52524674 Land Rover Original

Surveillance Security Robot

CONTENTSCHAPTER-1

PROJECT DESCRIPTION1.1 Definition of Robot....31.2 Security Robot....31.3 Surveillance System41.3 Project Outline....71.4 Interfaces used 71.5 Software used......71.6 Cell phone Operated Robot.....91.7 Overview Of Project9

CHAPTER-2

MICRO CONTROLLER

2.1 Introduction.102.2. Microcontroller vs microprocessor122.3. Advantages of microcontrollers...122.4. Types of 8051 microcontroller..142.5 Microcontroller Architectural Block Diagram...152.6 Pin out Diagram..19

CHAPTER 3

SENSORS3.1 Introduction.363.2 Types of Sensors.363.3 Different Type of Sensors:.37

CHAPTER-4

POWER SUPPLY 4.1 Introduction.40 4.2. Description.40 4.2.1 Transformer40 4.2.2 Rectifier..40 4.2.3 Filtering Unit..41 4.2.4 Regulators..41

ECE Department, GITAM UNIVERSITY Page 1


4.2.5 Technical details42 4.2.6 Features..42

CHAPTER-5

DTMF DECODER5.1 Introduction.435.2 History.435.3 MT8870 DTMF Decoder.475.4 DTMF Decoder49 5.4.1 Working of Ic MT 8870495.5 DTMF data output ...50

CHAPTER-6

DC MOTOR6.1 Introduction..516.2 Types of dc motor 51 6.2.1working of dc motor 52 6.2.2Dc series motor.53 6.2.3 Technical specification556.3 LM293D55 6.3.1 Features ...57 6.3.2 Technical details..58

CHAPTER-7

SOFTWARE Code .59

CHAPTER-8

APPLICATIONS8.1. Adavantages.618.2 Limitations62

CONCLUSION..63BIBLIOGRAPHY..64



CHAPTER-1

PROJECT DESCRIPTION

1.1Definition of Robot

"A robot is a reprogrammable, multi-functional manipulator

designed to move material, parts, tools, or specialized devices

through variable programmed motions for the performance of a

variety of tasks." (Robotics Institute of America)

1.2Security Robot

Now a day's every system is automated in order to face new

challenges. In the present days automated systems have less manual

operations, good flexibility, reliability and accuracy. Due to this demand

every field prefers automated control systems. Especially in the field of

electronics automated systems are giving good performance. In the present

scenario of war situations, unmanned systems plays very important role to

minimize human losses. So this robot is very useful to do operations like

track the persons entering into a limited area in an industry and detecting

metals (conductor) in military security system.

In this system, a robot is fitted with motors and the direction of

rotation of motors is controlled by using H-Bridge circuit. A micro

controller is used to control all operations. The system also comprises of

obstacle sensing circuit which has infrared transmitter and receiver mounted

in front side as sensor array. When there is any obstacle in its path it changes

its path automatically.



The motion of the robot is controlled by cell phone by using DTMF

technology. A 12V battery is provided to power up all the components.

1.3 Surveillance System

Surveillance systems are used to monitor commercial properties and

industrial facilities for the presence of trespassers and the behavior of

authorized visitors. There are many different types of products. Basic

categories include wireless cameras and infrared or IR illuminators, night

vision systems, video surveillance products, digital surveillance products,

home security systems, business security systems, and hidden cameras.

Some suppliers of surveillance systems offer only the equipment for

capturing, transmitting, and recording images. Others provide accessory

equipment such as multiplexers, enclosures, cables, and mounting hardware.

Complete surveillance systems with closed-circuit television (CCTV) are

also available.

Wireless cameras are used in surveillance systems where a cable

cannot be run to the surveillance camera. Although wireless cameras may be

suitable for outdoor use, these surveillance systems have a limited range and

are susceptible to both signal interference and interception. Available in

varying strengths, infrared illuminators are sometimes used to provide

additional illumination to IR-capable wireless cameras. Note that although

all black-and-white cameras can "see" infrared, not all color cameras are

infrared-capable. Specifications for wireless cameras include range, battery

type, and voltage. Parameters for infrared illuminators include the number of

light emitting diodes (LEDs). Wireless IR night vision systems may carry

additional specifications.



Surveillance systems include video surveillance, digital surveillance,

home security, and business security systems. Typically, complete or

integrated security systems include components for image capture;

transmission, telemetry and monitoring; and recoding. Image capture

products include CCTV cameras, IP cameras, and dome cameras; CCTV

camera lenses and CCTV camera lighting; and video motion detectors.

Surveillance products for signal transmission, telemetry and monitoring

include CCTV transmission systems, video servers, CCTV monitors,

telemetry receivers, telemetry transmitters and controllers, CCTV pan tilts,

video signal devices and accessories, and video printers.

Surveillance systems include many different types of security

cameras. Examples include high-definition video security cameras, low-light

cameras, starlight cameras, color slow-speed shutter cameras, and wired

cameras. Surveillance systems also include embedded, standalone, and PC-

based digital video recorders (DVR); perimeter control systems; megapixel

closed circuit digital photography (CCDP); infrared cameras and infrared

motion detection; and mobile security trailers for construction sites and

short-term surveillance applications. Bullet security cameras, box security

cameras, pan/tilt/zoom (PTX) security cameras, micro security cameras, and

network security cameras are also available from suppliers of surveillance

systems.

CELL PHONE OPERATED LAND ROVER USING 8051 MICROCONTROLLER

is used to control the Robot in Remote areas also. Conventionally, wireless-controlled

robots use RF circuits, which have the drawbacks of limited working range, limited

frequency range and limited control. 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.

In this project, the robot is controlled by a mobile phone that makes a call to the mobile phone attached to the robot. In the course of a call, 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 and operated

BLOCK DIAGRAM:-

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


8051Controller MOTORDRIVER

RIGHTMOTOR

RELAYSDTMFDECODER LEFT

MOTOR

RELAYS


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.



1.7 CELL PHONE OPERATED ROBOT:-

Conventionally, Wireless-controlled robots use of circuits, which have the

drawbacks of limited working range, limited frequency range and the limited control. Use

of a mobile phone for robotic control can overcome these limitations. It provides the

advantage of robust control, working range as large as the coverage area of the service

provider, no interference with other controllers and up to twelve controllers.

Although the appearance and the capabilities of robots vary vastly, all robots

share the feature of a mechanical, movable structure under some form of control. The

Control of robot involves three distinct phases: perception, processing and action.

Generally, the preceptors are sensors mounted on the robot , processing is done by the

on-board micro-controller or processor, and the task is performed using motors or with

some other actuators.



1.8 OVERVIEW OF THE PROJECT:-

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:

A microcontroller is an integrated chip with minimum

required devices. The microcontroller includes a CPU: ALU, PC,SP

and registers, RAM, ROM, I/O ports, and timers like a standard

computer, but because they are designed to execute only a single

specific task to control a single system, they are much smaller and

simplified so that they can include all the functions required on a

single chip.



Fig 2.1: Microcontroller Block Diagram.

Most microcontrollers will also combine other devices such as:

A Timer module to allow the microcontroller to perform tasks

for certain time periods.

A serial I/O port to allow data to flow between the

microcontroller and other devices such as a PC or another

microcontroller.

An ADC to allow the microcontroller to accept analogue input

data for processing.


A BLOCK DIAGRAM OF MICROCONTROLLER (EXPANDED)


Fig 2.2: Functional Block Diagram of Microcontroller.

2.2. MICROCONTROLLER Vs MICROPROCESSOR:1. A microcontroller is meant to be more self-contained and

independent, and functions as a tiny, dedicated computer than

microprocessor.

2. The microcontroller may function as a computer with addition of

external digital parts; the microprocessor must have many additional

parts to be operational.

3. Most microprocessors have many operational codes (opcodes) for

moving data from external memory to the CPU; microcontrollers may

have one or two.


ALU

ACCUMULATOR

REGISTERS

STACK POINTER

TIMER/COUNTER

INTERNALROM

PROGRAM COUNTER

I/O PORTS

I/O PORTS

INTERNALCIRCUITS

CLOCK CIRCUIT

INTERNAL RAM


4. Microcontrollers are designed by using CMOS (complementary

metal oxide semiconductor) technology, an efficient fabrication

technique that uses less power and is more immune to power spikes

than other techniques.

2.3. ADVANTAGES OF MICROCONTROLLERS:

Their powerful, cleverly chosen electronics is able to control a

variety of processes and devices (industrial automatics, voltage,

temperature, engines, etc) independently or by means of I/O

instruments such as switches, buttons, sensors, LCD screens, relays

etc.

2.4. TYPES OF 8051 MICROCONTROLLER:

The 8051 has the widest range of variants of any embedded

controller on the market. The smallest device is the Atmel 89c1051,

a 20 Pin FLASH variant with 2 timers, UART, 20mA. The fastest

parts are from Dallas, with performance close to 10 MIPS! The most

powerful chip is the Intel Technologies 80C517A, with 32 Bit ALU, 2

UARTS, 2K RAM, PLCC84 package, 8 x 16 Bit PWMs, and other

features.



Among the MAJOR manufacturers are:

AMD - Enhanced 8051 parts (no longer producing 80x51

parts)

Atmel - FLASH and semi-custom parts

Cygnal - Fastest 8051 with Flash with 12-bit 1LSB A/D.

20MHz internal clock

Dallas -Fast variant. Also battery backed

Intel -8051 through 80C51GB / 80C51Sl. They invented the

8051

ISSI -IS80C51/31 runs up to 40MHz

Matra - 80C154, low voltage static variants

OKI -80C154, mask parts

Philips -87C748 thru 89c588, mostly old legacy 8051 parts

from

Signetics.

Infineon -80C501 through 80C517A, and a wide variety of CAN

devices.

SMC - COM20051 with ARCNET token bus network

engine

SSI - 80x52, 2 x HDLC variant for MODEM use



2.5 Microcontroller Architectural Block Diagram:



Atmel At89c51 Pin out and Description:

The smallest current device is the ATMEL 89c51, a 40 Pin FLASH

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,

but eliminate inventory problems and the hidden costs of OTP

development.

Why we go for AT89C51?

The AT89C51 is a low power, high performance CMOS 8-bit

microcontroller with 4Kbytes of Flash programmable and erasable

read only memory (PEROM). This device is compatible with the

industry standard 8051 instruction set and pinout. The on-chip Flash

allows the program memory to be quickly reprogrammed using a

nonvolatile memory programmer such as the PG302 (with the ADT87

adapter). By combining an industry standard 8-bit CPU with Flash on

a monolithic chip, the 8951 is a powerful microcomputer which

provides a highly flexible and cost effective solution to many

embedded control applications.

Features of AT89C51:

1. It is a 8-bit microcontroller.



2. It has a flash memory of 4KB for storing the program.

3. It has RAM of 128 bytes.

4. It has 32 I/O ports .

-Port 0 (pin 39 to pin 32).




5. It has four register banks.

6. It has two 16-bit timers.

- Timer 0

- Timer 1

7. It has full duplex asynchronous serial port.

8. It can support up to 64KB of external memory with the help of PC

and DPTR.

9. It has 16-bit address bus.

10. Six interrupts with two priority levels

-2 general purpose interrupts (INT0, INT1).

-4 preprogrammed interrupt ( Timer0,Timer1,Serial interrupt, Reset

interrupt).

11. Wide range of frequency of operation (0 to 24 MHz).



12. It will operate on 5V dc supply.

13. It can support maximum of 500mA of current.

In addition, the 8951 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

hardware reset.

2.6 PINOUT DIAGRAM:



Fig : Microcontroller Pin Diagram.

.18: Port 1: Each of these pins can be used as either input or

output. Also, pins 1 and 2 (P1.0 and P1.1) have special functions

associated with Timer 2.



.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.

Depending on the device's purpose and environs, this pin is usually

connected to the push-button, reset-upon-start circuit or a brown out

reset circuit. The image shows one simple circuit for safe reset upon

starting the controller. It is utilized in situations when power fails to

reach its optimal voltage.

Fig : Reset Circuit

.10-17: Port 3: As with Port 1, each of these pins can be used as

universal input or output. However, each pin of Port 3 has an

alternative function:



.Pin 10: RXD - Serial input for asynchronous communication or serial

output for synchronous communication.

Pin 11: TXD - Serial output for asynchronous communication or

clock output for synchronous communication

Pin 12: INT0 - Input for interrupt 0

Pin 13: INT1 - Input for interrupt 1

Pin 14: T0 - Clock input of counter 0

Pin 15: T1 - Clock input of counter 1

Pin 16: WR - Signal for writing to external (add-on) RAM memory

Pin 17: RD - Signal for reading from external RAM memory

18-19: X2 and X1: Input and output of internal oscillator. Quartz

crystal controlling the frequency commonly connects to these pins.

Capacitances within the oscillator mechanism (see the image) are

not critical and are normally about 30pF. New MCUs work at

frequencies from 0Hz to 50MHz+.



Fig : Clock Circuit.

.20: GND: Ground

21- 28: Port 2: If external memory is not present, pins of Port 2 act

as universal input/output. If external memory is present, then these

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

reading of byte (instruction) from program memory. If external ROM

is used for storing the program, PSEN is directly connected to its

control pins.

30: ALE: Before each reading of the external memory, MCU sends

the lower byte of the address register (addresses A0 A7) to port



P0 and activates the output ALE. External register (74HCT373 or

74HCT375 circuits are common), memorizes the state of port P0

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

port can be multiplexed and the port simultaneously used for

transferring both addresses and data.

31: EA: Bringing this pin to the logical state zero designates the

ports P2 and P3 for transferring addresses regardless of the

presence of the internal memory. This means that even if there is a

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,

first the internal, and then the external (if present).

32-39: Port 0: Similar to Port 2, pins of Port 0 can be used as

universal input/output, if external memory is not used. If external

memory is used, P0 behaves as address output (A0 A7) when

ALE pin is at high logical level, or as data output (Data Bus) when

ALE pin is at low logical level.



40: VCC: Power +5V

INPUT OUTPUT (I/O) PORTS:

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:

Port 0 has two fold role: if external memory is used, it contains

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

output, external "pull up" resistor needs to be added for connecting

the pin to the positive pole.

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

byte (addresses A8A15). Otherwise, it can be used as universal I/O

port.

Port 3:Beside its role as universal I/O port, each pin of Port 3 has an

alternate function. In order to use one of these functions, the pin in

question has to be designated as input, i.e. the appropriate bit of

register P3 needs to be set. From a hardware standpoint, Port 3 is

similar to Port 0.

Memory in 8051 Microcontroller:The 8051 has three very general types of memory. The memory

types are illustrated in the following figure: On-Chip Memory,

External Code Memory, and External RAM.



Fig : Memory Block Diagram.

On-Chip Memory refers to any memory (Code, RAM, or other)

that physically exists on the microcontroller itself. External Code

Memory is code (or program) memory that resides off-chip. This is

often in the form of an external EPROM. External RAM is RAM

memory that resides off-chip. This is often in the form of standard

static RAM or flash RAM.

During the runtime, microcontroller uses two different types of

memory: one for holding the program being executed (ROM

memory), and the other for temporary storage of data and auxiliary

variables (RAM memory).



ROM memory:

In this MCU contain 4 kilobytes of the flash memory on the

chip. It is of EEPROM. We can use 12v to program MCU. This option

is cost-effective only for large series. The main purpose of ROM is to

store the programs to be executed.

RAM memory: RAM is used for storing temporary data and auxiliary results

generated during the runtime. Apart from that, RAM comprises a

number of registers: hardware counters and timers, I/O ports, buffer

for serial connection, etc. With older versions, RAM spanned 256

locations, while new models feature additional 128 registers. First 256

memory locations form the basis of RAM (addresses 0 FFh) of

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

is split into several blocks as can be seen in the following figure.



Fig: Ram Memory.

The main purpose of RAM is to provide synchronization between

ROM and CPU so as to increase the speed of microcontroller.

Bit Memory:

The 8051, being a communications-oriented microcontroller,

gives the user the ability to access a number of bit variables. These



variables may be either 1 or 0. There are 128 bit variables available

to the user, numbered 00h through 7Fh.

Special Function Register (SFR) Memory:

Special Function Registers (SFRs) are areas of memory that

control specific functionality of the 8051 processor. It may appear that

SFR is part of Internal Memory. However, when using this method of

memory access (its called direct address), any instruction that has an

address of 00h through 7Fh refers to an Internal RAM memory

address; any instruction with an address of 80h through FFh refers to

an SFR control register.

Register Banks:

General Purpose registers:

The 8051 uses 8 "R" registers which are used in many of its

instructions. These "R" registers are numbered from 0 through 7 (R0,

R1, R2, R3, R4, R5, R6, and R7). These registers are generally used

to assist in manipulating values and moving data from one memory

location to another.

SFR Registers (Special Function Registers):SFR registers can be seen as a sort of control panel for

managing and monitoring the microcontroller.



Fig : Special Function Registers.

TIMERS:

The 8051 comes equipped with two timers, both of which may

be controlled, set, read, and configured individually. The 8051 timers

have three general functions:

1) Keeping time and/or calculating the amount of time between

events,



2) Counting the events themselves, or

3) Generating baud rates for the serial port.

USING TIMERS TO MEASURE TIME:

Obviously, one of the primary uses of timers is to measure time.

When a timer is used to measure time it is also called an "interval

timer" since it is measuring the time of the interval between two

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).

An SFR has a numeric address. It is often useful to know the

numeric address that corresponds to an SFR name. When you enter

the name of an SFR into an assembler, it internally converts it to a

number.

THE TMOD SFR (Timer Mode):

The TMOD SFR is used to control the mode of operation of

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

3) perform the exact same functions, but for timer 0.

The individual bits of TMOD have the following functions:

Bit Name Explanation of Function Timer

7 GATE1

When this bit is set the timer will only

run when INT1 (P3.3) is high. When

this bit is clear the timer will run

regardless of the state of INT1.

1

6 C/T1

When this bit is set the timer will

count events on T1 (P3.5). When this

bit is clear the timer will be

incremented every machine cycle.

1

5 T1M1 Timer mode bit (see below) 14 T1M0 Timer mode bit (see below) 1

3 GATE0

When this bit is set the timer will only

run when INT0 (P3.2) is high. When

this bit is clear the timer will run

regardless of the state of INT0.

0

2 C/T0 When this bit is set the timer will

count events on T0 (P3.4). When this

bit is clear the timer will be

0



incremented every machine cycle. 1 T0M1 Timer mode bit (see below) 00 T0M0 Timer mode bit (see below) 0

The Four bits (two for each timer) are used to specify a mode of

operation. modes of operation are:

TxM1 TxM0 Timer Mode Description of Mode0 0 0 13-bit Timer.0 1 1 16-bit Timer1 0 2 8-bit auto-reload1 1 3 Split timer mode

.

The TCON SFR:

There is one more SFR that controls the two timers and

provides valuable information about them. The TCON SFR has the

following structure:

TCON (88h) SFR:

Bit NameBit

AddressExplanation of Function Timer

7 TF1 8FhTimer 1 Overflow. This bit is set by the

microcontroller when Timer 1 overflows.1



6 TR1 8Eh

Timer 1 Run. When this bit is set Timer 1 is

turned on. When this bit is clear Timer 1 is

off.

1

5 TF0 8DhTimer 0 Overflow. This bit is set by the

microcontroller when Timer 0 overflows.0

4 TR0 8Ch

Timer 0 Run. When this bit is set Timer 0 is

turned on. When this bit is clear Timer 0 is

off.

0

CHAPTER 3

SENSORS

3.1.Introduction

Sensors are used to sense any obstacle present in the path of

robot. Sensors are following types.

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-

dimensional world. This process, also commonly referred to as computer or

machine vision, may be subdivided into six principal areas: sensing,

preprocessing, segmentation, description, recognition, and interpretation.

3.3. Different Type of Sensors:

Proximity sensor: Senses and indicates the presence of an object within a fixed space near the sensor without physical contact. Different commercially

available proximity sensors are suitable for different applications.

Acoustic sensor: Senses and interprets acoustic waves in gas, liquid, or solid. The level of sophistication of sensor interpretation varies among

existing acoustic sensors, frequency of acoustic waves and recognition of

isolated words in a continuous speech.



Range sensor: Measures the distance from a reference point to a set of points in the scene. Humans can estimate range values based on visual data

by perceptual processes that include comparison of image sizes and

projected views of world-object models. Range can be sensed with a pair of

TV cameras or sonar transmitters and receivers.

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.

Miscellaneous types: the miscellaneous category includes the remaining kinds of sensors that are used in robotics. These include sensors for

temperature, pressure, and other variables.



Machine vision sensor: A machine vision sensor is capable of viewing the work-space and interpreting what it sees. These systems are used in

robotics to perform inspection, parts recognition, and other similar tasks.

In our project we are using machine vision sensor

Machine vision sensor is also called as computer vision and also artificial vision. Machine vision concerned with the sensing of data and its interpretation by a computer. The typical vision system consists of the camera and digitizing hardware, computer and hardware and software necessary to interface. The operation of the vision system consists of 3 functions:

a) Sensing and digitizing image data.b) Image processing and analysis.c) Application



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 ICs

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

POWER SUPPLY CIRCIUT POWER SUPPLY CIRCIUT



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.

4.2.5 Technical Details:-

Transformer: 230/12 volts step down transformer, 1 ampere

Diodes: IN 4007

Voltage regulators: 78L Series 7812: The 7812 supplies 12 volts at 2 amp maximum

with an input of 13-25 volts

7805: The 7805 supplies 5 volts at 1 amp maximum with an input of 7-25 volts

Electrolytic Capacitors: 100pF, 330pF and 100F, power rating of 25V.

4.2.6 Features:-

Gives a well regulated +12V and +5V output voltages

Built in overheating protection shuts down output when regulator IC gets too hot.

Very stable output voltages, reliable operation

The circuit has overload and thermal protection.



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:-

In the time preceding the development of DTMF, telephone systems employed a system commonly referred to as pulse (Dial Pulse or DP in the USA) or loop disconnect

(LD) signaling to dial numbers, which functions by rapidly disconnecting and connecting

the calling party's telephone line, similar to flicking a light switch on and off. The



repeated connection and disconnection, as the dial spins, sounds like a series of clicks.

The exchange equipment counts those clicks or dial pulses to determine the called

number. Loop disconnect range was restricted by telegraphic distortion and other

technical problems, and placing calls over longer distances required either operator

assistance (operators used an earlier kind of multi-frequency dial) or the provision of

subscriber trunk dialing equipment.

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 44 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.

DTMF keypad frequencies



Click here for 8051 Microcontroller FORUM

1209 Hz 1336 Hz 1477 Hz 1633 Hz

697 Hz 1 2 3 A

770 Hz 4 5 6 B

852 Hz 7 8 9 C

941 Hz * 0 # D

5.3 MT 8870 DTMF decoder:-

IC MT8870/KT3170 serves as DTMF decoder. This IC takes DTMF signal

coming via telephone line and converts that signal into respective BCD number. It uses

same oscillator frequency used in the remote section so same crystal oscillator with

frequency of 3.85M Hz is used in this IC.

Working of IC MT8870:

The MT-8870 is a full DTMF Receiver that integrates both band split filter and

decoder functions into a single 18-pin DIP. Its filter section uses switched capacitor

technology for both the high and low group filters and for dial tone rejection. Its decoder

uses digital counting techniques to detect and decode all 16 DTMF tone pairs into a 4-bit

code. External component count is minimized by provision of an on-chip differential

input amplifier, clock generator, and latched tri-state interface bus. Minimal external

components required include a low-cost 3.579545 MHz crystal, a timing resistor, and a

timing capacitor. The MT-8870-02 can also inhibit the decoding of fourth column digits.

MT-8870 operating functions include a band split filter that separates the high and low

tones of the received pair, and a digital decoder that verifies both the frequency and

duration of the received tones before passing the resulting 4-bit code to the output bus.



The low and high group tones are separated by applying the dual-tone signal to the inputs

of two 6th order switched capacitor band pass filters with bandwidths that correspond to

the bands enclosing the low and high group tones.

Figure (F).Block diagram of IC MT8870

The filter also incorporates notches at 350 and 440 Hz, providing excellent dial

tone rejection. Each filter output is followed by a single-order switched capacitor section

that smoothes the signals prior to limiting. Signal limiting is performed by high gain

comparators provided with hysteresis to prevent detection of unwanted low-level signals

and noise. The MT-8870 decoder uses a digital counting technique to determine the

frequencies of the limited tones and to verify that they correspond to standard DTMF

frequencies. When the detector recognizes the simultaneous presence of two valid tones

(known as signal condition), it raises the Early Steering flag (ESt). Any subsequent loss

of signal condition will cause Est. to fall. Before a decoded tone pair is registered, the

receiver checks for valid signal duration (referred to as character- recognition-condition).

This check is performed by an external RC time constant driven by ESt.

A short delay to allow the output latch to settle, the delayed steering output flag (StD)

goes high, signaling that a received tone pair has been registered. The contents of the



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.

5.4 DTMF decoder:-

IC MT8870/KT3170 serves as DTMF decoder.

This IC takes DTMF signal coming via telephone line and converts that signal into

respective BCD number.

It uses same oscillator frequency used in the remote section so same crystal oscillator

with frequency of 3.85M Hz is used in this IC.

5.4.1 Working of IC MT8870:-

The MT-8870 is a full DTMF Receiver that integrates both band split filter and decoder

functions into a single 18-pin DIP. Its filter section uses switched capacitor technology

for both the high and low group filters and for dial tone rejection. its decoder uses digital

counting techniques to detect and decode all 16 DTMF tone pairs into a 4-bit code. To

reject common-mode noise signals, a balanced differential amplifier input is used .The

internal clock circuit is completed with the addition of a standard 3.5795MHZ crystal

oscillator

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.



DTMF keypad frequencies

1209 Hz 1336 Hz 1477 Hz1633 Hz 697 Hz 1 2 3 A770 Hz 4 5 6 B852 Hz 7 8 9 C941 Hz * 0 # D

5.5 DTMF data output:-Low group High group Digit D3 D2 D1 D0

697 1209 1 0 0 0 1697 1336 2 0 0 1 0697 1477 3 0 0 1 1770 1209 4 0 1 0 0770 1336 5 0 1 0 1770 1477 6 0 1 1 0852 1209 7 0 1 1 1852 1336 8 1 0 0 0852 1477 9 1 0 0 1941 1209 0 1 0 1 0941 1336 * 1 0 1 1941 1477 # 1 1 0 0697 1633 A 1 1 0 1770 1633 B 1 1 1 0852 1633 C 1 1 1 1941 1633 D 0 0 0 0



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

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 fields South Pole, and its South Pole

moves directly in line with fields 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 armatures 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

6.2.2 DC Series Motor:-

Where there is a wide variation in load or where the motor must start under a heavy

load, series motors have desirable features not found in shunt motors. The series wound

motor is used where high starting torque and varying speed is desired. The armature and

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 MOTORDC MOTOR



DCMOTORDCMOTOR

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 motors 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 individuals 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.



CONNECTIN DIAGRAM OF L293D IC CONNECTIN DIAGRAM OF L293D IC

BLOCK DIAGRAM OF L293D ICBLOCK DIAGRAM OF L293D IC



Pin 1 of the L293D is enable input for the channels 1 and 2. When pin 1 is taken to logic

high, the pair of the channels is enabled, meaning that they are made operational. Thus

if a logic high is applied to pin 2 (input 1), pin3 (output 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) when pin 1 is taken to logic low, the two channels are disabled , which means

that the outputs effectively disconnected from the circuit.

Motor Operation Based On Driver

INPUT1/OUTPUT1 INPUT2/OUTPUT2 OPERATION

0 0 Motor will not move

1 0Motor moves in

clockwise Direction

0 1Motor moves in

anticlockwise Direction

1 1 Motor will not move

Motor Operation Based On Driver

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 A

High Voltage Input current: 100 A

CHAPTER-7



SOFTWARE

#include

void main(void)

{

unsigned int k, h;

while (1)

{

k =P0;

h=k switch (h)

{

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.

Remote surveillance, defence, homeland security, building

surveillance, vehicles and UAV/UGV.

It can be used in military applications also.

Remote control vehicles have various scientific uses including

hazardous environments, working in the Deep Ocean, and space

exploration.

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 dont 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

The autonomous mode cannot work for longer distances.

Cost of the surveillance robot is high compared to CC cameras.



The camera cannot rotate so it is not possible to see the objects which are in top of the camera.

The stand by time of battery is less.

It is not possible to recall the video.

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 escalating costs of manpower



and training, clearly suggest a sustained interest in this evolving alternative approach to security is very much in order.

As an embedded computer, the core of the security robot consumes very little power. Comparable video monitoring systems consume significantly more power than the robot. Moreover, maintenance costs and power requirements of the robot are negligible as compared to the salary of one or more human security personal capable of performing the same duties.

. The project has been tested successfully and has been approved by the concerned project guides.

BIBLIOGRAPHY The 8051 microcontroller Architecture, programming& Applications

Author Kenneth J.Ayala

The 8051 Microcontroller & Embedded Systems

Author Muhammad Ali Mazidi &

Janice Gillispi Mazidi

ATMEL Datasheet

WEBSITES www.nicrochip.com


http://www.nicrochip.com/


www.microelect.com

www.kpsec.freeuk.com

www.atmel.com

www.electrofriends.com


http://www.electrofriends.com/http://www.atmel.com/http://www.kpsec.freeuk.com/http://www.microelect.com/

BLOCK DIAGRAM:-1.4 PROJECT OUTLINE:-1.5 INTERFACES USED:-1.6 SOFTWARES USED:-2.1. Introduction:

Port 1:Port 2:Port 3:Memory in 8051 Microcontroller:RAM memory:Special Function Register (SFR) Memory:

SFR Registers (Special Function Registers): USING TIMERS TO MEASURE TIME:Timer SFRs:THE TMOD SFR (Timer Mode):

Documents

52524674 Land Rover Original