PREFAC The main aim of the Project was to make a Robot which is controlled by any mobile phone. The Detection of the Signal is done in Several Steps. Firstly, the Input Signal is sent to DTMF, which processes the signal and sends the 4 bit output to ROM which gives output to the Motor Driver IC on specific 4 bit inputs and the Motor Driver IC powers the motors of the car accordingly. The Surveillance System is one which is used for the purpose of security system in intrude areas. This system is designed to develop a video monitoring, capturing the image and to store video frames in SD (Secure Digital) memory mounted on the ROBOT for further verification. A Silicon valley startup is building a surveillance robot that it hope will help security and law enforcement personnel detect trouble while remaining out of harm’s way. Robot are essentially a self-contained tribute to the wonders of technology. The most advance models use fast computer processing, high- definition cameras, artificial intelligence.

1. ACKNOWLEDGEMENT
It has come out to be a sort of great pleasure and experience for me to works on
the project WIRELESS SURVILLANCE ROBOT. I wish to express my indebtedness to
those who helped us i.e. the faculty of our institute Mr. Abhishek Kumar and Mr.
K.C Pandey during the preparation of the manual script of this text. This would not
have been made successful without his help and precious suggestions. Finally, I
also warmly thanks to all our colleagues who encouraged us to inextant, which
made the project successful.
Kanhaiya Lal Gupta

2. CERTIFICATE
This is certify that Kanhaiya Lal Gupta student of Govt Polytechnic Kotabagh in
Electronics Engineering has carried out the work presented in the project of the
training entitled “WIRLESS SURVILLANCE ROBOT” as apart of third year program of
Polytechnic in Electronics Engineering from Govt Polytechnic Kotabagh under my
supervision.

3. PREFAC
The main aim of the Project was to make a Robot which is controlled by any mobile
phone. The Detection of the Signal is done in Several Steps. Firstly, the Input Signal is
sent to DTMF, which processes the signal and sends the 4 bit output to ROM which gives
output to the Motor Driver IC on specific 4 bit inputs and the Motor Driver IC powers the
motors of the car accordingly
The Surveillance System is one which is used for the purpose of security system in
intrude areas. This system is designed to develop a video monitoring, capturing the
image and to store video frames in SD (Secure Digital) memory mounted on the ROBOT
for further verification.
A Silicon valley startup is building a surveillance robot that it hope
will help security and law enforcement personnel detect trouble while remaining out of
harm’s way.
Robot are essentially a self-contained tribute to the wonders of technology. The most
advance models use fast computer processing, high- definition cameras, artificial
intelligence.
INDEX
• Project problem/report
• Design consideration
• Circuit description of WIRELESS SURVILLANCE ROBOT
• Circuit diagram of WIRELESS SURVILLANCE ROBOT
• Circuit diagram of power supply
• List of components
• Fabrication process
• Testing of project WIRELESS SURVILLANCE ROBOT
• Estimating and coasting
• Area of application
• Precaution

4. PROJECT REPORT/PROBLEM
FINAL REPORT
ON
Dual-Tone Multiple Frequency (DTMF)
Detector Implementation
Dual-Tone multi- frequency (DTMF) is an international signaling standard for
telephone digits. These signals are used in Touch- Tone telephone call signaling as well
as many other areas such as interactive control applications, telephone banking, and
pager systems.
A DTMF signal consist of two superimposed sinusoidal waveform
whose frequencies are chosen from asset of eight standardized frequencies. The detector
part of early DTMF system consisted of analog implemented bandpass filer-banks, which
were tuned to the eight standard frequencies.
Many digital DTMF detecting algorithms have been proposed [1], [2], [3], [4]but
they have several drawbacks as follows:
Most of them do not comply with the related international telecommunications
union (ITU) and Bell core recommendations.
1. Some of have too heavy computational load.
2. Some of them need too much memory to implement on allow cost DSP.
This report is organized as follows: Section 2 gives background
information about DTMF signals, standards, and detectors. Section 3 is focused on
implementation topics such as modeling and code generation in C50 domain, the
new target for C50 domain and the motivation to write it. The last section concludes
this report.

5. DESIGN CONSIDERATION
❖ OVERVIEW
• Introduction
• Block Diagram
• Hardware Requirement
• Software Requirement
• Advantages
• Conclusion
• References
INTRODUCTION
• Robots reduces human efforts
• Robots can be controlled using mobile phones
• This is Dual Tone Multiple Frequency (DTMF) technology
• DTMF decoder-decodes the frequencies to identify the key pressed

6. BLOCK DIAGRAM
OF
“WIRELESS SURVILLANCE ROBOT”

7. Circuit Description
CIRCUIT DIAGRAM OF ARDUINO Atmega 328P

8. AURDINO (Atmga328P)
The Atmel AVR® core combines a rich instruction set with 32 general purpose working
registers. All the 32 registers are directly connected to the Arithmetic Logic Unit (ALU),
allowing two independent registers to be accessed in a single instruction executed in one
clock cycle. The resulting architecture is more code efficient while achieving throughputs
up to ten times faster than conventional CISC microcontrollers. The ATmega328/P
provides the following features: 32Kbytes of In-System Programmable Flash with Read-
While-Write capabilities, 1Kbytes EEPROM, 2Kbytes SRAM, 23 general purpose I/O lines,
32 general purpose working registers, Real Time Counter (RTC), three flexible
Timer/Counters with compare modes and PWM, 1 serial programmable USARTs , 1 byte-
oriented 2-wire Serial Interface (I2C), a 6- channel 10-bit ADC (8 channels in TQFP and
QFN/MLF packages) , a programmable Watchdog Timer with internal Oscillator, an SPI
serial port, and six software selectable power saving modes. The Idle mode stops the CPU
while allowing the SRAM, Timer/Counters, SPI port, and interrupt system to continue
functioning.
The Power-down mode saves the register contents but freezes the Oscillator,
disabling all other chip functions until the next interrupt or hardware reset. In Power-save
mode, the asynchronous timer continues to run, allowing the user to maintain a timer
base while the rest of the device is sleeping. The ADC Noise Reduction mode stops the CPU
and all I/O modules except asynchronous timer and ADC to minimize switching noise
during ADC conversions. In Standby mode, the crystal/resonator oscillator is running
while the rest of the device is sleeping. This allows very fast start-up combined with low
power consumption.
In Extended Standby mode, both the main oscillator and the asynchronous timer
continue to run. Atmel offers the Touch® library for embedding capacitive touch
buttons, sliders and wheels functionality into AVR microcontrollers. The patented
charge-transfer signal acquisition offers robust sensing and includes fully debounced
reporting of touch keys and includes Adjacent Key Suppression® (AKS™) technology for
unambiguous detection of key events. The easy-to-use QTouch Suite toolchain allows
you to explore, develop and debug your own touch applications. The device is
manufactured using Atmel’s high density non-volatile memory technology. The On-chip
ISP Flash allows the program memory to be reprogrammed In-System through an SPI
serial interface, by a conventional nonvolatile memory programmer, or by an On-chip
Boot program running on the AVR core. The Boot program can use any interface to
download the application program in the Application Flash memory.
Software in the Boot Flash section will continue to run while the Application Flash
section is updated, providing true Read-While-Write operation. By combining an 8-bit
RISC CPU with In-System Self-Programmable Flash on a monolithic chip, the Atmel

9. ATmega328/P is a powerful microcontroller that provides a highly flexible and cost
effective solution to many embedded control applications.
12V MOTOR 300rpm
300 RPM Side Shaft Heavy Duty DC Gear Motor is suitable for large robots /
automation systems. It has sturdy construction with gear box built to handle stall
torque produced by the motor. Drive shaft is supported from both sides with metal
bushes. Motor runs smoothly from 4V to 12V and gives 300 RPM at 12V. Motor has
8mm diameter, 17.5mm length drive shaft with D shape for excellent coupling.
Table below gives fairly good idea of the motor’s performance in terms of RPM vs
voltage at no load and that of stall torque at different voltages.
Note: This motor will be bit noisy while running.
❖ Specifications
• RPM: 300 at 12V
• Voltage: 4V to 12V
• Stall torque: 23Kg-cm at stall current of 8.4A@12V
• Shaft diameter: 8mm
• Shaft length: 17.5mm
• Gear assembly: Spur
• Brush type: Carbon
• Motor weight: 280gms
• Dimension: Refer to diagram below
Voltage (V) RPM (No Load) Stall torque (Kg/cm) Stall Current (A)

10. 2 40.9 1.56 1.2
4 96.8 4.29 2.5
6 157.8 7.8 4.5
8 198.5 10.53 5.9
10 269.8 12.09 7.0
12 325.3 22.62 8.4

11. DIAGRAM OF 12V MOTOR
12V DC GEAR MOTOR 300rpm

12. DIAGRAM OF TYRE

13. 7×4MM DC MOTOR TYRE
A wheel is a circular component that is intended to rotate on an axle bearing.
The wheel is one of the key components of the wheel and axle which is one of
the six simple machines. Wheels, in conjunction with axles, allow heavy objects to
be moved easily facilitating movement or transportation while supporting a load, or
performing labor in machines. Wheels are also used for other purposes, such as
a ship's wheel, steering wheel, potter's wheel and flywheel.
Common examples are found in transport applications. A wheel greatly
reduces friction by facilitating motion by rolling together with the use of axles. In
order for wheels to rotate, a moment needs to be applied to the wheel about its axis,
either by way of gravity or by the application of another external force or torque.
Using the wheel, Sumerians invented a contraption that spins clay as a potter
shapes it into the desired object.
❖ Specifications
• Diameter - 7 cm
• Width of wheel - 4 CMS
• Shaft bore - 6 mm
• Screw provided to tight wheel with motor shaft

14. Atmega328P
• 8-Bit Microcontroller
• 8KBROM
• 256 byte RAM
• 3 timers
• 32 I/O Ports
• 1 Serial Ports
• 8 internal Sources
❖ ARDUINO UNO FEATURES
• Atmega328P Microcontroller
• Input Voltage-7-12V
• 14Digital I/O Pins (6 PWM outputs)
• 6 Analog Input
• 32K Flash Memory
• 16Mhz Clock Speed
❖ HARDWERE REQUIREMENTS
• Microcontroller board- Arduino Uno
• DTMF Detector
• Motor driver IC
• DC Motor
• 12V Battery
• Solar Panel
• Wires
• Motor Clamp
• Card Board
• Wireless IP based Camera

15. CIRCUIT DIAGRAM OF MOTOR DRIVER L293D
MOTOR DRIVER (IC L293D)
• This motor driver board is designed to work with L293D IC
• This can control 4 DC motors, their directions using control lines and their speed
using PWM.

16. The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed
to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The
L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages
from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays,
solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage
loads in positive-supply applications. All inputs are TTL compatible. Each output is a
complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo
Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN
and drivers 3 and 4 enabled by 3,4EN. When an enable input is high, the associated
drivers are enabled, and their outputs are active and in phase with their inputs. When
the enable input is low, those drivers are disabled, and their outputs are off and in the
high-impedance state. With the proper data inputs, each pair of drivers forms a full-H
(or bridge) reversible drive suitable for solenoid or motor applications.
FEATURES OF MOTOR DRIVER
• Featuring Unit rode L293 and L293D Products Now From Texas Instruments
• Wide Supply-Voltage Range: 4.5 V to 36 V
• Separate Input-Logic Supply
• Internal ESD Protection
• Thermal Shutdown
• High-Noise-Immunity Inputs
• Functionally Similar to SGS L293 and SGS L293D
• Output Current 1 A Per Channel (600 mA for L293D)
• Peak Output Current 2 A Per Channel (1.2 A for L293D)
• Output Clamp Diodes for Inductive Transient Suppression (L293D)

17. CIRCUIT DIAGRAM OF DTMF MT8870
DTMF (MT8870)
The MT8870D/MT8870D-1 is a complete DTMF receiver integrating both the
band split filter and digital decoder functions. The filter section uses switched
capacitor techniques for high and low group filters; the decoder uses digital counting
techniques to detect and decode all 16 DTMF tone-pairs into a 4-bit code.
Functional Description

18. The MT8870D/MT8870D-1 monolithic DTMF receiver offers small size, low power
consumption and high performance. Its architecture consists of a bandsplit filter
section, which separates the high and low group tones, followed by a digital counting
section which verifies the frequency and duration of the received tones before passing
the corresponding code to the output bus. Filter Section Separation of the low-group
and high group tones is achieved by applying the DTMF signal to the inputs of two
sixth-order switched capacitor bandpass filters, the bandwidths of which correspond to
the low and high group frequencies. The filter section also incorporates notches at 350
and 440 Hz for exceptional dial tone rejection .
Each filter output is followed by a single order switched capacitor filter section which
smooths the signals prior to limiting. Limiting is performed by high-gain comparators
which are provided with hysteresis to prevent detection of unwanted low-level signals.
The outputs of the comparators provide full rail logic swings at the frequencies of the
incoming DTMF signals.
Features
• Complete DTMF Receiver
• Low power consumption
• Internal gain setting amplifier
• Adjustable guard time
• Central office quality
• Power-down mode
• Inhibit mode
• Backward compatible with MT8870C/MT8870C-1

19. BLOCK DIAGRAM OF POWER SUPPLY

20. POWER SUPPLY
❖ 12V Battery
❖ The lead–acid battery was invented in 1859 by French physicist Gaston
Plante and is the oldest type of rechargeable battery. Despite having a very low
energy-to-weight ratio and a low energy-to-volume ratio, its ability to supply
high surge currents means that the cells have a relatively large power-to-weight
ratio. These features, along with their low cost, make them attractive for use in
motor vehicles to provide the high current required by automobile starter motors.
❖ As they are inexpensive compared to newer technologies, lead–acid batteries
are widely used even when surge current is not important and other designs could
provide higher energy densities. Large-format lead–acid designs are widely used for
storage in backup power supplies in cell phone towers, high-availability settings like
hospitals, and stand-alone power systems. For these roles, modified versions of the
standard cell may be used to improve storage times and reduce maintenance
requirements. Gel-cells and absorbed glass-mat batteries are common in these roles,
collectively known as VRLA (valve-regulated lead–acid) batteries.

21. DIAGRAM OF SOLAR PANEL

22. SOLAR PANEL
A solar cell, or photovoltaic cell, is an electrical device that converts the energy
of light directly into electricity by the photovoltaic effect, which is
a physical and chemical phenomenon.[1] It is a form of photoelectric cell, defined as a
device whose electrical characteristics, such as current, voltage, or resistance, vary
when exposed to light. Individual solar cell devices can be combined to form modules,
otherwise known as solar panels. In basic terms a single junction silicon solar cell can
produce a maximum open-circuit voltage of approximately 0.5 to 0.6 volts.[2]
Solar cells are described as being photovoltaic, irrespective of whether the source
is sunlight or an artificial light. They are used as a photodetector (for example infrared
detectors), detecting light or other electromagnetic radiation near the visible range, or
measuring light intensity.
The operation of a photovoltaic (PV) cell requires three basic attributes:
• The absorption of light, generating either electron-hole pairs or excitons.
• The separation of charge carriers of opposite types.
• The separate extraction of those carriers to an external circuit.
In contrast, a solar thermal collector supplies heat by absorbing sunlight, for the
purpose of either direct heating or indirect electrical power generation from heat. A
"photo electrolytic cell" (photoelectrochemical cell), on the other hand, refers either to a
type of photovoltaic cell (like that developed by Edmond Becquerel and modern dye-
sensitized solar cells), or to a device that splits water directly
into hydrogen and oxygen using only solar illumination.

23. WIFI IP BASED CAMERA

24. Wireless WIFI IP Based Camera
An Internet Protocol camera, or IP camera, is a type of digital video camera commonly
employed for surveillance, and which, unlike analog closed-circuit television (CCTV)
cameras, can send and receive data via a computer network and the Internet. Although
most cameras that do this are webcams, the term IP camera or netcam is usually applied
only to those used for surveillance that can be directly accessed over a network
connection.
An IP camera is typically either centralized (requiring a central network video
recorder (NVR) to handle the recording, video and alarm management) or decentralized
(no NVR needed, as camera can record to any local or remote storage media). The first
centralized IP camera was Axis Net eye 200, released in 1996 by Axis Communications.
IP cameras are typically available at resolutions from 0.3 (VGA resolution) to
29 megapixels.[1] As in the 21st century, there has been a shift in the consumer TV
business towards high-definition (HD) resolutions (eg. 1080P (Full-HD), 4K
resolution (Ultra-HD) and 16:9widescreen format).

25. FEATURES OF WIRELESS WI-FI IP BASED CAMERA
• SMART TECHNOLOGY: Motion detection and intelligent alerts can send real-time
push notifications to your phone with captured images while you're away. Works
and connect to your phone even without Wi-Fi in AP Mode. Our cameras are CE and
FCC certified with UL compliant power supplies.
• PAN AND TILT: Full HD Video at 25fps. Remarkable Field of View with Super Wide
120 degree Viewing Angle, Remote Pan/Tilt create a complete 355° coverage,
Intelligent Digital Zoom. Supports remote viewing & recording from anywhere. Wifi
connection is compulsory for installing this camera without Wifi this camera cannot
be used.
• NIGHT VISION : With 11 IR LEDs, night vision up to 26 feet , longer distance makes
you see further and clearer through infrared red light even in the darkness! provides
the protection you need and act as a deterrent against crimes like theft, burglaries,
and vandalism. Rely on this trusted night vision camera technology to monitor and
record your surroundings, so you can feel protected from the unknown!
• ENHANCED TWO-WAY AUDIO: Receive messages sent by the wireless network
camera from your phone! With the help of smart camera, every potential risk will be
identified accurately and sent to you immediately. Motion detection camera
technology allows you to avoid taping hours of inactivity. Based on two-way audio,
you are able to talk with others anywhere anytime trough this security camera!
• IR NIGHT VISION : HD night vision with inbuilt IR lens for crisp & clear image even
in dark. MOTION DETECTION: Will send alerts whenever any motion is detected.
360 DEGREE MOBILE CONTROL : Rotate camera horizontally or vertically from
anywhere in the world using mobile application

26. SOFTWERE REQUIREMENT
• Tool Arduino IDE
• Programming languages using
Embedded C/C++
ADVANTAGES
• Code compatibility and expandability across different Arduino boards
• Cost is less as Arduino is open source
• Advantages of DTMF over RF is the wide range of control possible
CONCLUSION
• DTMF Based robot using Arduino microcontroller developed
• Advantage of wide range of control
REFERENCES
• www.elementzonline.com
• www.engineersgarage.com
• www.engineerprojects.info
• www.wikipedia.org
CIRCUIT DESCRIPTION OF “WIRELESS SURVILLANCE ROBOT”
Overview
The Arduino Uno is a microcontroller board based on the ATmega328 (datasheet). It has
14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs,
a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a
reset button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with a AC-to-DC adapter or
battery to get started.
The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega8U2 programmed as a USB-to-serial converter.
"Uno" means one in Italian and is named to mark the upcoming release of Arduino 1.0.
The Uno and version 1.0 will be the reference versions of Arduino, moving forward. The
Uno is the latest in a series of USB Arduino boards, and the reference model for the

27. Arduino platform; for a comparison with previous versions, see the index of Arduino
boards.
TECHNICAL SPECIFICATION
1 Microcontroller Atmega328
2 0perating voltage 5v
3 Input voltage (recommended) 7-12 v
4 Input voltage(limit) 6-20 v
5 Digital i/o pins 14(of which provide PWM
output)
6 Analog Input pin 6
7 Dc current per i/o pin 40mA
8 DC current for 3.3v per 50mA
9 Flash memory 32kb of which 0.5 kb used by
bootloader
10 SRAM 2 KB
11 EEPROM 1 KB
12 Clock Speed 16 Mhz
POWER
The board can operate on an external supply of 6 to 20 volts. if supplied with less than 7v,
however, the 5v pin may supply less than five volts and the board may be unstable. If
using more than 12v,the voltage regulator may overheat and damage the board. The
recommended range is 7 to 12 volts.
➢ VIN. The input voltage to the Arduino board when it’s using as external power
sources (as opposed to 5 volt from the USB connection or other regulated power
source)
➢ 5v.This regulated power supply used to power in microcontroller and other
components on the board
➢ 3V3.A 3.3 volt supply generated by the on-board regulator, maximum current drew
is 50 MA
➢ Ground pin
MEMORY
The Atmega328 has 32 kb of flash memory for storing code ; it has also 2 kb of SRAM and
1 kb of EEPROM.

28. INPUT AND OUTPUT
Each of the 14 digital pins on the uno can be used as an input and output, using
pinMode0, digitalWrite0, and digitalRead0 Fuctions.
➢ SERIAL:0(RX) AND 1(TX). Used to receive and transmit TTL serial data.
➢ INTERNAL INTERRUPTS:2 AND 3. These pin can be configured to trigger an
interrupt on a low value, arising or falling edge, or a change in value.
➢ PWM 3,5,6,9,10, AND 11. Provide 8 –bit PWM output with the analogWrite0
function.
➢ SPI: 10(SS), 11(MOSI), 12(MISO), 13(SCK). These pins support SPI communication,
which, although provided by the underling hardware, is not currently included in
the Arduino language.
➢ LED:13. There is a built-in LED connected to digital pin 13. when the pin is HIGH
value, the LED is on, when the pin is LOW, its off.

29. “WIRELESS SURVILLANCE ROBOT”

30. LIST OF COMPONENT
INTRODUCTION
A robot is electro-mechanical machine which is guided by
computer, Mobile phone or programming, and is thus able to
do tasks on its own. The Robot Institute of America define
“A robot is a reprogrammable multifunctional manipulator
designed to move material parts, tools or specialized device
through variable programmed motions for the performance
of a variety of tasks.”
Conventionally, wireless controlled robots use RF
circuits, which have drawbacks of limited working range &
frequency range, use of mobile phones can overcome this
limitation. 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[1].
S.NO NAME OF COMPONENT NAME OF IC QUANTITY
1. Arduino-UNO Atmega328P 1
2. DTMF MT8870 1
3. Motor Driver L293D 1
4. IP based Camera - 1
5. DC Geared Motor(300 RPM) - 4
6. Battery(12 volt) - 1
7. Solar Panel(9volt) - 1
8. Tyres - 4
9. LASER GUIDED MISCELLE - 1
10. Card board - 2

31. ASSEMBLY PROCESS OF WIRELESS
SURVILLANCE ROBOT
CONNECTIONS
Motor driver –
• Pin ‘A’ and ‘B’ controls left side motor while Pin ‘C’ and ‘D’ controls right side of
motor. These four pins are connected to the four motors.
• Pin ‘E’ is to power IC(L298) which is taken from Arduino (5v).
• pin ‘F’ is ground.
• Pin ‘G’ takes 12 volt power from battery via Vin pin of Arduino.
• Pins ‘H’, ‘I’, ‘J’ and ‘K’ receives logic from Arduino.
DTMF –
• pin ‘a’ is connected to 3.5 volt of Arduino to power the IC (SC9270D).
• Pin ‘b’ is connected to ground.
• The input of DTMF is taken from phone via jack.
• The output in the form of binary data via (D0 – D3) pins goes to Arduino.
ARDUINO –
• the output of DTMF from (D0 – D3) pins comes to digital pins of Arduino. We can
connect this output to any of the four digital pins varying from (2 – 13) in Arduino.
Here we used pins 8, 9, 10 and 11.
• Digital pins 2 and 3 of Arduino are connected to pin number ‘H’ and ‘I’ of motor driver
while pins 12 and 13 of Arduino are connected to ‘J’ and ’K’.
• The Arduino is connected to a 12 volt battery.

32. ASSEMBLY DIAGRAM OF SURVILLANCE ROBOT

33. PROGRAM OR ROBOT
❖ CODE
int x ; // initialising variables
int y ;
int z ;
int w ;
int a=20 ;
void setup()
{
pinMode(2,OUTPUT) ; //left motor
pinMode(3,OUTPUT) ; //left
pinMode(8,INPUT) ; // output from DO pin of DTMF
pinMode(9,INPUT) ; //output from D1 pin of DTMF
pinMode(10,INPUT) ; //output from D2 pin of DTMF
pinMode(11,INPUT) ; // output from D3 pin of DTMF
pinMode(12,OUTPUT) ; //right motor
pinMode(13,OUTPUT) ; //right

34. Serial.begin(9600);// begin serial communication between arduino and laptop
}
void decoding()// decodes the 4 bit binary number into decimal number
{
if((x==0)&&(y==0)&&(z==0)&&(w==0))
{
a=0;
}
if((x==0)&&(y==0)&&(z==1)&&(w==0))
{
a=2;
}
if((x==0)&&(y==1)&&(z==0)&&(w==0))
{
a=4;
}

35. if((x==0)&&(y==1)&&(z==1)&&(w==0))
{
a=6;
}
if((x==1)&&(y==0)&&(z==0)&&(w==0))
{
a=8;
}
}
void printing()// prints the value received from input pins 8,9,10 and 11 respectively
{
Serial.print(" x ");
Serial.print( x );
Serial.print(" y ");
Serial.print( y );
Serial.print(" z ");

36. Serial.print( z );
Serial.print(" w ");
Serial.print( w );
Serial.print(" a ");
Serial.print(a);
Serial.println();
}
void move_forward()// both side tyres of bot moves forward
{
digitalWrite(2,HIGH);
digitalWrite(3,LOW);
digitalWrite(12,HIGH);
digitalWrite(13,LOW);
}
void move_backward()//both side tyres of bot moves backward
{

37. digitalWrite(3,HIGH);
digitalWrite(2,LOW);
digitalWrite(13,HIGH);
digitalWrite(12,LOW);
}
void move_left()// only left side tyres move forward
{
digitalWrite(2,HIGH);
digitalWrite(3,LOW);
digitalWrite(12,LOW);
digitalWrite(13,HIGH);
}
void move_right()//only right side tyres move forward
{
digitalWrite(2,LOW);
digitalWrite(3,HIGH);

38. digitalWrite(12,HIGH);
digitalWrite(13,LOW);
}
void halt()// all motor stops
{
digitalWrite(2,LOW);
digitalWrite(3,LOW);
digitalWrite(12,LOW);
digitalWrite(13,LOW);
}
void reading()// take readings from input pins that are connected to DTMF D0, D1, D2
and D3 PINS.
{
x=digitalRead(8);
y=digitalRead(9);
z=digitalRead(10);
w=digitalRead(11);

39. }
void loop()
{
reading();
decoding();
if((x==0)&&(y==0)&&(z==1)&&(w==0))
{
move_forward();
reading();
decoding();
printing();
}
if((x==1)&&(y==0)&&(z==0)&&(w==0))
{
move_backward();
reading();

40. decoding();
printing();
}
if((x==0)&&(y==1)&&(z==0)&&(w==0))
{
move_left();
reading();
decoding();
printing();
}
if((x==0)&&(y==1)&&(z==1)&&(w==0))
{
move_right();
reading();
decoding();
printing();

41. }
if((x==0)&&(y==0)&&(z==0)&&(w==0))
{
halt();
reading();
decoding();
printing();
}
a=20;
printing();
}
PRICATIONS
1 – The jack should not be loose.
2 – Phone keypad tones should be maximum.
3 – Internet/ Wi-Fi of receiving phone should be closed to avoid interference effects.
4 – Left pin (i.e. pin ‘b’) of DTMF is ground and right pin (i.e. pin ‘a’) is connected to 3.3v.
5- Connection should be tight.

42. BABYOGRAPHY OF DTMF ROBOT
• IEEE Robotics and Automation Society
• Future Robotics – The Human Algorithm
• Investigation of social robots – Robots that mimic human behaviors and gestures.
• Wired's guide to the '50 best robots ever', a mix of robots in fiction (Hal, R2D2, K9) to
real robots (Roomba, Robot, Aibo).
• Notable Chinese Firms Emerging in Medical Robots Sector(GCiS)

43. CIRCUIT WORKING PROCESS
The controls which we have used in our project are as follows –
2 – To move forward
4 – To turn left
6 – To turn right
8 – To move backwards
0 – to stop
After making a call to the phone connected to the robot, the person opens his dial pad.
• If ‘2’ is pressed. The DTMF receives the input, decodes it in its binary
equivalent number i.e. ‘0010’ and sends it to digital pins of Arduino. The
Arduino then sends this code to the motor driver as we have programmed
when the code will be ’0010’, the motors will rotate in clockwise direction
and hence our robot will move forward.
• If ‘4’ is pressed then its equivalent code is ‘0100’ and according to the
programming the left side motors will stop and only right side motors will
rotate clockwise and hence our robot will turn left.

44. • If ‘6’ is pressed then the right side motor will stop and only left side motors
will rotate clockwise and hence our robot will turn right.
• If ‘8’ is pressed then our motors will rotate in anticlockwise direction and
thus our robot will move backward.
• If ‘0’ is pressed then all our motors will stop and robot will not move.
In this project we have assigned a function to five dial pad numbers only. We can add any
type of other mechanism and assign a dial pad number to that mechanism to make an
upgraded version of this project.
TESTING OF ROBOT
DTMF controlled robot run by some commands that are send via mobile phone.
We are here using DTMF function of mobile phone. Here we have used the mobile
phone to show working of project. One is user mobile phone that we will call ‘remote
phone’ and second one that are connected with Robot’s circuit using aux wire. This
mobile phone we will call ‘Receiver Phone’.
First we make a call by using remote phone to receiver phone and then attend the call
by manually or automatic answer mode. Now here is how this DTMF controlled robot
is controlled by cell phone:

45. When we presses ‘2’ by remote phone, robot start to moving forward and moving
continues forward until next command comes.
When we presses ‘8’ by remote phone, robot change his state and start moving in
backward direction until other command comes.
When we press ‘4’, Robot get turn left till next command exicuted.

46. When we press ‘6’, robot turned to right.
And for stopping robot we pass‘5’.

48. AREA OF APPLICATION
As more and more robots are designed for specific tasks this method of
classification becomes more relevant. For example, many robots are designed for
assembly work, which may not be readily adaptable for other applications. They are
termed as "assembly robots". For seam welding, some suppliers provide complete
welding systems with the robot i.e. the welding equipment along with other material
handling facilities like turntables etc. as an integrated unit. Such an integrated robotic
system is called a "welding robot" even though its discrete manipulator unit could be
adapted to a variety of tasks. Some robots are specifically designed for heavy load
manipulation, and are labelled as "heavy duty robots".
Current and potential applications include:
• Military robots using Arduino dtmf based.
• Caterpillar plans to develop remote controlled machines and expects to
develop fully autonomous heavy robots by 2021.[19] Some cranes already are remote
controlled.
• It was demonstrated that a robot can perform a herding[20] task.
Robots are increasingly used in manufacturing (since the 1960s). In the auto industry,
they can amount for more than half of the "labor". There are even "lights off" factories such
as an IBM keyboard manufacturing factory in Texas that is 100% automated.[21]
• Robots such as HOSPI[22] are used as couriers in hospitals (hospital robot). Other
hospital tasks performed by robots are receptionists, guides and porters helpers.[23]
• Robots can serve as waiters[24][25] and cooks,[26] also at home. Boris is a robot that can
load a dishwasher.[27] Rotimatic is a robotics kitchen appliance that cooks flatbreads
automatically.[28]
• Robot combat for sport – hobby or sport event where two or more robots fight in an
arena to disable each other. This has developed from a hobby in the 1990s to several
TV series worldwide.
• Cleanup of contaminated areas, such as toxic waste or nuclear facilities.[29]
• Agricultural robots (AgRobots[30][31]).
• Domestic robots, cleaning and caring for the elderly
• Medical robots performing low-invasive surgery
• Household robots with full use.
• Nanorobots
• Swarm robotics

49. EASTIMATING AND COST COMPNENT
S.N COMPONENT NAME QUANTITY COST
1. Royal Lite Wireless HD IP Wifi
CCTV Indoor Security Camera
Stream Live Video in Mobile or
Laptop - (Support upto 128 GB
SD card) (White Color).
!1 1700
2.
Robo India RI-02 Dtmf Module,
Mt8870 Decoder with Auxiliary
Cable
1 300
3. Robodo Electronics L298 Motor
Driver Module
1 200
4. REES52 7*4WHEEL 7 x 4 CM
Robot Wheels (Tires) for 6 mm
Shaft Geared DC Motor
4 150
5. 2 of Easy Electronics 12V Dc
Gear Motor (Geared Motor) - 300
Rpm
4 950
6. Generic Uno R3 ATmega328P
with USB Cable length 1 feet,
Compatible with ATMEGA16U2
Arduino
1 500
7. ePro Labs KIT-0012 Jumper
Wires Set
12 30
8. 2 of KTC CONS Labs SG 90
Tower Pro 9g Micro Servo Motorr
for Arduino ARM Raspberry and
Other MCU
2 360
9. Solar penal 1 300
10. 12v bettery 1 500

50. 11. Card board 2 70
12. Motor clamp 4 80
13. Lasure light 1 30
14. Switch 2 20
15. Soldering Wires 1 20
16. Glue gun 2 40
17. Battery cap 2 20
18. Other accessories + Courier
Charges
(360 + 210)
✓ GRAND TOTAL TOTAL 5930.00_Rs only

51. DTMF Mobile ROBOT is a machine that can be
controlled with a mobile. 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 on the robot. The received tone is processed by the
Arduino microcontroller with the help of DTMF decoder
MT8870 IC the decoder decodes the DTMF tone is to its
equivalent binary digit and this binary number is send to the
microcontroller, the microcontroller is pre-programmed to
take decision for any give input and output its decision to
motor drivers in order to drive the motors for forward or
backward motion or a turn.