Professional Documents
Culture Documents
CONTENTS
CHAPTER-1
PROJECT DESCRIPTION
1.1 Definition of Robot……………………………………………………….…...3
1.2 Security Robot…………………………………………………………..……..3
1.3 Surveillance System……………………………………………………………4
1.3 Project Outline………………………………………………………………....7
1.4 Interfaces used …………………………………………………………………7
1.5 Software used………………………………………………………………......7
1.6 Cell phone Operated Robot………………………………………………….....9
1.7 Overview Of Project……………………………………………………………9
CHAPTER-2
MICRO CONTROLLER
2.1 Introduction…………………………………………………………………….10
2.2. Microcontroller vs microprocessor……………………………………………12
2.3. Advantages of microcontrollers…………………………………………...12
2.4. Types of 8051 microcontroller………………………………………………..14
2.5 Microcontroller Architectural Block Diagram………………………………...15
2.6 Pin out Diagram………………………………………………………………..19
CHAPTER 3
SENSORS
3.1 Introduction…………………………………………………………………….36
3.2 Types of Sensors……………………………………………………………….36
3.3 Different Type of Sensors:…………………………………………………….37
CHAPTER-4
POWER SUPPLY
4.1 Introduction………………………………………………………………….40
4.2. Description………………………………………………………………….40
4.2.1 Transformer……………………………………………………………40
4.2.2 Rectifier………………………………………………………………..40
4.2.3 Filtering Unit…………………………………………………………..41
4.2.4 Regulators……………………………………………………………..41
4.2.5 Technical details………………………………………………………42
4.2.6 Features………………………………………………………………..42
CHAPTER-5
DTMF DECODER
5.1 Introduction………………………………………………………………….43
5.2 History……………………………………………………………………….43
5.3 MT8870 DTMF Decoder…………………………………………………….47
5.4 DTMF Decoder………………………………………………………………49
5.4.1 Working of Ic MT 8870………………………………………………49
5.5 DTMF data output …………………………………………………………...50
CHAPTER-6
DC MOTOR
6.1 Introduction…………………………………………………………………..51
6.2 Types of dc motor ……………………………………………………………51
6.2.1working of dc motor ……………………………………………………52
6.2.2Dc series motor………………………………………………………….53
6.2.3 Technical specification…………………………………………………55
6.3 LM293D………………………………………………………………………55
6.3.1 Features ………………………………………………………………...57
6.3.2 Technical details………………………………………………………..58
CHAPTER-7
SOFTWARE
Code …………………………………………………………………………….59
CHAPTER-8
APPLICATIONS
8.1. Adavantages………………………………………………………………….61
8.2 Limitations……………………………………………………………………62
CONCLUSION…………………………………………………………………..63
BIBLIOGRAPHY………………………………………………………………..64
CHAPTER-1
PROJECT DESCRIPTION
1.1Definition of Robot
as large as the coverage area of the service provider, no interference with other
controllers and up to twelve controls.
BLOCK DIAGRAM:-
RIGHT
MOTOR
DTMF 8051
DECODER Controller MOTOR RELAYS
DRIVER
LEFT
MOTOR
RELAYS
The Figure shows the block diagram and cicuit diagram of the microcontroller-
based robot. The important components of this robot are DTMF decoder, Microcontroller
and motor driver.
An MT8870 series DTMF decoder is used here. All types of the MT8870
series use digital counting techniques to detect and decode all the sixteen DTMF tone
pairs into a four-bit code output. The built -in dial tone rejection circuit eliminated the
need for pre- filtering. When the input signal 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 ATmega 16 is a low power, 8 bit, CMOS micro-controller based on the
AVR enhanced RISC architecture. It provides the following feature: 16kb of in system
programmable flash memory with read write capabilities, 512bytes of EEPROM, 1KB
SRAM, 32 general purpose input/output lines. 32 general purpose working registers.
All the 32 registers are directly connected to the arithmetic logic unit, allowing two
independent registers to be accessed in one signal instruction executed in one clock cycle.
The resulting architecture is more code efficient. Outputs from port pins PD0 through
PD3 and PD7 of the micro-controller are fed to inputs IN1 through IN4 and enable pins
(EN1 and EN2) of motor driver L293d respectively, to drive geared motors. Switch S1 is
used for manual reset.
1.4 PROJECT OUTLINE:-
A brief introduction to internal architecture of micro-controller.
An over view of programming of micro-controller.
An overview on mechanical arrangement.
DTMF interfacing with micro-controller.
1.5 INTERFACES USED:-
Serial communication used for downloading the hex code.
DTMF circuit interface.
L293D interfacing.
DC motor interfacing.
Sensors and Relays
1.6 SOFTWARES USED:-
A Cross compiler for compiling and linking the code written for 8051
Serial communication software for downloading code to 8051
Operating system: Windows XP.
In this project the robot, is controlled by a mobile phone that makes call to the mobile
phone attached to the robot 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 atmega16 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. It
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 keys that it can easily be identified by the electronic circuit.
CHAPTER-2
MICROCONTROLLER
2.1. Introduction:
and registers, RAM, ROM, I/O ports, and timers like a standard
specific task to control a single system, they are much smaller and
single chip.
microcontroller.
I/O
ALU TIMER/COUNTER PORTS
ACCUMULATOR
I/O
REGISTERS
PORTS
INTERNAL
INTERNAL ROM
RAM INTERNAL
CIRCUITS
PROGRAM COUNTER
microprocessor.
parts to be operational.
technique that uses less power and is more immune to power spikes
etc.
parts are from Dallas, with performance close to 10 MIPS! The most
features.
parts)
8051
from
Signetics.
devices.
engine
variant with 2 timers, UART, 500mA. ATMEL was the first with
standard FLASH, and with more program cycles than other custom
FLASH. These parts compete with OTP and MASK product on price,
development.
industry standard 8051 instruction set and pinout. The on-chip Flash
Features of AT89C51:
1. It is a 8-bit microcontroller.
- Timer 0
- Timer 1
and DPTR.
interrupt).
saving modes. The Idle Mode stops the CPU while allowing the RAM,
functioning. The Power Down Mode saves the RAM contents but
freezes the oscillator disabling all other chip functions until the next
hardware reset.
output. Also, pins 1 and 2 (P1.0 and P1.1) have special functions
.9: Reset Signal: High logical state on this input halts the MCU and
clears all the registers. Bringing this pin back to logical state zero
starts the program anew as if the power had just been turned on. In
another words, positive voltage impulse on this pin resets the MCU.
reset circuit. The image shows one simple circuit for safe reset upon
alternative function:
not critical and are normally about 30pF. New MCUs work at
21- 28: Port 2: If external memory is not present, pins of Port 2 act
pins serve as the location of the higher address byte, i.e. addresses
A8 – A15. It is important to note that in cases when not all the 8 bits
are used for addressing the memory (i.e. memory is smaller than
64kB), the rest of the unused bits are not available as input/output.
29: PSEN: MCU activates this bit (brings to low state) upon each
control pins.
30: ALE: Before each reading of the external memory, MCU sends
upon receiving a signal from ALE pin, and uses it as part of the
address for memory chip. During the second part of the mechanical
MCU cycle, signal on ALE is off, and port P0 is used as Data Bus.
In this way, by adding only one cheap integrated circuit, data from
31: EA: Bringing this pin to the logical state zero designates the
program loaded in the MCU it will not be executed, but the one from
the external ROM will be used instead. Conversely, bringing the pin
to the high logical state causes the controller to use both memories,
ALE pin is at high logical level, or as data output (Data Bus) when
Every MCU from 8051 family has 4 I/O ports of 8 bits each. This
provides the user with 32 I/O lines for connecting MCU to the
environs.
Port 0:
the lower address byte (A0-A7), otherwise all bits of the port are
either input or output. Another feature of this port comes to play when
it has been designated as output. Port 0 lacks the "pull up" resistor
(resistor with +5V on one end). Therefore, to get one (5V) on the
Port 1:
This is "true" I/O port, devoid of dual function characteristic for
Port 0. Having the "pull up" resistor, Port 1 is fully compatible with
TTL circuits.
Port 2:
When using external memory, this port contains the higher address
port.
Port 3:
Beside its role as universal I/O port, each pin of Port 3 has an
similar to Port 0.
memory), and the other for temporary storage of data and auxiliary
ROM memory:
RAM memory:
RAM is used for storing temporary data and auxiliary results
for serial connection, etc. With older versions, RAM spanned 256
locations, while new models feature additional 128 registers. First 256
every 8051 MCU. Locations that are available to the user span
addresses from 0 to 7Fh, i.e. first 128 registers, and this part of RAM
Bit Memory:
gives the user the ability to access a number of bit variables. These
memory access (its called direct address), any instruction that has an
Register Banks:
The 8051 uses 8 "R" registers which are used in many of its
R1, R2, R3, R4, R5, R6, and R7). These registers are generally used
location to another.
TIMERS:
The 8051 comes equipped with two timers, both of which may
events,
events. .
Timer SFRs:
The 8051 has two timers which each function essentially the
same way. One timer is TIMER0 and the other is TIMER1. The two
timers share two SFRs (TMOD and TCON) which control the timers,
and each timer also has two SFRs dedicated solely to itself (TH0/TL0
and TH1/TL1).
number.
both timers. Each bit of the SFR gives the microcontroller specific
information concerning how to run a timer. The high four bits (bits 4
through 7) relate to Timer 1 whereas the low four bits (bits 0 through
The Four bits (two for each timer) are used to specify a mode of operation. modes of
operation are:
1 0 2 8-bit auto-reload
1 1 3 Split timer mode
.
There is one more SFR that controls the two timers and
provides valuable information about them. The TCON SFR has the
following structure:
Bit
Bit Name Explanation of Function Timer
Address
Timer 1 Overflow. This bit is set by the
7 TF1 8Fh 1
microcontroller when Timer 1 overflows.
Timer 1 Run. When this bit is set Timer 1 is
off.
Timer 0 Overflow. This bit is set by the
5 TF0 8Dh 0
microcontroller when Timer 0 overflows.
Timer 0 Run. When this bit is set Timer 0 is
off.
CHAPTER 3
SENSORS
3.1.Introduction
The word sensor comes from the word sense and it is originate from
the Middle French sense, sensation, feeling, and mechanism of perception.
To improve the performance of the robots it must be able to sense in both
ways their internal and external states (the environment) to perform some of
the tasks presently done by humans.
As well, much more accurate and intelligent robots are expected to
emerge with the newly developed sensors, especially visual sensors. Vision
provides a robot with a sophisticated sensing mechanism that allows the
machine to respond to its environment in an intelligent and flexible manner.
3.2. How this information is gathered by robots?
First of all, this sensorial perceptions or measurements are gathered
by electronic signals, or data that sensors could provide with a limited
feedback to the robot so it can do its job. Although proximity, touch, and
force sensing play a significant role in the improvement of robot
performance. However, vision is recognized as the most powerful robot
sensory capability.
Robot vision may be defined as the process of extracting,
characterizing, and interpreting information from images of a three-
Force sensor: Measures the three components of the force and three
components of the torque acting between two objects. In particular, a robot-
wrist force sensor measures the components of force and torque between the
last link of the robot and its end-effectors by transmitting the deflection of
the sensor's compliant sections, which results from the applied force and
torque.
Touch sensor: Senses and indicates a physical contact between the object
carrying the sensor and another object. The simplest touch sensor is a micro
switch. Touch sensors can be used to stop the motion of a robot when its
end-effectors make contact with an object.
Tactile sensors: these are sensors which respond to contact forces with
another object. Some of these devices are capable of measuring the level of
force involved.
CHAPTER-4
POWER SUPPLY
4.1 Introduction:-
Any invention of latest technology cannot be activated without the source of power.
So in this fast moving world we deliberately need a proper power source which will be
apt for a particular requirement. All the electronic components starting from diode to IC’s
only work with a DC supply ranging from 5V to 12V.We are utilizing for the same, the
cheapest and commonly available energy source of 230V-50Hz and stepping down,
rectifying, filtering and regulating the voltage. . Microcontroller operates at +5v DC and
also for other ICs and displays. A 220v ac to 12-0-12v transformer is used and for
rectification, four diodes IN4007 are connected for rectification of the step down ac
supply. Filter capacitor of 1000Uf is used. It is regulated to +5v using a regulator 7805.
0.1 UF capacitor is used for filtration of high frequency noise. The power supply circuit
is shown below.
4.2 DESCRIPTION:-
4.2.1 Transformer:-
A bridge rectifier coupled with a step down transformer is used for our design. The
voltage rating of transformer used is 0-12V and the current rating is 500mA. When AC
voltage of 230V is applied across the primary winding an output AC voltage of 12V is
obtained. One alteration of input causes the top of transformer to be positive and the
bottom negative. The next alteration will temporarily cause the reverse.
4.2.2 Rectifier:-
In the power supply unit, rectification is normally achieved using a solid state diode.
Diode has the property that will let the electron flow easily at one direction at proper
biasing condition. Bridge rectifiers of 4 diodes are used to achieve full wave rectification.
Two diodes will conduct during the negative cycle and the other two will conduct during
the positive half cycle.
4.2.3 Filtering unit:-
Filter circuit which is usually a capacitor acts as a surge arrester always follows
the rectifier unit. This capacitor is also called as a decoupling capacitor or a bypass
capacitor, is used not only to short the ripple with frequency to ground but also leave the
frequency of the DC to appear at the output.
4.2.4 Regulators:-
The voltage regulators play an important role in any power supply unit. The primary
purpose of a regulator is to aid the rectifier and filter circuit in providing a constant DC
voltage to the device. Power supplies without regulators have an inherent problem of
changing DC voltage values due to variations in the load or due to fluctuations in the AC
line voltage. With a regulator connected to DC output, the voltage can be maintained
within a close tolerant region of the desired output. IC 7805 and 7812 regulators are used
in this project for providing a DC voltage of +5V and +12V respectively.
CHAPTER-5
DTMF DECODER
5.1 INTRODUCTION:-
Dual-tone multi-frequency (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 tone dialing is known by the trademarked term Touch-Tone, and is
standardized by ITU-T Recommendation Q.23. Other multi-frequency systems are used
for signaling internal to the telephone network
5.2 HISTORY:-
DTMF was developed at Bell Labs in order to allow dialing signals to dial long-distance
numbers, potentially over nonwire links such as microwave radio relay links or satellites.
For a few non crossbar offices, encoder/decoders were added that would convert the older
pulse signals into DTMF tones and play them down the line to the remote end office. At
the remote site another encoder/decoder could decode the tones and perform pulse
dialing, for example Strowger switches. It was as if you were connected directly to that
end office, yet the signaling would work over any sort of link. This idea of using the
existing network for signaling as well as the message is known as in-band signaling.
It was clear even in the late 1950s when DTMF was being developed that the future
of switching lay in electronic switches, as opposed to the electromechanical crossbar
systems then in use. Either switching system could use either dial system, but DTMF
promised shorter holding times, which was more important in the larger and more
complex registers used in crossbar systems. In this case pulse dialing made no sense at
any point in the circuit, and plans were made to roll DTMF out to end users as soon as
possible. Tests of the system occurred in the early 1960s, where DTMF became known as
Touch Tone. Though Touch Tone phones were already in use in a few places, they were
vigorously promoted at the 1964 New York World's Fair.
The Touch Tone system also introduced a standardized keypad layout. After testing 18
different layouts, they eventually chose the one familiar to us today, with 1 in the upper-
left and 0 at the bottom. The adding-machine layout, with 1 in the lower-left was also
tried, but at that time few people used adding machines, and having the 1 at the "start" (in
European language reading order) led to fewer typing errors. In retrospect, many people
consider that this was a mistake. With the widespread introduction of computers and bank
machines, the phone keyboard has become "oddball", causing mistakes.
In another sense, DTMF was obsolete a decade after it was instituted, as FSK methods
with fewer frequencies became cheaper, faster and more reliable. However, the technical
complexities of digital filtering were more expensive to deal with than junking an
adequate system.
#, *, 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 (#) and star (*) keys (also known as Humphries),[citation needed] 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 the Humphries became
widely used for vertical service codes such as *67 in the United States and Canada to
suppress caller ID.
Public payphones that accept credit cards use these additional codes to send the
information from the magnetic strip.
The U.S. military also used the letters, relabeled, in their now defunct Autovon phone
system. Here they were used before dialing 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. Pressing
one of these keys gave your call priority, overriding other conversations on the network.
Pressing C, Immediate, before dialing would make the switch first look for any free lines,
and if all lines were in use, it would disconnect any non-priority calls, and then any
priority calls. Flash Override will kick every other call off the trunks between the origin
and destination. Consequently, it is limited to the White House Communications Agency.
Precedence dialing is still done on the military phone networks, but using number
combinations (Example: Entering 93 before a number is a priority call) rather than the
separate tones.
Present-day uses of the A, B, C and D keys on telephone networks are few, and exclusive
to network control. For example, the A key is used on some networks to cycle through
different carriers at will (thereby listening in on calls). Their use is probably prohibited
by most carriers. The A, B, C and D tones are used in amateur radio phone patch and
repeater operations to allow, among other uses, control of the repeater while connected to
an active phone line.
DTMF tones are also used by some cable television networks and radio networks to
signal the local cable company/network station to insert a local advertisement or station
identification. These tones were often heard during a station ID preceding a local ad
inserts. Previously, terrestrial television stations also used DTMF tones to shut off and
turn on remote transmitters.
DTMF tones are also sometimes used in caller ID systems to transfer the caller ID
information, however in the USA only Bell 202 modulated FSK signaling is used to
transfer the data.
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 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 multifrequency. These tones are then decoded
by the switching center to determine which key was pressed.
output latch are made available on the 4-bit output bus by raising the three state control
input (OE) to logic high. Inhibit mode is enabled by a logic high input to pin 5 (INH). It
inhibits the detection of 1633 Hz. The output code will remain the same as the previous
detected code. On the M- 8870 models, this pin is tied to ground (logic low).The input
arrangement of the MT-8870 provides a differential input operational amplifier as well as
a bias source (VREF) to bias the inputs at mid-rail. Provision is made for connection of a
feedback resistor to the op-amp output (GS) for gain adjustment. The internal clock
circuit is completed with the addition of a standard 3.579545 MHz crystal. The input
arrangement of the MT-8870 provides a differential input operational amplifier as well as
a bias source (VREF) to bias the inputs at mid-rail. Provision is made for connection of a
feedback resistor to the op-amp output (GS) for gain adjustment. The internal clock
circuit is completed with the addition of a standard 3.579545 MHz crystal.
CHAPTER-6
DC MOTORS:
6.1 INTRODUCTION:-
DC motors are widely used in industrial and consumer applications. In many cases,
absolute precision in movement is not an issue but precise speed control is. How ever
there are also applications that do require precise positioning.
DC motors combined with feedback for either position or speed are called Servo motors.
As this feedback mechanism has an edge over other closed loop systems when it comes
to position control, we use DC motors in commissioning the lift. Some more important
features of DC motor that accentuates its implementation are
High output power relative to motor size and weight
High efficiency. Can approach 90% at light load conditions
High torque to inertia ratio. Can rapidly accelerate loads
Has reserve power and torque
Excellent speed control, Effective braking.
The last advantage is certainly subtle because, the motor though for short periods is used
frequently.
6.2 Types of DC Motors:-
Depending upon the connection of the field circuit DC machines can be classified in to
four categories.
SHUNT WOUND
SERIES WOUND
COMPOUND WOUND
SEPARATELY EXITED
Considering the requirement of lift, we need high torque at low speeds as the elevator
moves vertically against gravity. So by observing our requirements, DC series motor
becomes the best choice for our application.
6.2.1 Working of DC Motor:-
A brief account on the working of DC motor is described below.
The DC motor has two basic parts: the rotating part that is called the armature and the
stationary part that includes coils of wire called the field coils. The stationary part is also
called the stator. The armature is made of coils of wire wrapped around the core, and the
ECE Department, GITAM UNIVERSITY Page 51
Surveillance Security Robot
core has an extended shaft that rotates on bearings. The termination points are called the
commutator, and this is where the brushes make electrical contact to bring electrical
current from the stationary part to the part rotating of the machine. As the armature
begins to move, the north pole of the armature comes closer to the south pole of the field,
and the south pole of the armature is coming closer to the north pole of the field. As the
two unlike poles near each other, they begin to attract. This attraction becomes stronger
until the North Pole moves directly in line with the field’s South Pole, and its South Pole
moves directly in line with field’s poles. When the opposite poles area at their strongest
attraction, the armature will be “locked up” and will resist further attempts to continue
spinning. For the armature to continue its rotation, the armature’s polarity must be
switched. For this reason the armature must be a coil and a set of commutator segments
must be added to provide a means of making contact between the rotating member and
the stationary member. One commutator segment is provided for each terminal of the
magnetic coil. Since this armature has only one coil, it will have only two terminals, so
the commutator has two segments. Since the armature is now a coil of wire, it will need
DC current flowing through it to become magnetized. This presents another problem;
since the armature will be rotating, the DC voltage wires cannot be connected directly to
the armature coil. A stationary set of carbon brushes is used to make contact to the
rotating armature. The brushes ride on the commutator segments to make a contact so
that current will flow through the armature coil. This is a simple two pole motor that is
used primarily for instructional purposes. Since the motor has only two poles, the motor
will operate rather roughly and not provide too much torque. Additional field poles and
armature poles must be added to the motor for it to become useful for industry. Now as
described earlier, the DC motor suits the lift applications, the electrical working of the
motor is given below
the series field are connected in series. With high armature and field currents, it has a
very high starting torque and is well suited for starting heavy loads.
DC MOTOR
DCMOTOR
Notice that the series field is in series with the armature windings. When the motor is first
started, with the negligible effects of the counter EMF, current flow through the armature
is high. Since the armature and the series field are in series, the current in the armature is
the same current through the series winding.
Large current develops a very strong magnetic field and results in an extremely high
torque, Conversely, if the motor is operating at rated speed, the counter EMF will be very
high, and the current in the series field winding and armature is reduced proportionally
.This means that the series motor can develop a very high torque and respond to increase
in loading (reductions in armature RPM) rapidly. The series motor will continue to
increase in speed as long as there is more torque developed that is necessary to turn the
load. This additional torque is called acceleration torque.
When a series motor is heavily loaded, it slows and produces more torque. As the load is
removed, the motor increases in speed. If the load is suddenly removed from the series
motor, the accelerating torque is just enough to continue to increase the motor’s speed.
The continuously increasing speed can destroy motor.
6.2.3 Technical Specification:-
Voltage: 12V DC
Speed : 30 rpm
Current:2 Amp
The motor is interfaced to the microcontroller through LM293D.
6.3 LM293D:-
The L293D is an IC designed for driving individual’s loads, such as motors and
solenoids form logic signals. This IC is used for back emf protection and current
amplification. The chip has 4 push-pull channels, and each pair has an enabling input,
and integral clamping (fly back) diodes. Each channel can source or sink up to 600mA
continuous current. A push-pull channel consists of two transistors, a PNP and an NPN,
in which the collectors and bases of the two devices are connected. In this arrangement,
when a logic-level signal is applied to common base, one of the transistors will be
saturated and the other cut-off. This arrangement allows the channel to either source
(push) or sink (pull) current from the common collector junction, hence the name “push-
pull” If two channels are used, a dc motor can be driven bi-directionally from the power
supply of single polarity. The L293D is a 4-channel push-pull driver chip with integral
clamping diodes. The chip needs +5V to operate and +Vs (the supply for the device to be
driven by the chip), where Vs must be between 5 and 36V (in this circuit Vs is +12V).
The channels are enabled by applying +5V to the enable 1 pin. If logic high is applied to
pin2 (IN 1), pin3 (OUT 1) will go high (to about 1.4V lower than Vs). If a logic low is
applied to
pin 2, pin 3 will go low (to about 1.2V above ground). Pins 6 and 7 operate in like
fashion.
Motor moves in
1 0
clockwise Direction
Motor moves in
0 1
anticlockwise Direction
In this way the DC motor is rotated in clockwise and anti clockwise direction so that the
lift can be moved from floor to floor in both directions.
6.3.1 Features:-
Output Current 1A per channel
Peak output current 2A per channel
Inhibit facility
High Noise Immunity
Separate Logic supply
Over –Temperature Protection
6.3.2Technical Details:-
Maximum Voltage Supply(VSS): 36V
Maximum Input Voltage(VC): 7V
Maximum Peak output current: 2A
Total Power Dissipation: 5W at 800C
Input Low Voltage: -0.3 to 1.5V
Input high voltage: 2.3 to 7V
Low Voltage Input Current :-10 µA
High Voltage Input current: 100 µA
CHAPTER-7
SOFTWARE
#include<reg51.h>
void main(void)
unsigned int k, h;
while (1)
k =P0;
case 0x02:
P2=0x89;
break;
case 0x08:
P2=0x86;
break;
case 0x04:
P2=0x85;
break;
case 0x06:
P2=0x8A;
break;
case 0x05:
P2=0x00;
break;
CHAPTER-8
APPLICATIONS
Applications of the proposed system include surveillance of large
environments such as airports, museums and warehouses.
In particular, this paper focuses on monitoring specific areas of
interest to detect entering unknown persons.
Surveillance of public and industrial buildings
(e.g.stadiums,waterworks,power plants, chemical facilities.etc) facing
risks
Operating indoor and outdoor environments.
Surveillance of borders and sites (in a particular home).
People detection and observation in a particular area.
8.1.ADAVANTAGES
Autonomous patrolling to monitor security in critical areas.
Recognization of suspicious moving persons or objects and changes
in sense.
Autonomous inspection.
Humans are removed from direct exposure to potentially dangerous
situations.
Robotic systems can perform many security and surveillance
functions more effectively than humans.
Robots don’t get bored and thereby inattentive during long hours of
surveillance.
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.
Speed regulation of robots.
Robotic systems can perform many security and surveillance
functions more effectively than humans.
8.2 LIMITATIONS
CONCLUSIONS
From project we concluded that the surveillance with robot is very
efficient.
The outcome of this project demonstrates that it is possible to
produce a security robot.
In addition to the well touted advantages of improved effectiveness
and reduced manning for traditional security roles, more recent
attention has been afforded to automated inventory functions using
DTMF attached to sensitive or high value items
The unfortunate patterns of increased theft, violence, and even
terrorism emerging throughout society in general, coupled with
BIBLIOGRAPHY
The 8051 microcontroller Architecture, programming& Applications
Author “Kenneth J.Ayala”
WEBSITES
www.nicrochip.com
www.microelect.com
www.kpsec.freeuk.com
www.atmel.com
www.electrofriends.com