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DTMF Based Controlled Robot Vehicle

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 IJSRD - International Journal for Scientific Research & Development| Vol. 2, Issue 12, 2015 | ISSN (online): 2321-0613

DTMF Based Controlled Robot Vehicle

Raj Hakani1
1
Department of Electronics & Communication Engineering
1
Gandhinagar, Gujarat
Abstract— In this paper, we can control the Robot using
Dual Tone Multi Frequency (DTMF) technology. DTMF II. BLOCK DIAGRAM OF PROPOSED SYSTEM
technology is most useful technique at present days. It is
worked on to methods digital signal processing (DSP).
Wireless-control of robots uses RF circuit that has the
drawbacks of limited working range and limited control.
This DTMF is gives advantage over the RF; it increases the
range of working and also gives good results in case of
motion and direction of robot using mobile phone through
micro controller. This type of wireless communication gives
the remote handling operation of Robot using DTMF.
Key words: DTMF, Atmega328P Controller, Mobile Robot

I. 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 Fig. 1: Block Diagram of DTMF based Navigation Mobile
limitation. It provides the advantages of robust control, Robot
working range as large as the coverage area of the service
provider, no interference with other controllers and up to III. HARDWARE DESCRIPTION
twelve controls[1]. A. DTMF Decoder:
DTMF Mobile ROBOT is a machine that can be
controlled with a mobile. In this project, the robot is DTMF means Dual-Tone-Multi-Frequency. DTMF
controlled by a mobile phone that makes a call to the mobile signaling is used for telecommunication signaling over
phone attached to the robot. In the course of a call, if any analog telephone lines in the voice-frequency band between
button is pressed, a tone corresponding to the button pressed telephone handsets and other communication devices and
is heard at the other end of the call. This tone is called "Dual the switching centre. The DTMF system generally uses eight
Tone Multiple-Frequency" (DTMF) tone. The robot different frequency signals transmitted in pairs to represent
perceives this DTMF tone with the help of the phone sixteen different numbers, symbols and letters. When
stacked on the robot. The received tone is processed by the someone presses any key in the key pad of the handset, a
Arduino microcontroller with the help of DTMF decoder DTMF signal is generate unique tone which consists of two
MT8870 IC the decoder decodes the DTMF tone is to its different frequencies one each of higher frequency range
equivalent binary digit and this binary number is send to the (>1KHz) and lower frequency (<1KHz) range. The
microcontroller, the microcontroller is pre-programmed to resultant tone is convolution of two frequencies [2]. The
take decision for any give input and output its decision to frequencies and their corresponding frequency are shown in
motor drivers in order to drive the motors for forward or Table I.
backward motion or a turn. 1633
1209 Hz 1336 Hz 1477 Hz
Hz
679 Hz 1 2 3 A
770 Hz 4 5 6 B
852 Hz 7 8 9 C
941 Hz * 0 # D
Table 1: DTMF Keypad Frequency
Each of these tones is composed of two pure sine
waves of the low and high frequencies superimposed on
each other. These two frequencies explicitly represent one of
the digits on the telephone keypad. Thus generated signal
can be expressed mathematically as follows:

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The DTMF signal from the user mobile phone is

(1) picked up by the system mobile phone. The tip and ring of
Where: the microphone is connected to the specified pin of CM8870
AH, AL: are the amplitudes as shown in the Fig. 4. C1, R1 and R2 have been adjusted
fH : high frequency range for gain control of the input signal. Resistance R3 and
fL : low frequency range capacitor C2 has been used to set the "guard time ‟ which is
Each key has a specific Tone frequency. For a time duration through which a valid DTMF tone must be
example if the "5" key is pressed then generated frequency present for its recognition. The "Q-test ‟ signal (pin15)
tone is 770 + 1336 = 2106 Hz. The key "1" is pressed then indicates that the valid DTMF tone has been detected.
frequency of 697 + 1209 = 1906 Hz which is shown in Increase the resistor between pin2 and pin3 (not the
below figure. one connects to 100nF) from 100K to 220k, 330K or 470K.
This increases the input gain from 1 to 2.2, 3.3 or 4.7 to suit
your input signal strength [4].
B. Atmega328P Microcontroller:
ATmega328P [5] is a 32K 8-bit microcontroller based on
AVR architecture. ATmega328P is commonly used in many
projects and autonomous systems where a simple, low-
powered, low-cost micro-controller is needed. It has 14
digital input/output pins (out of which 6 can be exploited as
PWM outputs), 6 analog input, 16 MHz crystal oscillator.
The high-performance Atmel AVR RISC-based
microcontroller combines 32KB ISP flash memory with
Fig. 2: Two Pure Sine Waves combine for form the DTMF read-while-write capabilities, 1KB EEPROM, 2KB SRAM,
Tone for "1"[3] 23 general purpose I/O lines, 32 general purpose working
registers, three flexible timer/counters with compare modes,
internal and external interrupts, serial programmable
USART, a byte-oriented 2-wire serial interface, SPI serial
port, 6-channel 10-bit A/D converter (8-channels in TQFP
and QFN/MLF packages), programmable watchdog timer
with internal oscillator, and five software selectable power
saving modes. The device operates between 1.8-5.5 volts.

Fig. 3: DTMF Tone Frequency

1) CM8870 DTMF Decoder IC:

Fig. 5: Pin Diagram of Atmega328P

C. DC Motor Driver:
DC motor is electromechanical device that converts
electrical energy into mechanical energy that can be used to
Fig. 4: MT-8870 DTMF Decoder Configuration [4] do many works. It can produce mechanical movement to
The MT-8870 is a DTMF Receiver that integrates moving the wheels of the robot. DC motor has two wires,
both band split filter and decoder functions into a single 18- we can say them positive terminal and negative terminal,
pin DIP package. It is manufactured using CMOS process when these wires are connected with power supply the shaft
technology. The MT8870 offers low power consumption (35 rotates. We can reverse the direction of the rotation. L293d
mW max) and precise data handling. Its decoder uses digital chip is very safe to use for DC motor control. This L293D is
counting techniques to detect and decode all 16 DTMF tone 16bit chip. Chip is design to control four DC motor, there
pairs into a 4-bit code. are two inputs and two outputs for each motor.

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D. Working of Implemented System:

 Mobile phone which is connected to the robot is kept
in auto receiving mode.
 For the control of robot, we have to make a call to the
mobile phone which is attached to the robot using
earphone. thus two mobile phone are connected via
mobile network.
 When the call is received then press the button in
your mobile.
 DTMF tone is received by the mobile that is
connected with the robot through headphone.
 These signals are received by the DTMF decoder that
decodes the signal in binary sequence to the
Fig. 6: Working of DC motor
microcontroller. Sequences are given in table 1
There are two Enable pins on l293d. Pin 1 and pin
 Due to the programming in controller robot will move
9, for being able to drive the motor, the pin 1 and 9 need to
when pressing key in the mobile.
be high. For driving the motor with left H-bridge we need to
enable pin 1 to high. And for right H-Bridge we need to  Microcontroller outputs are in binary form. The high
make the pin 9 to high. If anyone of the either pin1 or pin9 output of the controller drives the motor driver to
goes low then the motor in the corresponding section will drive the motor in forward direction.
suspend working. It’s like a switch.  Similarly we can move the motor in backward, left,
1) L293D Pin Diagram: right motion and stop condition.
 According to the source code given here key 2 is for
forward, key 4 is for left rotation, key 6 is for right
rotation, key 8 for reverse rotation in this robot
navigation.

Fig. 7: L293D IC Fig. 8: Functionality of used keypad in Mobile Phone [2]

2) Working of L293D:
The there 4 input pins for this L293D, pin 2,7 on the left and E. Operation of the Circuit:
pin 15 ,10 on the right as shown on the pin diagram. Left The DTMF signal from the user (Sender) mobile phone is
input pins will regulate the rotation of motor connected picked up by the system (Receiver) mobile phone. Then the
across left side and right input for motor on the right hand connection is established between the two phones, whatever
side. The motors are rotated on the basis of the inputs phone key is pressed at the Sender mobile phone, the
provided across the input pins as LOGIC 0 or LOGIC 1. the corresponding DTMF tone is heard in the ear piece of the
motor. receiver phone. Received DTMF tone is fed to the DTMF
3) L293D Logic Table: decoder. The DTMF decoder will give the corresponding
Let's consider a Motor connected on left side output pins BCD value of the tone. This Output is connected to Q4, Q3,
(pin 3,6). For rotating the motor in clockwise direction the Q2, Q1 pin of MT8870 Decoder IC and this output is fed to
input pins has to be provided with Logic 1 and Logic 0. ATmega328P Microcontroller pin 4,5,6,7 respectively.
Pin 1 Enable Pin 2 Pin 7 Function Based on the equivalent binary digit of the DTMF tone
HIGH HIGH LOW Anticlockwise received by the Atmega328P Microcontroller, a decision is
HIGH LOW HIGH Clockwise made for Pins 8,9,10 and 11 regarding which pins should be
HIGH HIGH HIGH No Rotation high or low. These pins are fed to the L293D IC as input.
HIGH LOW LOW No Rotation Based on the Controller decision, the Pins are either high or
LOW X X No Rotation low which activates the motors and moves the vehicle.
Table 2: L293 Logic Table
Where X = HIGH/LOW

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F. DTMF tone Decoding Algorithm:

Low High
Digi O D D D D
Frequenc Frequenc
t E 3 2 1 0
y Group y Group
697 1209 1 H 0 0 0 1
697 1336 2 H 0 0 1 0
697 1477 3 H 0 0 1 1
770 1209 4 H 0 1 0 0
770 1336 5 H 0 1 0 1
770 1477 6 H 0 1 1 0
852 1209 7 H 0 1 1 1
852 1336 8 H 1 0 0 0
852 1477 9 H 1 0 0 1
941 1209 * H 1 0 1 0
941 1336 0 H 1 0 1 1
941 1477 # H 1 1 0 0 Fig. 10: Circuit Simulation in Proteus Simulator
Table 3: DTMF Tone Decoding
VI. CIRCUIT DIAGRAM
IV. PROPOSED METHOD
The operational flowchart of the system is shown in
Figure 9.

Fig. 11: Printed Circuit Board for DTMF based Controlled

Robot

VII. APPLICATION
 This type of wireless communication (GSM) gives
the security of robots when the owner is not
present.
 Operating robot from a remote place anywhere in
the world with any telecommunication device
having DTFM technology.

VIII. RESULTS

Fig. 9: Flow diagram of system

V. CIRCUIT SIMULATION
The Simulation of the circuit has been done on Proteus
Professional v7.8 software package. The Simulation of the
circuit is shown in figure 6. Atmega328P Microcontroller
has been used in simulation. Four DC Motor are connected
to Port B (Pin 2,3,4,5) of Microcontroller through H-Bridge
driver Circuit.
Fig. 12: Designed Robot

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robots vary vastly, all robots share the features of a

mechanical, movable structure under some form of control.

REFERENCES
[1] Awab Fakih, Jovita Serrao, “Cell Phone Operated
Robotic Car.” International Journal of Scientific &
Engineering Research, ISSN 2229-5518.
[2] Yun Chan Cho and Jae Wook Jeon “Remote Robot
control System based on DTMF of Mobile Phone”,
IEEE International Conference INDIN 2008, July
2008.
Fig. 13: Simulation Result when Press Key is '6' [3] http://www.dialabc.com/sound/dtmf.html
[4] http://www.robotplatform.com/howto/L293/motor_
driver_1.html
[5] http://www.atmel.in/devices/ATMEGA328.aspx
[6] Datasheet MT8870 Zarlink Semiconductor page 6.

Fig. 14: Simulation Result when Press Key is '8'

Fig. 15: Simulation Result when Press Key is '4'

Fig. 16: Simulation Result when Press Key is '2'

IX. CONCLUSION
By developing this robotic vehicle, we have overcome the
drawbacks of RF communication which have a limited
range whereas this car can be controlled from anywhere just
using this DTMF technology. In these project with the 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. Although the appearance and capabilities of

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