Data Output Table

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 PREFACE

3.1 INTRODUCTION:

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 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.

3.2 BLOCK DIAGRAM:

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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.

3.3 TECHNOLOGY USED:

3.3.1 Dual-Tone Multi-Frequency (DTMF):

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 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.

3.3.2 Telephone Keypad:

The contemporary keypad is laid out in a 3×4 grid,

although the original DTMF keypad had an additional column for four now-
defunct menu selector keys. When used to dial a telephone number, pressing a

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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

4.1 COMPONENTS USED:

Component Rating No.

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DTMF Decoder IC HT 9170 B 01
Motor Driver IC L 298 N 01
Voltage Converter IC IC 7805 01
Resistor 100 K 02
Resistor 300 K 01
Capacitor 22 pF 02
Capacitor 0.1 uF 02
Crystal Oscillator 3.57 MHz 01
Battery 6 Volts 01
Robotic Base 01
Cell Phones 02
Audio Cable 01

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

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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.

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 full-
bridge 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

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sensing resistor. An additional supply input is provided so that the logic works at
a lower voltage.

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

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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.

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

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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

5.1 CIRCUIT DIAGRAM:

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5.2 PCB LAYOUT:

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 WORKING

6.1 WORKING:

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 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:

Scientific:

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 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.

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

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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.

IR Sensors:

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 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

BIBLOGRAPHY:

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Text Books Referred:

1. ‘THE CIRCUIT SCRAPBOOK’ by Forrest Mims.

2. ‘Electronics Devices and Circuits’ by A.P. Godse, U.A. Bakshi.
3. ‘CNC Robotics’ by Geoff Williams.
4. Hand book for ic’s from analogical device.

Websites viewed:

1. [Link]/english/docum/comm/[Link]
2. [Link]/
3. [Link]/[Link]
4. [Link]/res_counter.php?ide=17
5. [Link]/datasheets_pdf/L/.../[Link]

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DATA SHEETS

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