Table of Contents

Content
Page no.
Abstract I
List of Figures.. II
Chapter 1

Chapter 2

Chapter 3

Chapter 4

Introduction
1.1 About
1.2 Development Methods

1
1

Literature Review
2.1 Optical flow or image subtraction in
human detection from infrared camera
on mobile robot
2.1.1 Abstract
2.1.2 Research Highlights

2
2
2

Problem Identification
3.1 Statement of Problem
3.2 Advanced Technology

3
3

Methodology
4.1 Design & Development of Hardware
4.1.1 Total Circuit Internal Working
Explantion

4
4.2 Regulated Power Supply

4.3 Encoder HT12E

7

4.4 Decoder HT12D

8

4.5Encoding & Decoding Process

8

decoding
&HT12E
Connection with Encoder
Transmitter & Receiver

4.5.1 What is encoding &

8

4.5.2
9

4.6
15

HT12D
DPDT
4.7

16

Switch
RF

Chapter 5

Result & Discussion

5.1 Result

17
Chapter 6

Conclusion & Future Scope

6.1 Conclusion

18

6.2 Future Scope

18
Bibliography

19

ABSTRACT
The main aim the project is to design LIVE HUMAN BEING DETECTION
WIRELESS REMOTE CONTROLLED ROBOTAT89S51, RF remote control,HT12D
Decoder, HT12E Encoder, PIR sensor, Driver IC and DC motor.In the existing method
we are controlling the robot by using IR remote which cancontrol the robot in the line of
sight only. The main disadvantage of this method is we can control the robot up to
shortest range only and also during the earthquakes person cannot move into the places
along with the robot for detection of the live person inside the area where person
movement is not possible.In the proposed method we are using RF remote control which
can be used to control the robot at any range. To detect the live person we are using PIR
sensorcalledas passive infrared sensor which is used to detect the persons whether they ar
e alive or not. The remote uses certain range of Radio frequencies which is used to
transfer the commands from the remote to the robot. By using this we can change the
directions of the robot. Programs are developed in Embedded C. Flash magic is used for
loading programs into Microcontroller.Used to detect the live persons where earthquakes
are generated.Low cost, easy to use for rural areas, automated operation, and low power
consumption.

I
LIST OF FIGURES
Name of Figure

Page no.

4.1.1

Transmitter & power Supply Circuit

4.3.1.1

LM7805 Regulator Pin Diagram

12

4.3.2.1

HT12E Pin Diagram

13

4.4.2.1

HT12E (Tx Side)

16

4.4.2.2

HT12E Parallel Input & Serial Output

17

4.4.2.3

HT12D(Rx Side)

18

4.4.2.4

HT12D Serial Input & Parallel Output

19

4.5.1

DPDT Switch Connection with Encoder

20

II

Chapter 1
INTRODUCTION

1.1 About
Live Human Being Detection Wireless Remote Control Robot is used to detectthe
live persons. This robot is very helpful in detecting live persons under the buried
and pillars etc., whenever there is any earthquake occurred, tsunami or any other building
collapse. At the time of these effects people may fell down and buried under the
bridgesand under the pillars etc., in some cases we cant get into that felled contacts and
we canthelp them. In such cases to save them immediately we use this robot. This robots
job is todetect the live person and indicate the signal to the helpers.
1.2 Development Methods
To

implement

this mechanism

we used

discrete

components

to control

the

robot ,movement, and indicating signal purpose. We used ARM7 microcontroller to

control theentire robot function it has vast advantages, and PIR sensor to detect live
persons. DCmotors are used to for robot movement and it can be controlled by user.
When we send this robot to such places where man movement is not possible, It willtry to
find out the live persons. The user will control the robot movement with the remote.The
live person can be detected by the body temperature radiation. Normally human body will
have 96.8 to 105c temperature range. The PIR (passive infrared) sensor will bedesigned
like that it will activate when it will detect that much temperature. This project
issophisticated

in

the

market

since

it

is

real

time

embedded

project.

In the advanced market these robots are further implemented using the new technologies
like GSM, GPS and LCD displays. Using theseGSM technologies we can operate
the robot from the far distances and we can identify thelocation using GPS. Using
Camera at the Robot and LCD display at the user section we canoperate the device
accurately and it provides live section. Gear wheels can provide theaccurate movement in
all areas.

Chapter 2
LITERATURE
REVIEW

2.1 Optical flow or image subtraction in human detection from infrared camera on
mobile robot
2.1.1 Abstract
Perceiving the environment is crucial in any application related to mobile robotics
research. In this paper, a new approach to real-time human detection through
processing video captured by a thermal infrared camera mounted on the
autonomous mobile platform mSecuritT M is introduced. The approach starts with
a phase of static analysis for the detection of human candidates through some
classical image processing techniques such as image normalization and
thresholding. Then, the proposal starts a dynamic image analysis phase based in
optical flow or image difference. Optical flow is used when the robot is moving,
whilst image difference is the preferred method when the mobile platform is still.
The results of both phases are compared to enhance the human segmentation by
infrared camera. Indeed, optical flow or image difference will emphasize the
foreground hot spot areas obtained at the initial human candidates detection.

2.1.2 Research highlights

Use of infrared camera on mobile robot.
Comparison of performance of optical flow vs. image subtraction in motion
detection.
Introduction of the mSecurit mobile robot.

Chapter 3
PROBLEM
IDENTIFICATION

3.1 Statement of Problem

There is many different kind of catastrophe in natural and man-made disaster
:earthquake, flooding,

hurricane and

they

cause different disaster area

like

collapsed building, landslide or crater. During these emergency situations, and specially i
n urban

disaster, many different people are

deployed (policeman,

fire fighters and

medical assistance).They need to cooperate to save lives, protect structural infrastructure,

and evacuate victims to safety. In these situations, human rescuers must make quick
decisions under stress, and try to get victims to safety often at their own risk. They must
gather determine the location and status of victims and the stability of the structures
as quickly as possible so that medics and firefighters can enter the disaster area and save
victims. All of these tasks are performed mostly by human and trained dogs, often in very
dangerous and risky situations. This is why since some years, mobile robots have been
proposed to help them and to perform tasks that neither humans dogs nor existing tools
can

do.

For

this project, we will focused only on robots which will work

in a disaster environment of manmade structure, like collapsed buildings.

3.2 Advanced Technology
The advent of new highspeed technology and the growing computer capacity provided o
pportunity for new robot controls and realization of new methods of control theory. This
technical improvement together with the need for high performance robots created faster,
more accurate and more intelligent robots using new robots control devices, new drives
and advanced control algorithms. This Project deals with live personal detection robot is
based on 8 bit Microcontroller. This Robot follows which is drawn over the surface. Here
we are using PIR sensor for detect the which are detect human. The project is mainly
used in the DEBRIS for Earth quake rescue. Internally it consists of IR sensors. The
infrared sensors are used to sense the live persons. All the above systems are controlled
by the Microcontroller. In our project we are using the popular 8 bit microcontroller

.The Microcontroller is used to control the motors. It gets the signals from the PIR
sensors and it drives the motors according to the sensor inputs. Two DC gear motors are
used to drive the robot.
6

Chapter 4
METHODOLOGY

4.1 DESIGN AND DEVELOPMENT OF HARDWARE

MAIN CIRCUIT DIAGRAM AND ITS OVERALL OPERATION

Fig 4.1: Transmitter and power supply circuit

8
4.2 INTERNAL WORKING EXPLANATION:
Mainly the block diagram consists of following parts:

Power supply circuit

RF transmitter

HT12E Encoder IC

The devices that act as input are

Power supply

Switch box

The devices that act as output are

RF transmitter

4.3 Total circuit internal working explanation:

The main aim is to design LIVE PERSON DETECTION ROBOT USING RF
WIRELESS COMMUNICATION.
This robot is developed by using LPC2148 micro controller to it RF receiver is connected
and driver IC and DC motors are used. The robot movement is controlled by using RF
remote control. This remote consists of RF transmitter through this remote robot
movement is controlled by sending commands to robot through RF transmitter which
receives data through RF receiver connected to controller and then based on commands
received by controller for changing direction of robot. To change the position of robot RF
transmitter is used which is used to change to particular direction. Consider To

move robot in forward direction then particular command is send to controller through
RF remote this remote internally contains RF encoder, The RF encoder to transmit the
position change wirelessly to robot. HT12E is RF encoder which receives the parallel
data from the controller and converts this parallel data into serial data and to transmit the
serial data to RF transmitter through Dout pin in RF encoder TE pin should always be
kept high to transmit it to data pin of RF transmitter. Then serial data is received by the
data pin of transmitter and is send out wirelessly by the antenna to RF receiver present at
robot. The RF receiver connected to robot receives the data through antenna and sends to
controller. The sent data by the RF transmitter is received by the RF receiver and send
that data RF decoder which decodes the signal ie., serial data into parallel by using
HT12D. Thesignal is received by DIN pin and sends out using data pins and through
data pins data issend to controller. Then controller sends received data to Driver IC which
is used to changethe direction of robot.
4.3.1 REGULATED POWER SUPPLY
A variable regulated power supply, also called a variable bench power supply ,is one
where you can continuously adjust the output voltage to your requirements. Varying the
output of the power supply is the recommended way to test a project after having double
checked parts placement against circuit drawings and the parts placement guide. This
type of regulation is ideal for having a simple variable bench power supply. Actually this
is quite important because one of the first projects a hobbyist should undertake is the
construction of a variable regulated power supply. While a dedicated supply is quite
handy, it's much handier to have a variable supply on hand, especially for testing.
Regulator:
The filter output is not a pure d.c and it is not a constant d.c voltage it varies with the
fluctuations in the main power supply. But our requirement is to get constant d.c power
supply. The regulator can give constant d.c power supply. These are two types ve power
supply and +ve power supply. The 78xx series gives+ve power supply (78 indicates +ve
and xx indicates any voltage value). TheLM79xx series gives ve power supply ( 79

indicates ve and xx indicates anyvoltage value). In our project AT89c51, HT12E and
HT12D needs +5v power.LM7805 gives +5v constant power supply.

Fig.4.3.1.1 LM7805 regulator pin diagram

LM7805 Features

Output Current up to 1A

Output Voltages of 5, 6, 8, 9, 10, 12, 15, 18, 24V

Thermal Overload Protection

Short Circuit Protection

Output Transistor Safe Operating Area Protection

4.3.2 ENCODER HT12E

HT12E is an encoder integrated circuit of 212 series of encoders. They are paired with
212 series of decoders for use in remote control system applications. It is mainly used in

interfacing RF and infrared circuits. The chosen pair of encoder/decoder should have
same number of addresses and data format.
Simply put, HT12E converts the parallel inputs into serial output. It encodes the 12 bit
parallel data into serial for transmission through an RF transmitter. These 12 bits are
divided into 8 address bits and 4 data bits.
HT12E has a transmission enable pin which is active low. When a trigger signal is
received on TE pin, the programmed addresses/data are transmitted together with the
header bits via an RF or an infrared transmission medium. HT12E begins a 4-word
transmission cycle upon receipt of a transmission enable. This cycle is repeated as long as
TE is kept low. As soon as TE returns to high, the encoder output completes its final cycle
and

then

stops.

Fig 4.3.2.1: Pin Diagram- HT12E

4.3.3 DECODER HT12D
HT12D is a decoder integrated circuit that belongs to 212 series of decoders. This series
of decoders are mainly used for remote control system applications, like burglar alarm,
car door controller, security system etc. It is mainly provided to interface RF and infrared

circuits. They are paired with 212 series of encoders. The chosen pair of encoder/decoder
should have same number of addresses and data format.
In simple terms, HT12D converts the serial input into parallel outputs. It decodes the
serial addresses and data received by, say, an RF receiver, into parallel data and sends
them to output data pins. The serial input data is compared with the local addresses three
times continuously. The input data code is decoded when no error or unmatched codes are
found. A valid transmission in indicated by a high signal at VT pin.
HT12D is capable of decoding 12 bits, of which 8 are address bits and 4 are data bits.
The data on 4 bit latch type output pins remain unchanged until new is received.
4.4 ENCODING AND DECODING PROCESS
4.4.1 What is Encoding and Decoding:
In simple words, encoding is wrapping up the data. The data could be anything like
simple binary data (in the form of 1s and 0s) or it could be an audio signal or it could be
certain text. But here we are dealing with the encoding that is used for binary signals. The
wrapped data is called as a Packet. This packet is sent through a medium (Through wire
or wireless) to the decoder part where it gets unwrapped or decoded. Yes, now what you
are thinking is right, it is exactly similar to posting an envelope. Encoding is when you
put the letter into envelope, the postman is medium to take the envelope to the recipient
and when recipient opens the envelope then it is called decoding.
So, essentially to apply encoding and decoding technique in our digital world we need
three entities: (1). A sender or in electronics sense it is Transmitter. (2). To receive this
sent data we need a receiver. (3). And of course we need an address of the receiver. The
role of address in electronics is played by address lines.
4.4.2 HT12D and HT12E
Encoder-decoder IC pair. In market, it is available with the name as HT12E and HT12D.
The 12 in the name means 8-address lines and 4-data lines while E and D letters
represents Encoder and decoder respectively.

HT12E(Transmitter side)

Fig4.4.2.1: HT12E(Tx Side)

Lets first take the Encoding side. The encoder has four input lines. Theses lines are used
to give input which we want to encode. In encoding, we are wrapping up the data which
means if we want to send a binary signal 1001 to other end, we have to make data pins
as 1001. Now, to make data pin like this, what we need to do is to give high or 5 volts
(which in digital means 1) to pins D0 and D3 while we have to provide pins D1 and
D2 with 0 volt. (Ground). This altogether gives us 1001 which is transmitted out from
the Data out pin of the HT12E. The input given to data pin is in parallel form which is
being transmitted into serial form from the data output pin. The figure below will clear
this:

Fig 4.4.2.2: HT12E Parallel Input & Serial Output

Our data is now been encoded and will be transmitted. The transmission medium could
be anything, it could be our regular wire, or wireless. In this tutorial, we are going to use
our steady single core wire which we use to provide connections in breadboard (nothing
fancy!).
The data flows in serial form through the wire and reaches the other end i.e. to the
receiver. Receiver now decodes this signal. So, lets see how decoder works:
HT12D (Receiver side):
Below is the pin diagram of HT12D decoder IC.

Fig 4.4.2.3: HT12D(Rx Side)

Now neglect all the pins for this moment and just concentrate on Din (Data in) pin and
the for Data lines pin. The encoded data which is coming from the transmitter side goes
into the Data in (Din) pin. The data which was in serial order gets decoded and the output
is generated at the for data line pins in same order as that on transmitter pin.
When there is no input at the data in pin, the output pins i.e. data lines remains high.

The figure below shows the decoding taking place in HT12D

Fig 4.4.2.4: HT12D Serial Input & Parallel Output

Role of Address Lines:
When using a single pair of encoder-decoder IC, we generally leave the address pins as it
is i.e. we do not connect them to either ground or VCC. But what if there is more than
one decoder but only single encoder. In that case we need to give an address to the data

that it might travel to specific decoder only and our data should not leak at unnecessary
decoders. This is very useful in wireless communication.
To define an address, what we need to do is to connect specific address pins to the ground
on both encoder and decoder side; remember that the order of connecting the address pins
to the ground must be same. See the animation below for; it will remove all the twists in
your mind:
Oscillator Pins:
When we first hear the word oscillations, the first thing that comes in our mind is the to
and fro waving motion, yup as always you are correct. The role of oscillator in digital
electronics is to produce waves which are in Sine wave form or rectangular wave form.
The device used to generate this waveform is called Oscillator. The waveform
generated by the oscillator is called as Pulses (like our heart beat). So, in digital world
the oscillator works identical to our Heart. Unfortunately, we will not be able to see the
oscillator device itself because in HT12D and HT12E, the oscillator comes inbuilt, what
we have to do is to put a resistor between the oscillators pins. But, in our coming tutorial
over microcontrollers, the need of oscillator is must, so we will learn about it in that
tutorials only.
VT Pin (Valid Transmission):
The valid transmission pin in decoder shows that the transmitter address and the receiver
address are same and is ready to receive the data from the encoder side.
During implementation of the circuit, we will see how to get notification about the valid
transmission through this pin.
So, now we are loaded with all the essentials needed to implement Encoder-Decoder
circuit. Lets start implementing one:
Components Required:
1.

IC- HT12E/HT12D (generally comes in pair).

2.

Breadboard with complete Power supply.

3.

LEDs (5)

4.

Resistors (Four 125 ohm for LEDs)

(750k ohm for oscillator of Encoder)
(27k ohm for oscillator of Decoder).

5.

Reset Switch (4).

6.

Battery (6-24 volts)

Step1.
Take the power supply circuit and insert the encoder and decoder ICs at some distance.
Also provide the VCC and ground to the pins (Pin number 9 ground and pin number 18
VCC for both the ICs). See the figure below:

Step2.
Now, we will first make the encoder part. Insert the 750k ohm resistor in pin number 15
and 16 i.e. you have to short both the pins using this resistor. Connect the Transmission
Enable pin (TE) to ground. This action will enable the IC to transmit the data through
data out pin. Now connect four reset switches in data line. Remember, reset switch has
two legs. One will go into the data line and the other one will go to ground. So, whenever

you will press the switch, the pin will get connected to the ground. See the figure below
which how actually you have to connect the switches:

Step3.
Yup, our encoder part is completed. You are ready to encode your secret data. But there
should be something which shows the reception of data at data output lines. We are using
LEDs for that purpose. The LED will glow when data is received. So, lets put down
hands over decoder circuit.
Connect all for LEDs separately with the four data lines of decoder IC. To have a better
understanding, I am not showing the 125 ohm resistor. If you dont know how to connect
resistor or having doubt over polarity, then click here to have quick tutorial.
Also connect or short pin number 15 and 16 with 27k ohm resistor.

Step4.
Thats it, we are almost done. Now connect our last LED at the VT pin of the decoder.
When circuit is given power, the LED at VT pin glows, it gives the indication that
decoder address is matched with the encoder and ready to have Valid Transmission. At
last connect the data out and data in of encoder and decoder respectively. The circuit will
work in the same way as shown in the window below.
Click the button D0, D1, D2, or D3 at the encoder circuit to view the working of our
encoding and decoding circuit.
The complete circuit on breadboard will look like this. The bold blue line in centre of the
breadboard connects the data in and data out pins. You can also do this with real
breadboard by taking the wire through the slot provided in centre of breadboard. This
makes the circuit look less messy:

4.5 DPDT SWITCH CONNECTION WITH ENCODER

Fig 4.5.1: DPDT Switch Connection with Encoder

4.6 RF TRANSMITTER & RECEIVER

RF TRANSMITTER:
General Description:
The ST-TX01-ASK is an ASK Hybrid transmitter module.ST-TX01-ASK is designed by
the Saw Resonator, with an effective low cost, small size,and simple-to-use for
designing.Frequency Range:315 / 433.92 MHZ.Supply Voltage: 3~12V.Output Power :
4~16dBmCircuit Shape: Saw
Applications

*Wireless security systems

*Car Alarm systems
*Remote controls.
*Sensor reporting
*Automation systems

Chapter 5
RESULT AND
DISCUSSION

5.1 RESULT
The project LIVE PERSON DETECTION ROBOT USING RF WIRELESSTECH
NOLOGYTRANSMITTER SECTION has been successfully designed and
tested. It has been developed by integrating features of all the hardware components used.
Presence of every module has been reasoned out and placed carefully thus contributing to
the best working of the unit. Secondly, using highly advanced ICs and with the help of
growing technology the project has been successfully implemented.

Chapter 6
CONCLUSION &
FUTURE SCOPE

6.1 CONCLUSION
The project LIVE PERSON DETECTION ROBOT USING RF WIRELESSTECH
NOLOGYTRANSMITTER SECTION has been successfully designed and
tested. It has been developed by integrating features of all the hardware components used.
Presence of every module has been reasoned out and placed carefully thus contributing to
the best working of the unit. Secondly, using highly advanced ICs and with the help of
growing technology the project has been successfully implemented.

BIBLIOGRAPHY

BIBLIOGRAPHY
1. Citation from book
Electronic Components- D.V.Prasad
Wireless Communications - Theodore S. Rappaport
Mobile Tele Communications- William C.Y. Lee
2. Citation from website
www.alldatasheet.com

33