DTMF CONTROLLED ROBOT USING 89s51

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ABSTRACT
In this project, the robot is controlled by a mobile phone that makes a call to the
mobile phone attached to the robot micro-controller.
In the course of a call, if any key is pressed, a tone corresponding to that key
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 on the
robot.
The received tone is processed by the microcontroller with the help of decoder
circuit.
Microcontroller then sends signals to the motor driver IC to operate the motors.
The metal detector circuit mounted on the robot detects any metal object around
it and transmits the signal wirelessly.
This robot is password protected.

INDEX
CHAPTER 1 : INTRODUCTION

.4

CHAPTER 2 : LITERATURE SURVEY..5 -6

2.1
2.2
2.3
2.4
2.5

IC MT8870C
IC 89S51
IC L293D
ROBOT
DTMF

CHAPTER 3 : SYSTEM DESIGN 7 -22

3.1 System Specification
3.2 System block diagram with explanation
3.3 Transmitter Module
3.4 Receiver Module
3.5 Explanation of Modular Design
3.6 Metal Detector Module
3.7 System Flowchart
3.8 Artwork layout

CHAPTER 4 : RESULT & DISCUSSION 23

CHAPTER 5 : CONCLUSION 24
CHAPTER 6 : APPENDIX . 25
CHAPTER 7 : REFERENCE ..27

CHAPTER - 1
INTRODUCTION
This project is designed using DTMF( Dual Tone Multiple Frequency) decoder to come
over the problems with RF-ID.
Generally RF-ID has very limited frequency range, limited distance range & limited controls.
But mobile phone using DTMF has working range as the coverage area of the service provider.
Hence user can send our robot anywhere on the earth & control it being at our place.
We have used ATMEGA 16 as the micro-controller of the robot. The IC of DTMF decoder
is MT8870C. This IC receives the DTMF tone from phone through headset. Its inner decoder
circuit converts the tone into respective BCD code.
The BCD output of 8870 IC is given to 89S51. The software code is
burnt to microcontroller IC using ISP programmer. The code is written in C language using
WINAVR - Programmers Notepad. The Hex file of the code is burnt to AVR. AVR
drives 2 DC motors according to the code burnt to it. But the output current available
at the output of the micro-controller is not sufficient to drive motors. Hence we have
used motor driver IC L293D at the output of AVR. And output of driver IC drives
motors.
Power supply circuit is connected to the main circuit. 5V voltage regulator
IC 7805 is used to supply 5V to DTMF decoder and IC 7812 to supply 12 V to AVR & motor
driver L293D. As plugging to AC input does not allow to move the robot more than 3 m range
hence
This circuit requires 12V DC rechargeable battery.
The complete circuit layout is made by EAGLE software.

CHAPTER - 2
LITERATURE SURVEY
2.1 IC MT8870C
This IC is used in this project for following features:

It provides full DTMF receiver capability.

Less than 35mW power consumption.

It uses digital counting techniques for detection and decoding of all 16

DTMF tone pairs into a 4-bit code.

It requires only a low cost TV crystal or ceramic resonator as an external

component.

Other Applications of MT8870C :

PABX
Central office
Mobile radio
Remote control
Remote data entry
Call limiting
Telephone answering systems
Paging systems

2.2 IC 89S51
This IC is used in this project for following features:

The PWM feature can be used to control speed of DC motor.

It has 4KB flash program memory

Other Applications of 89S51 :

Faster & higher program memory applications

Multiple input output applications

2.3 IC L293D
This IC is used in this project for following features:

600mA output current capability per channel.

Enable facility.

Other Applications of L293D:

It drives inductive loads ,such as- relays, solenoides,

DC and stepping motors .

Switching power transistors

2.4 ROBOT
This robot is manually operated robot by DTMF keypad and decoder circuit . It has ATMEGA
16 Microcontroller . It is password protected . It moves forward, reversed, left ,right and stops
according to programming.
It detects metal objects .

2.5 DTMF
Dual-tone multi frequency signalling (DTMF) 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.

CHAPTER - 3
SYSTEM DEVELOPMENT
3.1

SYSTEM SPECIFICATIONS :

Mechanical specifications :
ROBOT Dimensions
Length

30cm

Breadth

20 cm

Weight

475 gm

Height

8cm

Maximum speed

200rpm

Material used

Bakelite

Motors used

12 volts 200 rpm motor

Electronical specifications :
Input current

Input voltage

output current

output voltage

AVR output

12.06 v

3.2 SYSTEM BLOCK DIAGRAM WITH EXPLANATION

7

12 V Battery

DC Motor 1

DTMF
Decoder

Mobile

Motor
Driver

89s51

DC Motor 2

Fig 2.1 block diagram of Robot/Receiver Module

EXPLANATION OF BLOCK DIAGRAM

MOBILE :
This system requires any GSM mobile phone with headsets connectivity .Two mobiles are
required one as transmitter & other as receiver. Transmitter calls receiver mobile which is in
auto receive mode. Call is received automatically; then DTMF tones which are sent by
transmitter are received by receiver. Receiver sends the DTMF tone to DTMF decoder via
headsets.

DTMF DECODER :

This system uses DTMF IC MT8870C. This IC provides full DTMF receiver capability by
integrating both the band split filter & digital decoder functions into a single 18 pin IC.Inbuilt
decoder circuit converts the DTMF tone into 4 bit BCD output.
89S51 :
This system uses AVR ATMEGA 16.Output of DTMF decoder is parallaly given to the
microcontroller at the lower nibble of port B. The AVR controller then passes the command to
the motor driver ICs for motion.
The output is given to the motor driver IC from upper nibble of port B.
POWER SUPPLY :
This system requires 12V & 5V supply. So battery of 12 volts & 500 mA is used.
LM7812 & LM7805 regulator ICs are used.
MOTOR DRIVER IC :
The output of microcontroller is given to the motor driver IC L293D. As output current of
microcontroller is insufficient to drive the motors; motor driver IC is required. Also it protects
microcontroller IC from large reverse voltage spikes produced by motors.
DC MOTORS :
DC motors are connected to motor driver IC. 12 volts, 100 rpm DC motors are used which
move the wheels.
METAL DETECTOR CIRCUIT :
The metal detector when detects a metal passes a signal turns the buzzer on. So we can use this
robot for detecting the metal.

3.3 TRANSMITTER MODULE:

FORWARD

LEFT

RIGHT

STOP

REVERSE

10

3.4 RECEIVER MODULE

11

12

3.5 Explanation of Modular Design

MICRO-CONTROLLER (89s51):
Low-power, high-performance CMOS 8-bit microcontroller with 8K bytes of in-system
programmable Flash memory. The device is manufactured using Atmels high-density nonvolatile
memory technology and is compatible with the industry- standard 8051 instruction set and pin-out.
The on-chip Flash allows the program memory to be reprogrammed in-system or by a
conventional nonvolatile memory programmer. By combining a versatile 8-bit CPU with in-system
programmable Flash on a monolithic chip, the Atmel 89s51 is a powerful microcontroller which
provides a highly-flexible and cost-effective solution to many embedded control applications. The
89s51 provides the following standard features: 8K bytes of Flash, 256 bytes of RAM, 32 I/O
lines, Watchdog timer, two data pointers, three 16-bit timer/counters, a six-vector two-level
interrupt architecture, a full duplex serial port, on-chip oscillator, and clock circuitry. In addition,
the 89s51 is designed with static logic for operation down to zero frequency and supports two
software selectable power saving modes. The Idle Mode stops the CPU while allowing the RAM,
timer/counters, serial port, and interrupt system to continue functioning. The Power-down mode
saves the RAM contents but freezes the oscillator, disabling all other chip functions until the next
interrupt or hardware reset.
This is the most important segment of the project, i.e. the microcontroller AVR. The
controller is responsible for detection and polling of the peripherals status. It is responsible for
making decisions for decoding the DTMF output and giving control signal to Motors through
motor driver ICs. It is responsible for prioritizing all the devices attached to it.
We have used the ATMEL 89s51 microcontroller. The 89s51 is a low-power, highperformance CMOS 8-bit microcontroller with 16K bytes of in-system programmable Flash
memory. It has got 32 I/O lines, Watchdog timer, two data pointers, three 16-bit timer/counters,
six-vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator, and a clock
circuitry.

13

It is the major part of the system which controls all the operation of the circuit such as
motor interfacing. It also decides the control signal to be given to DC motors along with the time
duration for which they should be given.

Pin no.
PA.0
PA.1
PA.2
PA.3
PA.4
PA.5
PA.6
PA.7

Description
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected

Pin no.
PC.0
PC.1
PC.2
PC.3
PC.4
PC.5
PC.6
PC.7

description
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected

PB.0
PB.1
PB.2
PB.3
PB.4
PB.5
PB.6
PB.7

DTMF Decoder
DTMF Decoder
DTMF Decoder
DTMF Decoder
MOTOR DRIVER
MOTOR DRIVER
MOTOR DRIVER
MOTOR DRIVER

PD.0
PD.1
PD.2
PD.3
PD.4
PD.5
PD.6
PD.7

Not Connected
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected
Not Connected

POWER SUPPLY MODULE

1) BATTERY:
BATTERY is the main component of the power supply module. We have used Battery as
we have to generate 5 volts and 12 volts DC supply so we have used 12 volts / 500 mA Batteries
which mean its output will be 12 volts with current rating of 500 mA.
2) FILTER CAPACITOR:
As mentioned above we have to use filter capacitor to remove the signal from the output of
battery.

3) VOLTAGE REGULATOR:

14

Two separate voltage regulators are used after the filter capacitor so as to generate constant
DC voltage supply of 5 volts and 12 volts. We have used 7805 and 7812 as a voltage regulator.
Both of them are three pin IC which are namely input, ground and output. We have to give out put
of filter capacitor to the input of regulator, and we get 5 volts and 12 volts supply at the output pin
of the respective regulator.
CRYSTAL CIRCUIT: Diagram: -

Working: - The circuit consists of one crystal and two capacitors. The crystal is used to give the
microcontroller the required periodic pulses to make it function properly. The crystal used in the
project is of 12 MHz. The two capacitors are connected to two pins of the crystal and are grounded
at the other ends
RESET CIRCUIT: Diagram: -

Working: - The circuit gives the required starting pulse to the microcontroller to start the
operation from the very beginning. The 89s51 microcontroller requires the active high reset pulse.
So the capacitor is connected to positive supply and the resistor is grounded.

Pull Up Resistors:
Diagram: -

15

Working: - The microcontroller pins cannot be connected to the MOTOR DRIVER directly
because the microcontroller cannot supply all the required current. So the required remaining
current is provided through the pull-up resistors. They are designed to supply just the enough
current to the motor driver circuit.

DTMF DECODER

16

Features of MT8870 DTMF Decoder IC:

Full DTMF receiver
Less than 35mW power consumption
Industrial temperature range
Uses quartz crystal or ceramic resonators
Adjustable acquisition and release times
18-pin DIP, 18-pin DIP EIAJ, 18-pin SOIC ,20-pin PLCC

17

Advantages of DTMF control over RF control

Conventionally, wireless-controlled robots use RF modules, which have the drawbacks of
limited working range, limited frequency range and limited control.
Use of 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.

DTMF KEYPAD FREQUENCIES

1209 Hz

1336 Hz

1477 Hz

1633 Hz

697 Hz

770 Hz

852 Hz

941 Hz

18

3.7

SYSTEM FLOWCHART:
START

INITIALIZATION
CLEAR ALL BITS
OF MOTOR PINS
INITILIZE DTMF
CODE
READ THE DTMF
PORT
PA0 =
PA1 =
PA2 =
PA3 =

0
1
0
1

PA0 =
PA1 =
PA2 =
PA3 =

1
0
1
0

DTM
F = 2

DT
MF=
8
DT
MF
=4

PA0 =
PA1 =
PA2 =
PA3 =

0
1
0
0

DT
MF
= 6

PA0 =
PA1 =
PA2 =
PA3 =

0
0
0
1

PA0 =
PA1 =
PA2 =
PA3 =

0
0
0
0

DT
MF LAYOUT
3.8 ARTWORK
= 5

PCB Layout

STOP

19

20

CHAPTER - 4

RESULTS AND DISCUSSIONS

This design can be implemented further in border security & on mine field. It can send CCTV
signals to security system if camera is installed in it. Hence it can be used as real time servellience
system also.
INPUT

INPUT

DIRECTION
MOTOR INPUT

KEYS

FREQUENCY TO

OF MOTION

RECEIVER
( in Hz)

R2

R1

L2

L1

697 - 1336

FORWARD

770 - 1209

LEFT

770 - 1477

RIGHT

852 - 1336

BACKWARD

770 - 1336

STOP

APPLICATIONS: This robot can be used in the borders for disposing hidden land mines.
The robot can be used for reconnaissance or surveillance.
The robot can be used anywhere there is the service provider tower of the connection provided
that is mounted on the robot.

21

CHAPTER - 5
CONCLUSION

Moves in forward direction ,reverse direction. It can turn left or right while moving forward or
in reverse direction.
Instant reverse or forward running without stopping on the spot left or right turn to pass
through the narrow space
On the way it detects metal & buzzes. It starts movement only after checking the password.

22

CHAPTER 6
APPENDIX

Datasheet of
Datasheet of
Datasheet of
Datasheet of
Datasheet of

IC MT8870C
IC 89S51
IC L293D
IC 7805
IC 7812

COMPONENT LIST
Sr.no
1.

2.

3.

Components

Specifications
Price

Quantity

1000microF
100microF
10microF
104picoF
33picoF
22picoF

8
4
2
1
1
1

1
2
1
2
2
2

89s51
L293D
CM8870
7805
7812

125
70
60
10
10

1
1
1
1
1

10k ohm

0.5

Capacitor

ICs

Resistor

23

330k ohm
100k ohm
4.

6.
7.
8.
9.
10.
11.
12.

2
2

8
9

1
1

175
50
80
475
150
200
3

2
2
1
1
1
1
4

Crystal oscillator
11.0592MHz
3.579545 MHz

5.

0.5
0.5

LED
Motor
Wheels
Castro wheel
Battery
Mobile headphone
Robot Chassis
2 Pin connectors

12 volts,100 rpm
(Freewheeling)
12v

TOTAL COST

1679

24

CHAPTER -7
REFERENCES

1. The 8051 Microcontroller: Architecture, Programming, and Applications

By
Kenneth_Ayala

2. Micro Controllers [Theory And Applications ]

By

Ajay V. DeshmukhTata McGraw. Hill. 8.

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