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INTRODUCTION
1.1. INTRODUCTION
The detection of faults inside a HVAC (Heating, Ventilating and Air-
Conditioning) duct is very difficult. The conventional system involves dismantling
of the whole duct to inspect for faults. In recent times, some efforts have been
taken to remove this difficulty with the help of robots. But, these Wireless-
controlled Robots use RF circuits, which have limited working range. Use of a
mobile phone for robotic control can overcome these limitations.
In this project, the robot is controlled by a mobile phone that makes call
to the phone attached to the robot. In the course of call, if any button is pressed,
control corresponding to the button pressed is heard at the end through DTMF.
The received tone is processed by the microcontroller (ATmega16) with
the help of DTMF decoder, which decodes the DTMF tone in to its equivalent
binary digit and this binary numbers are then send to the microcontroller. The
microcontroller is programmed to take a decision for any given input and outputs
it decisions to the 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 attached to the robot acts as a
remote, so this does not require any transmitter or receiver units.
In addition to this DTMF communication, the recent advent in 3G technology
enables us to have video communication between two destinations. Hence enabling
a view of the interior of the ventilation duct.
1.2. OBJECTIVE
To design and fabricate ventilation duct fault detector to reduce the
difficulties in ventilation duct maintenance procedures. In conventional system,
dismantling the ventilation duct for maintenance is a cumbersome process and hence
this project aims at simplifying these maintenance procedures.
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CHAPTER - 2
PROBLEM DEFINITION
Interior structure of the duct can be seen and also recorded for future
reference.
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CHAPTER - 3
FEASIBILITY STUDY
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CHAPTER 4
DESIGN AND DESCRIPTION
4.1. DESIGN SPECIFICATIONS
Typical Heating, Ventilating, and Air Conditioning (HVAC) ducts used in
industries those supplying 500 litre/hour of conditioned air are in dimensions of
about 180cm*110cm.
Therefore, the proposed model should have thickness and width less than the
ventilation duct.
HEIGHT - less than 110cm
Since, the model has to work even under extremely cold temperatures, the
chassis must be made of PVC in order to avoid rust formation.
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4.4. DETAILED DRAWING OF EACH COMPONENT
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Figure 4.3. WHEEL
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CHAPTER 5
FABRICATION OF MODEL
5.1.PROCESS DESCRIPTION
Figure 5.1. shows the block diagram of the circuit of this microcontroller
based robot. The major components of the system are DTMF decoder, microcontroller
(ATmega16) and motor driver (L293D).
An MT8870 series DTMF decoder is used in this circuit, which uses the
digital counting techniques to detect and decode all sixteen DTMF tone pairs into a four
bit code output. The built-in dial tone rejection circuit eliminates the need for pre-
filtering. When the input signal is given at pin2 (IN-) single ended input
configuration is recognized to be effective, the correct four bit decode signal of the
DTMF tone is transferred to Q1 (pin11) through Q4 (pin14) outputs.
The ATmega16 is a low-power, high-performance CMOS 8-bit
microcomputer with 8K bytes of Flash programmable and erasable read only memory
(EPROM). The device is manufactured using Atmel’s high-density non-volatile
memory technology and is compatible with the industry-standard 80C51 and 80C52
instruction set and pin out.
The on-chip flash allows the program memory to be reprogrammed in-system
or by a conventional non-volatile memory programmer.
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5.2. FEATURES
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5.2.2. DTMF - Circuit diagram
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5.2.3. 3G Technology
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5.2.4. AVR development board
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5.2.4.2. Features
• Compatible with MCS-51™ Products
• 8K 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
• 256 x 8-bit Internal RAM
• 32 Programmable I/O Lines
• Three 16-bit Timer/Counters
• Eight Interrupt Sources
• Programmable Serial Channel
• Low-power Idle and Power-down Modes
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5.2.4. Motor Driver (L293D)
The L293D is a monolithic integrated high voltage, high current four channel driver
designed to accept standard DTL or TTL logic levels and drive inductive loads (such as
relays solenoids, DC and stepping motors) and switching power transistors.
To simplify use, two bridges as pair of channels is equipped with an enable input. A
separate supply input is provided form the logic, allowing operation at a low voltage and
internal clamp diodes are included.
Features:
1) 600mA. Output current capability per Channel
2) 1.2A peak output current (non-repetitive) per channel
3) Over-temperature protection
4) Logical ”0” input voltage up to 1.5V
5) High noise immunity
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5.2.5. DC Motors
In general, DC motors are similar to DC generators in construction. They may, in
fact, be described as generators “run backwards.” When current is passed through the
armature of a DC motor, a torque is generated by magnetic reaction, and the armature
revolves. The action of the commutators and the connections of the field coils of motors are
precisely the same as those used for generators. The armature revolution thus constitutes
the motor action. In this system, a 9V, 150rpm geared DC motor is used to run the system.
In order to control the robot, a call is made to the phone attached to the robot
from any 3G enabled phone. Now the phone is picked up by the phone on the robot
through auto answer mode.Now after the circuit is ready and all codes are fetched the
robot is ready to be controlled.
Number Output of the Input to the Output of the Action
Pressed DTMF decoder Microcontroller microcontroller Performed
2 0x02 (00000010) 0xFD (11111101) 0x09 (00001001) Forward
4 0x04 (00000010) 0xFB (11111011) 0x05 (00000101) Turn Left
6 0x06 (00000110) 0xF9 (11111001) 0x0A (00001010) Turn right
8 0x08 (00001000) 0Xf7 (11110111) 0x06 (00000110) Reverse
5 0x05 (00000101) 0xFA (11111010) 0x00 (00000000) Brake
Table 3. WORKING ACTION PERFORMED
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5.2.8. Cost of the project
Sl.No. Component Number of units Cost
(in Rupees)
1. AVR Developer (educational) Kit 1 600
3. DC motors 2 280
5. 9V battery 4 160
5.2.9. Applications
The project is not only limited to simple functioning of the robot that
is to move forward, backward, right and left, but it can also be
implemented with some other accessories to watch what is going out in
particular location of the floor in a close circuit monitoring with voice
transmission. This definitely requires a difficult circuitry.
Scientific applications
DTMF controlled robot have various scientific uses including
hazardous environments, working in deep oceans, and space exploration.
The majority of the probes to the other planets in the solar system have
been remote control vehicles, although some of the most recent ones were
partially autonomous.
Military and Law Enforcement applications
Military usage of remotely controlled military vehicles dates back to
the first half of 20th century. Similarly, we can use this system as a spy
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robot by incorporating some advanced features.
Search and Rescue applications
These robots can be used in all kinds of locations and situations thus
making it a versatile application to all search and rescue applications.
Recreation and Hobby
Small scale remote control vehicles have long been popular among
people.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.
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CHAPTER 6
CONCLUSION& FUTURE ENHANCEMENTS
A novel design of Ventilation Duct Fault Detector has been fabricated and works
successfully. This system can effectively carry out the maintenance procedures in a
ventilation duct. Thus the necessity to dismantle the whole ventilation duct for fault
detection was eradicated. This project is not only restricted for ventilation ducts but also can
be extended by incorporating any of the following features.
Suction Cups:
This project can be aided with suction cups which helps the robot wheel to
climb on slanting surfaces more easily without any slippage.
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.
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.
Alarm Phone Dialer:
A project called 'Alarm Phone Dialer' can be built which will generate
necessary alarms for something that is desired to be monitored. For example a
high coolant alarm, low temperature alarm, opening of back window, garage
door, and many more. Thus, 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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REFERENCES
1. R.M. Aynsley, W. Melbourn, and B.J. Vickery, Architectural
aerodynamics, Applied Science Publishers, London 1977
2. The 8051 Microcontroller and EmbeddedSsystems Using Assembly and C by
Muhammed Ali Mazidi , Janice Gillispie Mazidi, Rolin D.McKinley
3. Designer's Guide to Ceiling-Based Room Air Diffusion, Rock and
Zhu, ASHRAE, Inc., Atlanta, GA, USA, 2002
4. Schenker, L (1960), "Pushbutton Calling with a Two-Group Voice-
Frequency Code", The Bell system technical journal 39 (1): 235–
255, ISSN 0005-8580
5. "What really is a Third Generation (3G) Mobile Technology" - An
International Telecommunication Union press release.
6. Minimum wheel-rotation paths for differential drive mobile robots
9. http://www.wikipedia.org
10. http://www.google.com
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APPENDIX
Source code:
#include<avr/io.h>
#include"delay.h"
int main(void)
{
PORTB=0x00;
DDRB=0xFF;
PORTA=0xFF;
DDRA=0x00;
while(1)
{
switch(PINA)
{
case 0xF8:
PORTB=0xf1;
break;
case 0xF4:
PORTB=0x05;
break;
case 0xFC:
PORTB=0x04;
break;
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case 0xF2:
PORTB=0x09;
break;
case 0xFA:
PORTB=0x00;
break;
case 0xF6:
PORTB=0x06;
break;
case 0xFE:
PORTB=0x02;
break;
case 0xF1:
PORTB=0x0A;
break;
case 0xF9:
PORTB=0x08;
break;
default:
PORTB=0x00;
break;
}}}
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Flow-chart (program):