CONTENT

ABSTRACT
INTRODUCTION
BLOCK DIAGRAM
BLOCK DESCRIPTION
CIRCUIT DIAGRAM
WORKING PRINCIPLE
POWER SUPPLY
MICROCONTROLLER
L293D DRIVER
MOTOR
LCD
ADVANTAGE
APPLICATION
CONCLUSION
REFERENCE

1
 ABSTRACT

ABSTRACT

The project is designed to develop a robotic vehicle using RF technology for

remote operation attached with wireless camera for monitoring purpose. The robot
along with camera can wirelessly transmit real time video with night vision
capabilities. This is kind of robot can be helpful for spying purpose in war fields.
An 8051 series of microcontroller is used for the desired operation.
At the transmitting end using push buttons, commands are sent to the
receiver to control the movement of the robot either to move forward, backward

2
and left or right etc. At the receiving end two motors are interfaced to the
microcontroller where they are used for the movement of the vehicle. The RF
transmitter acts as a RF remote control that has the advantage of adequate range
(up to 200 meters) with proper antenna, while the receiver decodes before feeding
it to another microcontroller to drive DC motors via motor driver IC for necessary
work. A wireless camera is mounted on the robot body for spying purpose even in
complete darkness by using infrared lighting.

Further the project can be enhanced using DTMF technology. Using this
technology we can control the robotic vehicle by using cell phone. This technology
has an advantage over long communication range as compared to RF technology.

3
 INTRODUCTION

INTRODUCTION

With the aim of developing a high-tech technology that serves high speed
technology, advanced capacity to control the robots and to device new methods of
control theory. The realize above standards some technical improvement along
with the need of high performance robot is required to create a faster, reliable,
accurate and more intelligent robot which can be devised by advanced control
algorithm, robot control devices and new drivers. Earlier the robots were controlled
through wired networks but now to make robot more users friendly, they are

4
framed to make user commanded work. Therefore to attain the requirements we
can use android as a multimedia to control the user friendly robot.
The design of our project encourages developing a robotic vehicle based on
RF technology for the remote operation connected with the wireless camera
mounted on the robot for monitoring purpose. The robot is embedded with 8051
series microcontroller for desired operation and is generally used for spying
purposes. The transmitting module consist of the push buttons that send the
commands to the receiving module for controlling the movement of robot either to
right, left, forward, downward. In the receiving module of the robot two motors are
interfaced with the 8051 series of microcontroller to control its movement via
motor driver IC. The remote control (RF transmitter) has a range of 200m that
transmits the signals to the RF receiver. The receiver collects and decodes the
received signals before feeding it to the microcontroller to drive the DC motors via
motor drivers. The wireless camera used for spying purpose also serves in
complete darkness using IR lightning.

5
 BLOCK DIAGRAM

BLOCK DIAGRAM FOR TRANSMITTER SECTION

6
BLOCK DIAGRAM FOR RECEIVER SECTION

7
8
 BLOCK DISCRIPTION

BLOCK DISCRIPTION
Power supply:

9
 The input to the circuit is applied from the regulated power supply. The ac.
Input i.e., 230v from the mains supply is step down by the transformer to 12v and
is fed to a rectifier. The output obtained from the rectifier is a pulsating dc voltage.

Microcontroller:

An 89s52 series of microcontroller is used for the desired operation.

Android mobile:

At the transmitting end using android application device, commands are sent
to the receiver to control the movement of the robot either to move forward,
backward and left or right etc.

Bluetooth device:

The receiver end Bluetooth device fed to the microcontroller drives dc

motors via motor driver IC for necessary work.

Camera:

The robot along with camera can wirelessly transmit real time video with
night vision capabilities.

Motor:

At the receiving end two motors are interfaced to the microcontroller where
they are used for the movement of the vehicle.

LCD:

LCDS represent visual monitor system.

10
11
 CIRCUIT DIAGRAM

CIRCUIT DIAGRAM:

12
 R 9

1k

2
R 4 Q 4
1 2N 3076
1k

R 9

3
0
1k

2
U 16
31 39 R 4 Q 4 +12v
C 2 E A /V P P 0 .0 38 1 2N 3076
19 P 0 .1 37
X1 P 0 .2 1k DC
36
1n P 0 .3
X4 35 Gear
C 3 18 P 0 .4 34 Motor
X2 P 0 .5

3
P 0 .6
33 0
32
1n P 0 .7
9
+5v 0 R ESET 21
P 2 .0 R 9
22
S2 12 P 2 .1 23
13 IN T 0 P 2 .2 24
14 IN T 1 P 2 .3 25 1k

2
15 T0 P 2 .4 26 R 4 Q 4
T1 P 2 .5 27 1 2N 3076
1 P 2 .6 28
P 1 .0 P 2 .7 1k
AN T1 2
AN TEN N A 3 P 1 .1 17
P 1 .2 R D
4
P 1 .3 W R
16
R 9 0

3
5 29 0
C. a m e r a 6 P 1 .4 PSEN 30
transmitter 7 P 1 .5 A L E /P 11
8 P 1 .6 TXD 10 1k

2
P 1 .7 R XD R 4 Q 4
80C 51 1 2N 3076
1k

3
0
AN T1
AN TEN N A AN T1
A N TE N N A

TV
recevier Mobile
recevier

13
 WORKING PRINCIPLE

WORKING PRINCIPLE

14
 The project uses HT12E Encoder which converts 4 bit data to serial output
which is then fed to the RF module for transmitting the same to be received
by the receiver RF module

The output is fed to HT12D the serial decoder IC, the output of which is fed
to controller.

The data so received at the receiver end of port 1 operates the motor through
motor driver IC L293D as required being interfaced from the
Microcontroller output port 2.

A wireless camera derives power of 9V DC from a regulator IC7809 which

draws from 12V battery at its input.

The real time radio is transmitted in VHF, RF both for audio & video.

The receiving unit delivers AV output which is connected to any standard

TV AV input.

Thus while the robot mouse it transmits real time picture even in pitch
darkness as the camera is supported by IR lights emitting from a cluster of
LEDs connected in series parallel combination across the 12V DC supply.

15
POWER SUPPLY

16
REGULATED POWER SUPPLY

Today almost every electronic device needs a dc supply for its smooth
operation and they need to be operated within certain power supply limits. This
required dc voltage or dc supply is derived from single phase ac mains. A regulated
power supply can convert unregulated an ac (alternating current or voltage) to a
constant dc (direct current or voltage). A regulated power supply is used to ensure
that the output remains constant even if the input changes. A regulated DC power
supply is also called as a linear power supply, it is an embedded circuit and
consists of various blocks. The regulated power supply will accept an ac input and
give a constant dc output. Figure below shows the block diagram of a typical
regulated dc power supply.

17
1. A step down transformer

2. A rectifier

3. A DC filter

4. A regulator

Operation of Regulated Power Supply

1.Step Down Transformer

A step down transformer will step down the voltage from the ac mains to the
required voltage level. The turns ratio of the transformer is so adjusted such as to
obtain the required voltage value. The output of the transformer is given as an
input to the rectifier circuit.

2.Rectification
Rectifier is an electronic circuit consisting of diodes which carries out the
rectification process. Rectification is the process of converting an alternating
voltage or current into corresponding direct (dc) quantity. The input to a rectifier is
ac whereas its output is unidirectional pulsating dc. Usually a full wave rectifier or
a bridge rectifier is used to rectify both the half cycles of the ac supply (full wave
rectification). Figure below shows a full wave bridge rectifier.

18
 A bridge rectifier consists of four p-n junction diodes connected in the above
shown manner. In the positive half cycle of the supply the voltage induced across
the secondary of the electrical transformer i.e. VMN is positive. Therefore point E
is positive with respect to F. Hence, diodes D3 and D2 are reversed biased and
diodes D1 and D4 are forward biased. The diode D3 and D2 will act as open
switches (practically there is some voltage drop) and diodes D1 andD4 will act as
closed switches and will start conducting. Hence a rectified waveform appears at
the output of the rectifier as shown in the first figure. When voltage induced in
secondary i.e. VMN is negative than D3 and D2 are forward biased with the other
two reversed biased and a positive voltage appears at the input of the filter.

3.DCFilteration
The rectified voltage from the rectifier is a pulsating dc voltage having very
high ripple content. But this is not we want, we want a pure ripple free dc
waveform. Hence a filter is used. Different types of filters are used such as
capacitor filter, LC filter, Choke input filter, type filter. Figure below shows a
capacitor filter connected along the output of the rectifier and the resultant output
waveform.

19
 As the instantaneous voltage starts increasing the capacitor charges, it
charges till the waveform reaches its peak value. When the instantaneous value
starts reducing the capacitor starts discharging exponentially and slowly through
the load (input of the regulator in this case). Hence, an almost constant dc value
having very less ripple content is obtained.

4.Regulation
This is the last block in a regulated DC power supply. The output voltage or
current will change or fluctuate when there is change in the input from ac mains or
due to change in load current at the output of the regulated power supply or due to
other factors like temperature changes. This problem can be eliminated by using a
regulator. A regulator will maintain the output constant even when changes at the
input or any other changes occur. Transistor series regulator, Fixed and variable IC
regulators or a zenerdiode operated in the zener region can be used depending on
their applications. ICs like 78XX and 79XX are used to obtained fixed values of
voltages at the output. With ICs like LM 317 and 723 etc we can adjust the output
voltage to a required constant value. Figure below shows the LM317 voltage
regulator. The output voltage can be adjusted with adjusting the values of
resistances R1 and R2. Usually coupling capacitors of values about 0.01F to
10F needs to be connected at the output and input to address input noise and
output transients. Ideally the output voltage is given by

20
 Figure below shows the complete circuit of a regulated +5V DC power
supply using transformer, bridge rectifier, filter (smoothing) and a fixed +5 V
voltage regulator. Here we can use IC 7803(for 3V),7809(for 9 V),7812(for 12V)
etc.

Application of Regulated Power Supply

Regulated power supply is the main component of electrical,electronics and
as well as automation equipment. Mobile phone charger, oscilator, amplifier are
needed the regulated power supply

21
MICROCONTROLLER

22
 MICRO CONTROLLER

The 89S52 is a low cost Micro controller from either ATMEL or PHILIPS. It has a
40-pin configuration and other components are interfaced to its ports. The entire
function of the CLIP device is under the control of Micro controller. The
Microcontroller takes input from the external sources and routes them to the
appropriate devices as programmed in it.

FEATURES

89S52 Central Processing Unit

Speedup to 33 MHz
RAM expandable externally up to 64 Kbytes
ROM expandable externally up to 64 Kbytes
Four interrupt priority levels
Six interrupt sources
Four 8-bit input output ports
Three 16-bit timers/counters T0, T1and additional T2
Programmable clock out
Second DPTR register
Asynchronous port reset
Power control modes
-Clock can be stopped and resumed

-Idle mode

-Power down mode

128bytes of internal RAM memory

23
 4KB of internal Rom memory
ARCHITECHTURE

24
 PIN CONFIGURATION:

Figure Pin configuration of 89s52

The AT89S52 provides the following standard features: 4K bytes of Flash, 128 bytes
of RAM, 32 I/O lines, two 16-bit timer/counters, a five vector two-level interrupt
architecture, a full duplex serial port, on-chip oscillator and clock circuitry. In addition,
the AT89S52 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.
Pin Description

VCC Supply voltage.

25
 GND Ground.

Port 0
Port 0 is an 8-bit open-drain bi-directional I/O port. As an output port, each pin
can sink eight TTL inputs. When 1s are written to port 0 pins, the pins can be used as
high impedance inputs. Port 0 may also be configured to be the multiplexed low order
address/data bus during accesses to external program and data memory. In this mode
P0 has internal pull-ups. Port 0 also receives the code bytes during Flash programming,
and outputs the code bytes during program verification. External pullups are required
during program verification.
Port 1
Port 1 is an 8-bit bi-directional I/O port with internal pullups. The Port 1 output
buffers can sink/source four TTL inputs. When 1s are written to Port 1 pins they are
pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 1 pins
that are externally being pulled low will source current (IIL) because of the internal
pull-ups. Port 1 also receives the low-order address bytes during Flash programming
and verification.
Port 2
Port 2 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 2 output
buffers can sink/source four TTL inputs. When 1s are written to Port 2 pins they are
pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 2 pins
that are externally being pulled low will source current (IIL) because of the internal
pull-ups. Port 2 emits the high-order address byte during fetches from external program
memory and during accesses to external data memory that use 16-bit addresses
(MOVX @ DPTR). In this application, it uses strong internal pull-ups when emitting

26
1s. During accesses to external data memory that use 8-bit addresses (MOVX @ RI),
Port 2 emits the
contents of the P2 Special Function Register. Port 2 also receives the high-order
address bits and some control signals during Flash programming and verification.
Port 3
Port 3 is an 8-bit bi-directional I/O port with internal pullups. The Port 3 output
buffers can sink/source four TTL inputs. When 1s are written to Port 3 pins they are
pulled high by the internal pullups and can be used as inputs. As inputs, Port 3 pins that
are externally being pulled low will source current (IIL) because of the pullups. Port 3
also serves the functions of various special features of the AT89S52 as listed below:
Port 3 also receives some control signals for Flash programming and verification.
RST
Reset input. A high on this pin for two machine cycles while the oscillator is
running resets the device.
ALE/PROG
Address Latch Enable output pulse for latching the low byte of the address
during accesses to external memory. This pin is also the program pulse input (PROG)
during Flash programming. In normal operation ALE is emitted at a constant rate of
1/6 the oscillator frequency, and may be used for external timing or clocking purposes.
Note, however, that one ALE pulse is skipped during each access to external Data
Memory. If desired, ALE operation can be disabled by setting bit 0 of SFR location
8EH. With the bit set, ALE is active only during a MOVX or MOVC instruction.
Otherwise, the pin is weakly pulled high. Setting the ALE-disable bit has no effect if
the microcontroller is in external execution mode.
PSEN

27
 Program Store Enable is the read strobe to external program memory. When the
AT89S52 is executing code from external program memory, PSEN is activated twice
each machine cycle, except that two PSEN activations are skipped during each access
to external data memory.
EA/VPP
External Access Enable. EA must be strapped to GND in order to enable the device to
fetch code from external program memory locations starting at 0000H up to FFFFH.
Note, however, that if lock bit 1 is programmed, EA will be internally latched on reset.
EA should be strapped to VCC for internal program executions. This pin also receives
the 12-volt programming enable voltage (VPP) during Flash programming, for parts
that require 12-volt VPP.
XTAL1
Input to the inverting oscillator amplifier and input to the internal clock operating
circuit.
XTAL2
Output from the inverting oscillator amplifier.

28
WIRELESS CAMERA

We are using a wireless CCD camera, which are commonly available in the
market. This camera works on 12 volts DC supply. The camera has a receiver,
which is placed in the remote station. Its output are in the form of audio and video
signals. These signals are directly sent to a television or a computer through a tuner
card. This CCD camera is placed on the robot. The camera captures the audio and
video signals and sends those signals to the remote station and with the help of the
camera receiver which is connected to the television or a computer through we will
be able to see the captured signals. This is a mini wireless monitoring video camera
and wireless receiver set for home and small business surveillance, security and is
used by us for demonstration purpose [4]. We need to install the wireless camera in
the room where we want to monitor and set the wireless receiver in the next room
(up to 15 meters away) and hook it up to a TV or DVR to watch the action or
record the footage for the security purpose. Here we are placing this wireless
camera in the combat robot which would be present in the war field

29
RF TRANSMITTER &
RECEIVER

30
RF TRANSMITTER AND RECEIVER
The RF module, as the name suggests, operates at Radio Frequency. The
corresponding frequency range varies between 30 kHz & 300 GHz. In this RF
system, the digital data is represented as variations in the amplitude of carrier
wave. This kind of modulation is known as Amplitude Shift Keying (ASK).

Transmission through RF is better than IR (infrared) because of many

reasons. Firstly, signals through RF can travel through larger distances making it
suitable for long range applications. Also, while IR mostly operates in line-of-sight
mode, RF signals can travel even when there is an obstruction between transmitter
& receiver. Next, RF transmission is more strong and reliable than IR transmission.
RF communication uses a specific frequency unlike IR signals which are affected
by other IR emitting sources.

This RF module comprises of an RF Transmitter and an RF Receiver. The

transmitter/receiver (Tx/Rx) pair operates at a frequency of 434 MHz. An RF
transmitter receives serial data and transmits it wirelessly through RF through its
antenna connected at pin4. The transmission occurs at the rate of 1Kbps -
10Kbps.The transmitted data is received by an RF receiver operating at the same
frequency as that of the transmitter.

The RF module is often used alongwith a pair of encoder/decoder. The

encoder is used for encoding parallel data for transmission feed while reception is

31
decoded by a decoder. HT12E-HT12D, HT640-HT648, etc. are some commonly
used encoder/decoder pair ICs.

Pin Diagram:

Pin Description:

RF Transmitter

Pin
Function Name
No
1 Ground (0V) Ground
2 Serial data input pin Data
3 Supply voltage; 5V Vcc
4 Antenna output pin ANT

32
RF Receiver

Pin
Function Name
No
1 Ground (0V) Ground
2 Serial data output pin Data
3 Linear output pin; not connected NC
4 Supply voltage; 5V Vcc
5 Supply voltage; 5V Vcc
6 Ground (0V) Ground
7 Ground (0V) Ground
8 Antenna input pin ANT

33
L293D DRIVER

34
L293D DRIVER

Because of induction of the windings, power requirements, and temperature

management, some glue circuitry is necessary between digital controllers and motor. In our
project to interface DC motor with microcontroller we use L293D driver.

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.

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 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.

Figure 7.2: Pin Diagram Of L293D

35
 Figure Internal Block Diagram Of L293D

Figure Input And Output Compatibles

FEATURES OF L293D

Used has Dc motor driver

Supply voltage range 4.5V to 36V

High current half H drivers

High noise immunity input

Out put current of 600mA per channel

Out put peak current of 1.2mA per channel

36
 Thermal shut down

Output clamp diodes for inductive transient suppression

Input circuit are TTL compatible

Output circuit are totem pole with Darlington transistor pair

Maximum input voltage is 7V

Output voltage range is -3V to 39V

Storage temperature range is -65 to 150C

It is a 16 pin DIP IC configuration

DC MOTOR INTERFACING WITH L293D

By using single 16 pin L293D driver we can interface 2 dc motor. In our project we
use 2 Dc motors one for front wheels used to turn left or right and other for movement of
motor as forward and reverse direction. For one motor we give two inputs to rotate forward
and backward directions or to turn right/left. Below figure is an example for interfacing a
single Dc motor to L293D driver. Where 2 & 7 pin of L293D are inputs from
microcontroller ports these input are enable only when 1pin of L293D is high and 3 & 6
pins of L293D are inputs to dc motor. Diodes used externally for inductive transient
suppression. Supply is from power supply generator. In this when enable low then motor
stops and when enable is high and both inputs are same that is either high or low then also
motor stops. It works only when one input is high and enable is high.

37
Figure Interfacing of DC Motor With L293D

38
MOTOR

39
DC Motor

DC motors are configured in many types and sizes, including brush less, servo,
and gear motor types. A motor consists of a rotor and a permanent magnetic field
stator. The magnetic field is maintained using either permanent magnets or
electromagnetic windings. DC motors are most commonly used in variable speed
and torque.

Motion and controls cover a wide range of components that in some way
are used to generate and/or control motion. Areas within this category include
bearings and bushings, clutches and brakes, controls and drives, drive components,
encoders and resolves, Integrated motion control, limit switches, linear actuators,
linear and rotary motion components, linear position sensing, motors (both AC and
DC motors), orientation position sensing, pneumatics and pneumatic components,
positioning stages, slides and guides, power transmission (mechanical), seals, slip
rings, solenoids, springs.

Motors are the devices that provide the actual speed and torque in a drive
system. This family includes AC motor types (single and multiphase motors,
universal, servo motors, induction, synchronous, and gear motor) and DC motors
(brush less, servo motor, and gear motor) as well as linear, stepper and air motors,
and motor contactors and starters.

In any electric motor, operation is based on simple electromagnetism. A

current-carrying conductor generates a magnetic field; when this is then placed in
an external magnetic field, it will experience a force proportional to the current in
the conductor, and to the strength of the external magnetic field. As you are well
aware of from playing with magnets as a kid, opposite (North and South) polarities
attract, while like polarities (North and North, South and South) repel. The internal

40
configuration of a DC motor is designed to harness the magnetic interaction
between a current-carrying conductor and an external magnetic field to generate
rotational motion.

Let's start by looking at a simple 2-pole DC electric motor (here red

represents a magnet or winding with a "North" polarization, while green represents
a magnet or winding with a "South" polarization).

Fig: Block Diagram of the DC motor

Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator,
commutator, field magnet(s), and brushes. In most common DC motors (and all
that Beamers will see), the external magnetic field is produced by high-strength
permanent magnets1. The stator is the stationary part of the motor -- this includes
the motor casing, as well as two or more permanent magnet pole pieces. The rotor
(together with the axle and attached commutator) rotates with respect to the stator.
The rotor consists of windings (generally on a core), the windings being
electrically connected to the commutator. The above diagram shows a common
motor layout -- with the rotor inside the stator (field) magnets.

The geometry of the brushes, commutator contacts, and rotor windings

are such that when power is applied, the polarities of the energized winding and the
stator magnet(s) are misaligned, and the rotor will rotate until it is almost aligned

41
with the stator's field magnets. As the rotor reaches alignment, the brushes move to
the next commutator contacts, and energize the next winding. Given our example
two-pole motor, the rotation reverses the direction of current through the rotor
winding, leading to a "flip" of the rotor's magnetic field, and driving it to continue
rotating.

In real life, though, DC motors will always have more than two poles
(three is a very common number). In particular, this avoids "dead spots" in the
commutator. You can imagine how with our example two-pole motor, if the rotor is
exactly at the middle of its rotation (perfectly aligned with the field magnets), it
will get "stuck" there. Meanwhile, with a two-pole motor, there is a moment where
the commutator shorts out the power supply (i.e., both brushes touch both
commutator contacts simultaneously). This would be bad for the power supply,
waste energy, and damage motor components as well. Yet another disadvantage of
such a simple motor is that it would exhibit a high amount of torque ripple" (the
amount of torque it could produce is cyclic with the position of the rotor).

Fig : Block Diagram of the DC motor having two poles only

So since most small DC motors are of a three-pole design, let's tinker

with the workings of one via an interactive animation (JavaScript required):

42
 Fig : Block Diagram of the DC motor having Three
poles

You'll notice a few things from this -- namely,

one pole is fully energized at a time (but two others
are "partially" energized). As each brush transitions
from one commutator contact to the next, one coil's field will rapidly collapse, as
the next coil's field will rapidly charge up (this occurs within a few microsecond).
We'll see more about the effects of this later, but in the meantime you can see that
this is a direct result of the coil windings' series wiring:

Fig : Internal Block Diagram of the Three pole DC motor

There's probably no better way to see how an average dc motor is put

together, than by just opening one up. Unfortunately this is tedious work, as well as
requiring the destruction of a perfectly good motor. This is a basic 3-pole dc
motor, with 2 brushes and three commutator contacts.

43
 LCD

LCD

44
 162 Character LCD is a very basic LCD module which is commonly used
in electronics projects and products. It contains 2 rows that can display 16
characters. Each character is displayed using 58 or 510 dot matrix. It can be
easily interfaced with a microcontroller.

162 LCD Pin Diagram

This is the pin diagram of a 162 Character LCD display. As in all devices it
also has two inputs to give power Vcc and GND. Voltage at VEE determines the
Contrast of the display. A 10K potentiometer whose fixed ends are connected to
Vcc, GND and variable end is connected to VEE can be used to adjust contrast. A
microcontroller needs to send two informations to operate this LCD module, Data
and Commands. Data represents the ASCII value (8 bits) of the character to be
displayed and Command determines the other operations of LCD such as position
to be displayed. Data and Commands are send through the same data lines, which
are multiplexed using the RS (Register Select) input of LCD. When it is HIGH,
LCD takes it as data to be displayed and when it is LOW, LCD takes it as a
command. Data Strobe is given using E (Enable) input of the LCD. When the E
(Enable) is HIGH, LCD takes it as valid data or command. The input signal R/W

45
(Read or Write) determines whether data is written to or read from the LCD. In
normal cases we need only writing hence it is tied to GROUND in circuits shown
below.

The interface between this LCD and Microcontroller can be 8 bit or 4 bit and
the difference between them is in how the data or commands are send to LCD. In
the 8 bit mode, 8 bit data and commands are send through the data lines DB0
DB7 and data strobe is given through E input of the LCD. But 4 bit mode uses only
4 data lines. In this 8 bit data and commands are splitted into 2 parts (4 bits each)
and are sent sequentially through data lines DB4 DB7 with its own data strobe
through E input. The idea of 4 bit communication is introduced to save pins of a
microcontroller. You may think that 4 bit mode will be slower than 8 bit. But the
speed difference is only minimal. As LCDs are slow speed devices, the tiny speed
difference between these modes is not significant. Just remember that
microcontroller is operating at high speed in the range of MHz and we are viewing
LCD with our eyes. Due to Persistence of Vision of our eyes we will not even feel
the speed difference.

46
ADVANTAGE
&
APPLICATION

47
ADVANTAGES

RF based spying robot attached with wireless camera that can reduce the
human victim.
Smart phone which can be used to control the movement of the robot.
The robot can transmit real time videos with night vision.

APPLICATIONS

Military

Law Enforcement

Hunting

Wild life observation

Surveillance

Security

Navigation

Hidden-object detection

Entertainment

48
CONCLUSION

49
CONCLUSIONS
The primary need for our paper would be accuracy. We have been able to
view the things accurately that are currently happening in the surrounding area.
Our design has not caused any sort of disturbances. The robot will move depending
on the motor direction based upon the input we give through command by remote
section unit. It display the current operation is going on as example left robot, near
to object, clear up. With the help of the camera we are able to view the things that
are happening in the surrounding areawhere the robot is hidden. By keeping the
circuit easy and simple, most users will be able to use it easily. Thus we should be
able to manipulate its path when necessary, to create the robot safely. To all that, a
control unit is needed, where control units RF signal is used. By using these signals
encoding is done & signal is sent through the transmitter. At the receiver end these
decoded signal are given as input to drive the motor.

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REFERENCE

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REFERENCE:

[1] Robert L Boylestad and Louis Nashelsky, Electronic Device And Circuit
Theory ,8th edition 2006.

[2] MrLokesh Mehta, Mr. Pawan Sharma Spy Night Vision Robot with Moving
Wireless Video Camera. International journal of research in engineering
technology and management (IJRETM), 2014.

[3] The 8051 microcontroller and embedded system using assembly and C, 2nd
edition (ISBN: 9780131194021) by Mazidi Muhammad Ali (2008).

[4] Dhiraj Singh Patel Mobile Operated Spy Robot International journal of
emerging technology and advanced engineering (IJETAE), 2013.

[5] IEEE xplorehttp://ieeexplore.ieee.org/search/searchresult.jsp?

Newsearch=true&queryText=spyrobot&x=0&y=0.

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