MAIN PROJECT Report

Voice Controlled Robot For Remote Data Access
VOICE CONTROLLED ROBOT FOR REMOTE

DATA ACCESS
PROJECT REPORT
Submitted in the partial fulfilment of the award of degree

of
Bachelor of Technology
in
Electronics and Communication Engineering
of
Cochin University of Science and Technology
by
ARAVIND SURESH KUMAR

NIRUPAMA SREEDHARAN
SANDEEP AJAYAN
SARIKA R
Under the guidance of
Mr. GOPAKUMAR C
Asst. Prof., Electronics and Communication Engineering
College of Engineering, Chengannur
May 2011
Department of Electronics Engineering

College of Engineering, Chengannur– 689121
Phone: (0479) 2454125, 2451424 Fax: (0479) 2451424

COLL
ACKNOWLEDGEMENT
First of all we thank The Lord Almighty for His grace and mercy which has helped us
reach this far with our project.
We express our sincere gratitude to the Principal, Dr. V.P.Devassia, for providing us
with the lab facilities we require for the completion of the project.
We are greatly obliged to Prof. Jyothiraj, Asst. Professor and HOD, Electronics
Department, for the encouragement and support that he has provided.
We are immensely indebted to our very understanding project co-coordinator, Sri.

Manoj Kumar P, Lecturer in Electronics, for his constructive criticisms, guidance and
advice.
We would like to thank our project guides, Mr. C Gopakumar and Sri. Sumeth K L
from the bottom of our hearts for all the help and advice they have bestowed upon us.
We on this occasion, remember the valuable suggestions and prayers offered by our
family members, classmates and friends which were inevitable for the successful
completion of the project.
ABSTRACT

The project consists of a system developed to gather data of atmospheric condition in

hazardous or remote areas where human intervention is at risk. Values of atmospheric
temperature, pressure, humidity, light intensity and also wind direction are measured. Each
of these readings has its own importance under different situations, and hence the system
to be developed here will find diverse applications such as coal mines, wind turbines,
power stations, and to some extent for rescue operations.
The system has got a transmitter (ROBOT) section and a receiver section; i.e. operator
side built around controllers. ROBOT side is fitted with necessary sensors and a wireless
module for wireless data communication is provided on both sections. RF camera is used
at ROBOT side to give guidance and video information of the situation at the sight to
receiver section. PC interface makes communication with receiver section and displays the
calibrated data received from sensors and also provide controls for controlling ROBOT.
The control may be using voice commands or by using keypad provided on display
interface. The trolley on which the ROBOT runs have a built in receiver section and hence
is not a part of the project.
The system is now developed under cost constraints and hence the operational range as far
as ambient temperature, humidity, distance from receiver etc. is very limited. However
provision is present for future alterations.
CONTENTS

ACKNOWLEDGEMENT......................................................................I
ABSTRACT............................................................................................II
1 INTRODUCTION...................................................................................1
2 PROBLEM DEVELOPMENT AND OPTIMISED SOLUTION.......4
3 BLOCK DIAGRAM...............................................................................6
3.1 TRANSMITTER SECTION..........................................................................7
3.2 RECEIVER SECTION..................................................................................8
4 BLOCK DIAGRAM DESCRIPTION...................................................9

4.1 TRANSMITTER SECTION........................................................................10
4.2 RECEIVER SECTION................................................................................10
5 POWER SUPPLY.................................................................................11
5.1 DESIGN.........................................................................................................12
5.2 CIRCUIT.......................................................................................................13
6 COMPONENTS AND DEVICES........................................................14

6.1 MICROCONTROLLER..............................................................................15
6.2 XBEE MODULE..........................................................................................19
6.3 RF CAMERA/TROLLEY...........................................................................20
6.4 RS232/MAX 232............................................................................................21
6.5 ULN2003/RELAYS.......................................................................................23
6.6 16*2 LCD.......................................................................................................24
6.7 SENSORS......................................................................................................26
6.7.1 Wind direction Sensor......................................................................26
6.7.2 Temperature Sensor.........................................................................27
6.7.3 Light Sensor......................................................................................28
6.7.4 Humidity Sensor...............................................................................29
6.7.5 Pressure Sensor.................................................................................31
7 CIRCUIT IMPLEMENTATION........................................................32
7.1 TRANSMITTER SECTION........................................................................33
7.1.1 Circuit Diagram................................................................................33
7.1.2 PCB Layout.......................................................................................34
7.2 RECEIVER SECTION..............................................................................35
7.1.1 Circuit Diagram................................................................................35
7.1.2 PCB Layout.......................................................................................36
8 SOFTWARE IMPLEMENTATION...................................................37
8.1 FLOW CHART (TRANSMITTER SECTION)........................................38
8.2 FLOW CHART (RECEIVER SECTION).................................................42
9 RESULTS AND DISCUSSIONS.........................................................46
10 FUTURESCOPES AND CONCLUSION...........................................48
11 REFERENCES......................................................................................50
12 APPENDIXES.......................................................................................52
12.1 PROGRAM CODE (TRANSMITTER SECTION)..................................53
12.2 PROGRAM CODE (RECEIVER SECTION)...........................................60
12.3 PROGRAM CODE (VB PC INTERFACE)...............................................68
12.4 BILL OF MATERIALS...............................................................................79
12.5 GANTT CHART...........................................................................................80
13 DATA SHEETS.....................................................................................81

INTRODUCTION
VOICE CONTROLLED ROBOT FOR REMOTE DATA ACCESS

This system developed to gather data of atmospheric condition in hazardous or remote areas
where human intervention is at risk is designed with microcontroller (PIC), LCD, ADC,
USART, Zigbee, sensors and visual basic 6.0. Values of atmospheric temperature, pressure,
humidity, light intensity and also wind direction are measured. Each of these readings has its
own importance under different situations, and hence the system to be developed here will
find diverse applications such as coal mines, wind turbines, power stations, and to some
extent for rescue operations.
The system has got two sections- TRANSMITTER (ROBOT) and RECEIVER (operator).
The transmitter section runs over a trolley with inbuilt RF receiver and hence is not a part of
system design. The trolley may use portions of unlicensed spectrum in the 27 MHz or 49
MHz bands (VHF) and is never expected to make any interference with other radio devices
included. An RF camera provided at ROBOT transmits video as well as audio information to
the operator side. Camera has its own transmitter operating at 0.9 GHz (UHF) and receiver
module at operator side with an A/V output which may be connected to a TV system. The
camera system is also never expected to make any interference with other RF. The sensor
data handled by the controller on ROBOT side is send to the operator side as serial data via
Xbee modules operating on both sides at 2.4 GHz in ISM band. Xbee is expected not to face
any interference from other RF modules operating in other frequency bands.
Sensors include: LM35 as temperature sensor capable of measurements within -50 to 150
°C; Wind direction sensor which has been designed on ring potentiometer with a wane on its
knob towards one side, that turns the knob under wind pressure; LDR circuitry used to
measure light intensity on linear scale; Sensor ICs are used for measuring atmospheric
pressure and humidity. On chip ADC is used to acquire sensor data in digital form with 8-
bit resolution. On chip USART module handles serial transmission and reception of data via
Xbee module within 1Km radius.
The entire system receives regulated power supply at 12V, 5V and 3.3V for each of the
modules and sensors. The supply may have a centre tap rectifier or battery as source.
The RS232 serial communication interface provides serial link between PC and transmitter
section, with MAX232 used as voltage level converter; i.e. the up conversion and down
conversion between 5V on receiver section PIC side and 12V on RS232 side. The Visual

Basic 6 operator interface running on PC provide operator, the interface for viewing the
sensor data received as well as to control the motion of trolley with voice commands or
onscreen keypad. This is possible by making use of relays in place of joystick of remote
control of trolley at receiver section, and being controlled by the controller at receiver
section based on commands from PC. The system runs at its maximum speed 9600bps being
limited by MAX232
LCD displays and RS232 interface are provided on both sides to perform test and
refinements under any stage of the project development as well as to ensure regular state of
working during operation.
The system shall be encased in a protective case that can withstand the atmospheric
conditions prevailing in the area of operation.

PROBLEM DEVELOPMENT AND OPTIMISED

SOLUTION
It is difficult to collect data at hazardous or remote areas where human intervention is at risk.
For such situations in coal mines, wind turbines, power stations, and to some extent for

rescue operations, the atmospheric conditions could not be measured. So this project aims at
making a system that employs various techniques to measure values of atmospheric
temperature, pressure, humidity, light intensity and also wind direction. Each of these
readings has its own importance/applications under different situations, and hence the
system to be developed here is expected to find diverse applications.
The system is planned to be built around a trolley which will carry the transmitter (ROBOT)
section consisting of sensors to remote places for data acquisition. It also contains the
wireless module for wireless data communication. The transmitted signal is to be received at
an operator section and displayed on PC. RF camera is used at ROBOT side to give
guidance and video information of the situation to receiver section. The control of trolley
may be made using voice commands or by using keypad both provided on display user
interface (PC).
The sensors as well as other modules shall be so chosen/designed to withstand the

atmospheric conditions of temperature, pressure and humidity which the system should face
as a whole.

BLOCK DIAGRAM
P
I
C
A
M
I
C
R
O
D C
O
N
3.1 TRANSMITTER SECTION T
R
O
C L
AIR
WIND
TEMPERATURE
HUMIDITY
PRESSURE
LIGHT
DIRECTION L POWER
SENSOR E SOURCE
R
USART XBEE
MODULE
8 16*2 LCD
DISPLAY
3.3 V
5V
CAMERA
TROLLEY
3.2 RECEIVER SECTION

5V
5V USART
MAX232 XBEE
2 MODULE
P
I
12 V
C
RS232 8 16*2 LCD
M
DISPLAY
I
C
R 3.3 V
PC INTERFACE
VB FRONTEND O
C 5V POWER
O SOURCE
N
BUZZER T
R TROLLEY
O REMOTE
L
L 5
E 5
R ULN2003 12 V
& RELAY

BLOCK DIAGRAM DESCRIPTION
4.1 TRANSMITTER SECTION

The block diagram shows the data acquisition system with different sections built around the
Peripheral Interface Controller (PIC). The various sensors such as those used to acquire
temperature, humidity, pressure, wind direction and light are connected to ADC of the PIC.
The pin 25 the TX of USART is the serial data output to Xbee. An 8- bit PORT of PIC is
dedicated for 16*2 LCD, in which out of 8 only upper 4 lines will carry data and lower 4 is
for control functions. The camera is an independent module with its own RF transmission
system.
The program running in the controller will initialize every modules, perform scan of one
sensor, transmits calibrated data in ASCII format suitable for display at receiver section and
then displays the data in its own LCD. In a similar way data acquisition from each sensors is
performed one by one. The entire process repeats itself.The power supply has a 9V cell as its
source and provides regulated 5V supply for controller, sensors, LCD and also 3.3V for
Xbee module. Camera operates on its own dedicated 9V cell.
The receiver section is built around PIC and handles trolley motion control and data
reception from transmitter section on one side while command reception from and data out
to PC interface on other side. The major blocks consist of PC interface which is possible
through RS232 interface which uses a MAX232 chip to perform required voltage level
conversions for signals (5V on PIC side equivalent to 12V on RS232). The system runs at its
maximum speed of 9600bps being limited by MAX232, which also ensures error free data
acquisition from beginning to end. The PC interface has Visual Basic 6 program running on
it that provides the user interface with facilities to see the received sensor data as well as
give commands as voice or by onscreen keypad. The commands from PC as well as data
from Xbee are received on the same pin 26, the RX of USART. Here also a 16*2 LCD
module is used to display received commands. An LED indication while command reception
is ON. The activation of trolley remote with 5V supply and controlling by means of four
12V relays is based on signals commands and signals respectively from PC. A ULN2003
chip working at 12V actuates relays based on signals from PIC. Here the power supply has a
12V source consisting of a 230V-50Hz (60mA) transformer.
The program initializes every module and starts reception of data from transmitter section
and during the same time checks for any signal to initiate voice command reception on the
same pin. Upon reception of signal to initiate voice command reception program stops data
reception from Xbee, switches ON relays with a buzzer indication and waits for command
reception. Upon reception of commands the received command is displayed on LCD and
necessary signals are issued to control the trolley motion to the relay circuitry. Only on
reception of ‘exit’ command system returns for data reception. The entire process repeats.

POWER SUPPLY
5.1 DESIGN
Requirements:- 12 VDC/9 VDC; 5 VDC; 3.3 VDC for max. current< 600mA
LM317 (Adjustable voltage regulator)
 Output voltage of LM317 set using variable resistor R9.

 Required output, Vout= 5V.
 Choose, R9= 1K
R10 calculated as
 Vout= 1.25V(1+ R9/R10)+ Iadj*R2

 R10= 1250/3.745= 333Ohm
 Available std. value for R10= 330Ohm
L1117-3.3 (Low drop out fixed voltage regulator)
 Output voltage of L1117 is 3.3V for Xbee module

 Drop out voltage= 1.45V
 Hence from input 5V we can get Vout= 3.3V
 Maximum output current is 1A
Min. transformer output and filter capacitor design
 Transformer 230V-50Hz (600 mA)

 For LM317, required Vin = Vout +5V= 10V
 Fix a value for filter capacitor ‘C1’
 A load resistor for full load current, R= E/I
 E- required output (atleast 10V) and I- full load current.
 R= 12/0.6= 20ohm
 C1= T/R; where T- charging time
 T= 20ms, a one cycle period to prevent increased regulator power dissipation.
 C1= 0.02/20=1000 µF.
 Peak-peak ripple voltage Vpd= 1/2f(C1)= 1/2*50*1000= 1.11V
 Vpd/2= 0.66V (Considered to overcome ripple minima)
 Min. transformer output= Vin (E)+ rectifier diode drop+ [Vpd/2]= 12V
 Require transformer output= exact 12V (Min.)

 Require filter capacitor voltage rating>1.4 Erms to avoid surge effects towards
peak
 C1= 330 µF, 25V
 C2= 1 µF (optional), preferred by IC manufacturers to improve output impedance
and rejection of transients
Special Note
 A capacitor is preferred for output stability, a 10 µF is chosen.

 A 0.1 µF needed before C1 and C2 (if filter capacitors at more than 6 inch)
 Rl used for design phase only
 A 400 mAH- 9V rechargeable cell may be an alternative for transformer
and rectifier on robot section. Note that this can provide continuous
operation for only upto 10hours where a recharge much be made. This is
because circuit draws nearly 40mAmps of current.
 LED indicator current limiting resistor (R1), choose 470Ohm to keep current
within 10mA (safe current for ordinary LED at 3.3V)
5.2 CIRCUIT

COMPONENTS AND DEVICES
6.1 MICROCONTROLLER
Microchip PIC (Peripheral Interface Controller) 16LF877A-

 RISC MCU-35 instructions
 Mid Range 14bit Program Memory (8Kx14bits). Upto 8000 instructions
 368x8bytes Data RAM. Upto 190 GPRs. This memory organized as banks
 PORTS:- PORTA (6 bit); [PORT B,PORTC,PORTD] (8 bit); PORTC (3 bit)
 Operating speed: DC - 20 MHz clock input. Internally divided by 4
 Wide operating voltage range: 2.0V to 5.5V. We use 5V
 Sink/Source Current: 25 mA
 Supply Current: < 0.6 mA typical @ 3V, 4 MHz
Figure 6.1- The Peripheral Interface Controller (PIC) Schematic
10 bit 8 channel ADC

It operates on PORT A to which sensors are connected. We use only the most
significant 8 bits of data, though the ADC provides 10 bit resolution. ADC control
and status registers are under:-
 We set it for ‘Fosc/32’ [bit7:bit6= 10]. A requirement for operations at

20MHz
 ADC is made ON with ADON= 1
 Scanning may be started after channel selection [bit5:bit3] with GO/DONE=

1
 The GO/DONE will be reset by hardware after conversion
 For sensors all channels are configured for analog input [bit3:bit0= 0000]
 Result is taken from 8- bit ADRESH register using option ADFM= 0
USART
The USART is used for asynchronous serial data transfer between and PIC and Xbee
at transmitter section and for data transmissions between PIC and Xbee, PC both
sharing the same receive pin 26 (RX) of USART, at receiver section.
 It has got a dedicated 8- bit baud rate generator
 The baud rate is calculated for high speed asynchronous transmission as:-

 The SPBRG register is loaded with the value of ‘X’ from above formula
The control and status registers are as under:-
 The system is made to run on external clock using CSRC= 0
 We use 8- bit transmission using option TX9= 0
 Mode switched to Asynchronous with SYNC= 0
 High speed mode selected with BRGH= 1
 The transmission uses single stop bit and with no parity
 Data transmission to start requires data to get passed to TXREG register
 TXIF flag in PIR1 register indicates (sets) end of transmission from TXREG
 TXIF is resets only when new data is loaded into TXREG
 We use serial 8- bit asynchronous reception [bit7:bit5= 100]
 A stop bit if received low is detected as error [FERR= 1]
 Data is received in double buffered register RCREG
 If data reception continues with RCREG (Receive buffer) full, OERR= 1
 On complete reception of data in RCREG flag bit RCIF in PIR1 sets
 RCIF is cleared in hardware on complete intake of data from RCREG

 If data reception continues with RCREG (Receive buffer) full, OERR= 1
Timers
The system has got 3 timers: Timer 0 (8- bit), Timer 1 (16- bit), Timer 2 (8- bit).
Here we use Timer 0. The timer is used for providing delays.
 The timer can provide a maximum delay of 65ms for a full run from 0 to 255;
i.e. full range of 8-bit values
 The timer delay is calculated using:-
Delay= (4/Fosc)*prescalar*(255-X)
 We put prescalar= 256 and Fosc= 4MHz in the above equation
 The value of ‘X’ obtained from above formula is passed to TMR0 register to
start Timer 0 from that value
 A ‘high’ on zero flag (Z) in status register indicates the end/overflow of timer
The timer configuration register for Timer 0 is:-
 Port B pull ups are disabled [bit7= 1]
 Timer works at Fosc/4; i.e. internal clock, using TOCS= 0
 Timer source edge is selected low-to-high on RA4/TOCK1 pin, TOSE= 0
 Prescalar assignment has to be done to Timer 0 using PSA= 0
 Prescalar rate is selected to 1:256 using [bit2:bit0= 111]

6.2 XBEE MODULE
Figure 6.2- The Xbee module
Significant Features:-
 Frequency band : ISM 2.4000 - 2.4835 GHz
 Supply Voltage : 2.8-3.4 VDC (Absolute)
 Transmit Current : 45mA (at 3.3V)
 Receive Current : 50mA (at 3.3V)
 Power down mode : <10uA current
 Interface : 3 V UART CMOS
 Outdoor range : Up to 1 mile (1.6 km) RF LOS
 Modulation : OQPSK (Offset Quadrature Phase Shift Keying)
 Spread Spectrum : DSSS (Direct Sequence Spread Spectrum)
 Error handling : Retries & acknowledgements
 Temperature : -40° C to 85° C (Industrial Operation)
 Power output : 10 mW (+10 dBm) International version

 Microwave Antenna options:-
 U.FL - 2.5dBi gain, 96mm, connector on end of 100mm cable

(dipole)
 PCB chip antenna
 1/4 monopole integrated whip antenna
 RP SMA- 2.4GHz Duck Antenna 2.2dBi, 50 ohm impedance, 4" long
The Xbee module is used on either section of the system for providing point-to-point
data communication that helps receive sensor data from ROBOT side.
6.3 RF CAMERA/TROLLEY
 CMOS 50Hz colour image sensor
 Frequency : 0.9GHz
 Transmit signal : Video+ Audio
 Supply voltage : 9 VDC
 Delivery distance : 50-100M
 Sensitivity : +18dB (Transmitter, Receiver)
 Supply current : 200mA (Camera); 500mA (Receiver)
 Power consumption : <400mW (Camera)
 Min. illumination : 3LUX
 Picture : PAL- 628*582 (pixel); 5.78*4.199mm (area)

Figure 6.3- The RKI137 model CMOS wireless camera
The RF Camera has its own transmitter and has dedicated receiver section that is
installed at receiver section of the system under development, where the output of receiver
of camera is given to the A/V input of a TV system for display. It draws a current of 200mA
from a 9 V cell working as its dedicated source. So for a single cycle of operation, it works
for approximately 2 hours.
A trolley platform is the base system on which the data acquisition transmitter
section runs. It has inbuilt receiver. It runs on six AA cells (1.5 V). The trolley remote is
controlled with relays from operator side.
6.4 RS232/MAX 232
RS232 is an asynchronous serial communications protocol, widely used on computers. The

PC interface is connected to PIC using standard RS232 connector and the inbuilt serial port
of PC. MAX 232 IC provides the necessary voltage level conversions for the signals from
either side.
 Levels are: Logic 0= 0V in PIC= +12V in PC; Logic 1= 5V in PIC= -12V in

PC
 MAX232 uses capacitor charge pumps to obtain 12V levels from 5V supply
 The baud rate of the system is 9600bps; i.e 104us per bit

Figure 5.3- The RS232 using MAX232

 Supply voltage : -0.3V- 6V
 Supply current : 10mA (Max. at 5.5V)
 Output positive supply (Vs+) : Vcc-0.3V- 15V
 Output negative supply (Vs-) : -0.3V- (-15V)
 Input voltage range (Vi) : Driver (-0.3V- Vcc+0.3V)
: Receiver (+/-30V)
 Output voltage range (Vo) : TIOUT ((Vs-−0.3V) to Vs++0.3V)
: R1OUT (−0.3V- Vcc+0.3V)
 Temperature range : -65° C- 150° C
The user interface on PC built with VB6 has controls to start voice command input,
stop and exit. It has also provision for displaying detected commands and received data from
each sensors, a keypad alternative for motion control and VU meter.

Figure 6.4- The PC VB user interface

6.5 ULN2003/RELAYS
Figure 6.5.1- The ULN2003 controlling trolley remote with relays
The switches of trolley remote control for the four motions: front, back, eft, right are
replaced with 12V relays, each to switch a 5V supply. A 12V relay is provided for switching
5V power supply for the trolley remote also. A ULN2003 relay driver IC operating at 12V

supply stands between PIC and relays. It operates based on outputs from PIC [RB7:RB4 and
RC2]
Figure 6.5.2- The internal diagram of ULN2003 DIP relay driver
6.6 16*2 LCD
 Power Supply : -0.3-7 VDC
 Supply Current : 3mA (at 5 V)
 Input Voltage : 5.3 VDC (Max.)
 Temperature : 0-50° C (Operation)
 E Pulse Width : 230 nS (Min.)
Figure 6.6.1- The 16*2 LCD schematic

The LCD is operated in 4- bit mode with 8- bit data being send twice as 4- bit data in
order to get it displayed [Pins: 11:14]. The data MSB is the busy flag of LCD [Pin: 14]. It
has to be checked before any write operation. It is checked after setting LCD in its ‘read’
mode. LCD contrast control is done by adjusting a ‘pot’ through which supply is given to
Pin3. LCD has also following control Pins:-
 Pin4 : RS (Register Select= 1, data; 0, command)
 Pin5 : RD/WR
 Pin6 : EN (Enable Pulse)
Figure 6.6.2- Model of a 16*2 LCD
Important LCD commands:-
 0X21 : 4-bt mode
 0X0C : Display ON (without cursor)
 0X06 : Entry mode
 0X02 : Cursor to home position
 0X01 : Clear display
 0XC0+0XC<pos.>* : Second line cursor positions
 0X80+0X8<pos.>* : DDRAM positions (Display)

6.7 SENSORS
All sensors except the wind direction sensor use readily available sensors in IC
packages. The calibration for sensors has been done in software based on field study.
6.7.1 Wind direction Sensor
The wind direction sensor has been constructed with a dynamic element that catches
air over a 10Kohm potentiometer, such that the wind turns the potentiometer due to the
presence of the dynamic element. The sensor is so designed that the wind will turn the pot to
that direction in which the dynamic element is along the direction of wind. This same
principle is used for commercial ones also. However since the trolley may move in any
direction, the directions are with reference to the forward direction of trolley.
Figure 6.7.1- The Wind direction sensor with its dynamic element attached to 10KOhm pot
The full range of output of potentiometer; i.e. the output of ADC for values of
resistance between 0 and 10Kohm that gives the full range of output of ADC between 0 and
255, is necessarily divided into 4 regions, for each of the wind directions. However, the
potentiometer we use do not have a full 360 degree range of rotation, so one of the
directions gets divided to either side of the extremities of the pot, which is one of the
greatest limitations of the system. We take this direction as ‘North’ with reference to trolley.
This gives direction ‘South’ as the direction of the sensor under normal conditions; i.e. when
the trolley is in motion. The exact south direction should stay at the 5Kohm point, i.e half
the full range of the pot. This should give a value nearly 128 (Decimal) as the ADC output.

The circuit consists of the pot that functions as sensor with its one terminal grounded
and other extreme terminal connected to 5V supply through a 10KOhm series resistor. This
limits maximum current to 0.5mA.
 The sensor requires no calibrations in its output values from ADC
 All calibrations are based on field study
 Minimum detectable wind speed : 6m/s
 Accuracy : +/- 5%
 Direction ranges (ADC output) : North (0-42)&(212-255); West (42-85)
South (85-170); East (170-212)
6.7.2 Temperature Sensor
Figure 6.7.2- The LM35 temperature sensor IC in TO-220 package
 Supply Voltage : 4 to 30v
 Temperature : -50-150 °C
 Output proportional to Celsius Temperature (Scale factor: 0.1V/ ° C)
 Accuracy +/-0.4 °C (Room Temp.); +/-0.8 °C (Range: 0 to 100° C)
 Self heating< 0.1 °C

 Sensitivity: 10mV/ °C
 Minimum temperature for rated accuracy is +2 °C
 Draws 60 uAmp current under normal working conditions
Due to its high output and sensitivity, the sensor can be placed up to 10 metres away
from the control circuitry that can provide satisfactory operation.
The following formula is used for calibration purposes:-
 Temperature (°C)= Vout * (100 °C/V)
6.7.3 Light Sensor
This sensor system consists of a readily available and cheap LDR (Light Detecting
Resistor). The light sensor circuitry hence has a linear operation.
 Dark Resistance : 1-2MOhm
 Material : Selenium
The light sensor circuitry consist of a voltage divider in which LDR has one of its
terminals grounded and other leg connected to 5V supply through 10KOhm resistor. The
peak current is hence limited to 0.5mA.
Figure 6.7.3- The LDR light sensor circuit
The sensor calibration was based on field study with the use of a standard light
intensity meter (foot-candle meter) as reference. The field study considered cases where the
sensor circuitry under test as well as standard meter was introduced to light from the
following: a zero watt bulb, an ordinary room with a tube light lit and also without tubelight
but during day hours with medium level of sunlight and also direct sunlight. The values

were then compared and a correction factor was introduced, since the sensors showed linear
operation.
The following formula is used for calibration purposes:-
 Vo= 5*R/(R+10)
Reworking the above equation gives equation for light intensity in unit of Lux.
 Lux= (2500/Vo - 500)/10
6.7.4 Humidity Sensor
The humidity sensor used in this project is capacitive humidity sensor based on
silicon technology on glass wafer from Smartec. It consists of three layers base and top layer
are conductive and the layer in between is humidity sensitive polyimide. The sensor is
highly independent to temperature effects. The top layer has grid like structure. The sensor
converts the humidity into a capacitance. Due to the construction the response to humidity is
very fast (<15 sec) and the hysteresis very low (<2% RH). Linearity is considered as the
maximum deviation from a straight line between 0% RH and 100% RH.
 The sensor measures from 0 to 100 % RH
 The linearity is within a band of 2 % in the range between 20 and 95 % RH
 Sensitivity : 0.6 pF/%RH
 Temperature range : -40° C- 120° C
The relation between measured capacitance and Relative Humidity (RH) is as

below:-
 Cc= Cs + S *(Xrh – 55)
With : Cc= measured capacitance (pF); Cs= capacitance value at 55% RH (pF)
Xrh= measured Relative Humidity (%); S= sensitivity
This means the Relative Humidity can be calculated by:-
 Xrh= (Cc - Cs)/S + 55

Figure 6.7.4- The capacitive humidity sensor based on silicon technology on glass wafer
The calibration of humidity sensors is not so easy. One can perform a lot of
measurements in the climate chamber but there is a much cheaper and low cost way to check
humidity sensors by means of salt solutions. Special saturated salt solutions have always the
same humidity in the area above. This humidity depends only on temperature. Find below an
overview of salt-solutions that can be used:-
Salt (saturated in water) RH (%) @ 25 ºC RH (%) @ 20 ºC
Lithium Chloride (LiCl) 11.3 (± 0.3) 12
Magnesium Chloride (MgCl) 32.8 (± 0.3) 33.1 (± 0.2)
Magn. Nitrate [Mg(NO3)] 53.0 (± 0.1) 55
Sodium Chloride (NACl) 75.3 (± 0.1) 75.5 (± 0.1)
Potassium Chloride (K2SO4) 97.3 (± 0.5) 97.6 (± 0.5)
The salt solution must be put into a glass container with a sealable top. With a couple
of cm. Salt solution on bottom the humidity above is constant and only depends on
temperature. Place the sensor into the air above the solution and close the access hole
carefully. Leave the sensor stabilizing for about half an hour and read afterwards the sensors
value. Be aware that the temperature of the container needs to be constant over the period.
Therefore it is recommended to use a well-isolated glass container. In case a two point

calibration is performed in general LiCl and NaCl solutions are used. In a three point
calibration LiCl, Mg(NO3) and K2SO4 solutions are recommended.
6.7.5 Pressure Sensor
Figure 6.7.5.1- The internal schematic (left) and pressure sensor module (right)
The pressure sensor used in this project is ‘MPXHZ6115A6U’ model on-chip signal
conditioned, temperature compensated and calibrated sensor from Motorola. Note that the
sensor is internally calibrated for working at 5V supply and hence further calibrations are
never needed.
Figure 6.7.5.2- Output source current operation circuit (Datasheet)
 Supply Voltage : 5 VDC
 Supply Current : 10mA
 Pressure range : 15- 115Kpascal (Max. 400KPascal)

 Temperature : -40° C- 125° C
 Accuracy : +/- 1.5
 Sensitivity : 45.9 mV/Kpascal
Output is calculated as:-
Vout= VS* (0.009* P - 0.095) ± (Pressure Error x Temp. Factor* 0.009* VS)
Where ‘VS’ is supply voltage (5.0± 0.25 VDC)

CIRCUIT IMPLEMENTATION
7.1 TRANSMITTER SECTION
7.1.1 Circuit Diagram
The schematic diagram of circuit of transmitter section is shown below.

7.1.2 PCB Layout
The following layout is that of the about circuit of receiver section. The layout
generation was done with OrCAD 9 where the line width was choosen ‘8mm’.

7.1.1 Circuit Diagram

The schematic diagram of circuit of receiver section is shown below.
7.1.2 PCB Layout

The following layout is that of the about circuit of receiver section. The layout
generation was done with OrCAD 9 where the line width was choosen ‘8mm’.

SOFTWARE IMPLEMENTATION
8.1 FLOW CHART (TRANSMITTER SECTION)
College of Engineering, Chengannur START

Allocate m/m for registers in data RAM
Declare subroutines for data display on LCD
Initialize Program memory
Set count=3
Configure USART,ADC,Timer
and Ports for sensors and LCD
Delays (15ms, 5ms, 50us)
Initialize LCD
Count=Count-1
If
Count
No =0
Yes
Display “ZIGBEE BASED
DATA ACQUISITION ROBOT”
Delay 1s
Take ‘TEMPERATURE’ data
Caliberate
Convert to ASCII
Transmit ‘TEMPERATURE’ data
Display TEMPERATURE
Delay 1s
Take ‘LIGHT INTENSITY’ data
Caliberate
Convert to ASCII
Transmit ‘LIGHT INTENSITY’ data
Display LIGHT INTENSITY
Delay (1s, 10us)

Take ‘WIND DIRECTION’ data value
If
Value>6
No 3
Yes
If
Value>12
6 No
Yes
If
Value>18
No 9
Yes
Delay 1s Delay 1s Delay 1s
Delay 1s
Display
Display Display Display
“NORTH
“WEST” “EAST” “SOUTH”
”
Transmit
Transmit Transmit Transmit
“NORTH
“WEST” “EAST” “SOUTH”
”
Delay 1s

Take ‘PRESSURE’ data
Convert to ASCII
Convert to ASCII
Transmit ‘PRESSURE’ data
Display PRESSURE
Delay 1s
Take ‘HUMIDITY’ data
Caliberate
Convert to ASCII
Transmit ‘HUMIDITY’ data
Display HUMIDITY
8.2 FLOW CHART (RECEIVER SECTION)
START
Allocate m/m for registers in data RAM
Declare subroutines for data display on LCD
Initialize Program memory
Configure USART,ADC,Timer and Ports for

sensors, buzzer, relays and LCD
Set count=3
Delays (15ms, 5ms, 50us)
Initialize LCD
Count=Count-1
If
Count
No =0
Yes E
Display “voice controlled x-bee robot”
Delay 1s
If data
Receive
data= ‘*’
No
Transfer data to PC
Yes
Trolley remote ON
Buzzer ON
Delay 0.5s
Buzzer OFF
Display “waiting for voice commands”
Receive data
Yes
If
data= Display “left”
‘L’
Initiate trolley control 'left'
No
B D
B
If
If
data=
data= ‘F’
‘S’ Yes
‘R’
‘B’
No Yes
Yes Display
InitiateDisplay
Display
Initiate trolley“straight”
trolley D“front”
“right”
“stop”
control
control'back'
'front'
'right'
'stop'
Display “back”
If
data=
‘A’
Initiate trolley control 'staright'
C D

If No
data= D
‘E’
Yes
Display “VOICE MODE EXIT”
Trolley remote OFF
Delay 1s

RESULTS AND DISCUSSIONS
This project which aimed at making a system that moves over a trolley and collect data from
remote areas, where the motion of the trolley being controlled by voice commands/keypad

from operator side was completed as expected and is therefore named- ‘VOICE
CONTROLLED ROBOT FOR REMOTE DATA ACCESS’.
The sensors, controllers, ‘xbee’ for data communication and trolley form the major parts of
the system. The sensors were installed and calibrated based on field study. However the
following challenges still exist:-
 The calibration of humidity sensor could not be done as expected. However

this was pointed by the manufacturer also
 The wind direction sensor was not purchased, instead it was handmade by
coupling a wind catching element with a pot. The minimum detectable wind speed as
well as accuracy is therefore seriously limited when compared to sensors available in
market. However the cost could be brought down to a very low value.
 The sensors were calibrated based on rough field study and this is not a
standard practice. Otherwise calibration should have been done against a standard
device (sensors).
 A serious limitation is put over the working range (distance) of the entire
system by the limited range (30m) of the trolley, though the data communication is
possible up to 1Km successfully. However this could be overcome using a trolley
with a longer range of operation, but this will increase the cost.
 The project failed to make an efficient braking system for the trolley on
which the system moves.
 The temperature sensor is capable of measuring up to 150° C. However for

practical applications, a higher range of operation is desired. But, choice of a similar
sensor with such a good sensitivity and accuracy for higher temperature ranges is
limited by cost constraints. Similarly, considering the operating temperature of other
modules the entire system is designed to work at an ambient temperature of 150° C.

FUTURESCOPES AND CONCLUSION

Sensors currently used may be replaced for higher range of operation (temperature, pressure
and humidity) while providing required mechanical support according to the requirement
and where cost doesn’t matter:-
 ML 5.8GHz-1Km camera system (Cost: INR 70,000)
 High temperature (Range -70 °C -500 °C) Platinum RTD-Pt100 (Cost: INR 600)
 Capacitive polymer humidity sensor (Oper. temperature: -40 °C-120 °C)-HCH1000

(Cost: INR 100) (Note: All these components can work at 12 VDC)
The system can be added with ‘wind speed sensor’
The system has important role at:-
 Power plants where the transmitter section may be installed with components suited
to the conditions
 In test centre/lab experiments for which human intervention is at risk
 With added sensors for distance measurement, the system may be used for rescue
operations
 For similar cases in other industries

REFERENCES

http://en.wikipedia.org //OQPSK, voltage regulators, camera
http://www.digi.com //Xbee specifications and models
http://th-friedrichs.de/TH_Friedrichs/site/engl//Wind direction sensor specifications and

models
http://www.sciencedirect.com/ //Caliberation methods for sensors
http://calc.50x.eu //Hexadecimal-Decimal-Binary converter
http:// http://robokits.co.in //Camera vendor
http://www.8051projects.net //LCD commands
http://www.youtube.com //Visual Basic 6- Tutorial

APPENDIXES

12.1 PROGRAM CODE (TRANSMITTER SECTION)
LIST P=PIC16F877A //Listing the type of IC used

#INCLUDE "P16F877A.INC"
CBLOCK 0X20
//Allocate data memory space for GPRs
ENDC
LCMD MACRO CMD //Steps for passing LCD commands
MOVLW CMD //CMD represents the commands passed
MOVWF R1 //‘R1’ holds the command
BCF FLAG,0 //Flag bit used to distinguish CMD/CHAR,VAR
CALL SUB //Call ‘Data Out’ procedure
ENDM
LCHAR MACRO CHAR //For passing character to LCD
MOVLW CHAR
MOVWF R1
BSF FLAG,0 //Flag, 0th bit set if character is passed
CALL SUB
ENDM
LVAR MACRO VAR //For passing value
MOVF VAR,0
MOVWF R1
BSF FLAG,0 //Flag, 0th bit set for passing value also
CALL SUB
ENDM
ORG 0 //Program memory start

MOVLW 0X03 //Counter for initialization steps repetition
MOVWF C1
L3 BSF STATUS,5 //Data Memory Bank 1 selection
BCF STATUS,6
CLRF TRISD //PORT D set as full output for LCD
MOVLW 0X87 //Timer 0 configuration
MOVWF OPTION_REG
BSF TRISA,0 //PORT A set as input for sensors
BSF TRISA,1

BSF TRISA,2
BSF TRISA,3
MOVLW 0X00 //ADC result in ADRESH, all inputs analog
MOVWF ADCON1
BSF TRISC,7 //Pin 26 set for serial input from Xbee
BCF TRISC,6 //Pin 25 set for serial output to Xbee
MOVLW 0X24 //USART Trans. set for 8-bit,Async,high speed
MOVWF TXSTA
MOVLW 0X19 //USART set for 9600bps serial data transfer
MOVWF SPBRG
BCF STATUS,5 //Bank 0 selection
BCF STATUS,6
CLRF PORTD //PORT D full output set as ‘0’
MOVLW 0X85 //ADC started on channel 0
MOVWF ADCON0
MOVLW 0X90 //USART Rcvr. set for serial,8-bit,continuous
MOVWF RCSTA
MOVLW 0XC4 //A 15ms TIMER 0 delay
CALL TMRT
MOVLW 0XEB //A 5ms TIMER 0 delay
CALL TMRT
MOVLW D'50' //A 50us delay
MOVWF C2
DECFSZ C2,1
GOTO $-1
MOVLW 0X30 //LCD initialization command for 8-bit mode
MOVWF PORTD
CALL EN //Enable pulse
LCMD 0X21 //LCD command;4-bt mode
LCMD 0X0C //LCD command; Display ON (without cursor)
LCMD 0X06 //LCD command; Entry mode
LCMD 0X02 //LCD command; Cusor to home position
LCMD 0X01 //LCD command; Clear display
DECFSZ C1,1 //Count decrement by 1
GOTO L3
LCMD 0X01
LCMD 0X80 //LCD command; DDRAM home position
LCHAR 'Z' //Display ‘TITLE’

LCMD 0XC0 //LCD command;Second line first position

LCHAR 'A'
CALL DELAY //A 1s delay
BEGIN NOP //A 1us delay (instruction cycle period)
MOVLW B'10000001' //ADC halted with channel 0 selected
MOVWF ADCON0
CALL SR1 //Steps for acquirng sensor data from channel 0
MOVLW ' '
CALL SR2 //Steps to transmit data in ‘W’ via Xbee
MOVL W 'T' //Character transmission ‘TEMPERATURE’
CALL SR2
//Note: Mnemonics here same as that for previous steps
MOVLW ' '
CALL SR2
CALL SR4 //Steps to transmit sensor data (ASCII) via Xbee
MOVLW ','
CALL SR2
MOVLW ' '
CALL SR2
LCMD 0X01
LCMD 0X80
LCHAR 'T' //Display ‘TEMPERATURE’
LCMD 0XC5 //LCD command;second line 5th position
LVAR R3 //Display sensor data (ASCII)
LVAR R4
LVAR R5
CALL DELAY
MOVWF ADCON0
//Character transmission ‘LIGHT’
//Display ‘LIGHT’
CALL DELAY
MOVWF ADCON0
MOVLW D'10' //A 10us delay

MOVWF C3
DECFSZ C3,1
GOTO $-1
NOP
NOP
BSF ADCON0,2 //ADC scanning channel 2
BTFSC ADCON0,2 //Waiting for ADC to finish
GOTO $-1
MOVF ADRESH,0 //ADC output moving to ‘M1’
MOVWF M1
// Character transmission ‘WIND DIRECTION’
//Display ‘WIND DIRECTION’
MOVLW D'63' //Move value ‘63’ to ‘W’
SUBWF M1,0 //[M1]-[W]->[W]
BTFSS STATUS,0 //Check for carry/borrow
GOTO WEST //Pass ‘WEST’ if [M1]<[W]; i.e no borrow/a carry
MOVLW D'126' // Move value ‘126’ to ‘W’
SUBWF M1,0
BTFSS STATUS,0
GOTO SOUTH //Pass ‘SOUTH’ if [M1]<[W]
MOVLW D'189' // Move value ‘189’ to ‘W’
SUBWF M1,0
BTFSC STATUS,0
GOTO EAST //Pass ‘NORTH’ if [M1]<[W]
GOTO NORTH //Pass ‘EAST’ if [M1]>[W]
WEST //Display ‘WEST’
CALL DELAY
//Character transmission ‘WEST’
GOTO LOP //Go for scanning next sensor data
SOUTH //Note: Mnemonics here same as that for previous steps
EAST //Note: Mnemonics here same as that for previous steps
NORTH //Note: Mnemonics here same as that for previous steps
LOP MOVLW B'10011001' //ADC halted with channel 3 selected
MOVWF ADCON0


//Character transmission ‘PRESSURE’
//Display ‘PRESSURE’
CALL DELAY
MOVWF ADCON0
//Character transmission ‘HUMIDITY’
//Display ‘HUMIDITY’
CALL DELAY
GOTO BEGIN //SYSTEM RESTART (Program)
TMRT MOVWF TMR0 //Start TIMER 0 by passing value to TMR0
MOVF TMR0,0 //Engage ‘W’ to make use of zero flag
BTFSS STATUS,2 //Wait unit zero flad sets;i.e TIMER overflow
GOTO $-2
NOP
MOVLW 0X30
MOVWF PORTD
CALL EN
RETURN
EN BSF PORTD,3 //PORT D bit 3 connected to LCD enable is set
NOP
NOP
NOP
BCF PORTD,3 //Enable pin of LCD made low
RETURN
DELAY BCF STATUS,5 //A 1s delay subroutine
BCF STATUS,6
MOVLW D'15'
MOVWF C4 //Set count
MOVLW 0X04
MOVWF TMR0
MOVF TMR0,0
BTFSS STATUS,2

GOTO $-2
DECFSZ C4,1
GOTO $-6
NOP
RETURN
SR1 MOVLW D'10' //10us delay for ADC data acquisition
MOVWF C3
DECFSZ C3,1
GOTO $-1
NOP
NOP
BSF ADCON0,2 //ADC scan/convertion starting
BTFSC ADCON0,2
GOTO $-1
MOVF ADRESH,0 //ADC output moving to ‘R6’ and ‘R2’
MOVWF R6
MOVWF R2
MOVLW 0XFF //Move binary value ‘11111111’ to ‘R3’
MOVWF R3
MOVLW D'100' //Getting value in 100s position of result
INCF R3,1 //‘R3’ will finally contain value in 100s position
SUBWF R2,1 //Division by repeated subtraction
BTFSC STATUS,0 //Wait unit a borrow/no carry generated
GOTO $-3
ADDWF R2,1 //‘R2’ will finally contain digits other than 100s
MOVLW 0XFF
MOVWF R4
MOVLW 0X0A //Getting value in 10s position of result
INCF R4,1 //‘R4’ will finally contain value in 10s position
SUBWF R2,1
BTFSC STATUS,0
GOTO $-3
ADDWF R2,0 //‘R2’ will finally contain digit in 1s position
MOVWF R5 //Move value in 1s position to ‘R5’
MOVLW 0X30
ADDWF R3,1 //Adding ‘0X30’ to convert sensor data to ASCII
ADDWF R4,1
ADDWF R5,1

RETURN
SR2 MOVWF TXREG //Move [W]->[TXREG] to start transmission
BCF PIR1,4 //Clear TXIF flag that indicates TXREG is empty
BTFSS PIR1,4
GOTO $-1 //Wait for TXREG to get emptied
BSF STATUS,5
BCF STATUS,6
MOVLW 0X87
MOVWF OPTION_REG
BCF STATUS,5
BCF STATUS,6
MOVLW D'235' //A 5ms delay
MOVWF TMR0
MOVF TMR0,0
BTFSS STATUS,2
GOTO $-2
NOP
RETURN
SR4 MOVF R3,0 //Subroutine to transmit sensor data
CALL SR2
MOVF R4,0
CALL SR2
MOVF R5,0
CALL SR2
RETURN
SUB BCF STATUS,6
BSF STATUS,5
MOVLW 0XF0 //Make upper 4 pins of PORT D as inputs
MOVWF TRISD
BCF STATUS,6
BCF STATUS,5
BSF PORTD,1 //PORT D bit 1 connected to LCD RD/WR is set
NOP
NOP
BSF PORTD,3 // PORT D bit 3 connected to LCD enable is set
NOP
NOP
BTFSC PORTD,7 //Checking pin 14 of LCD;i.e data MSB(busy flag)

GOTO $-1 //Wait until pin 14 of LCD clears

BSF STATUS,5
BCF STATUS,6
CLRF TRISD //Make all pins of PORT D as outputs
BCF STATUS,5
BCF STATUS,6
CLRF PORTD //PORT D full output set as ‘0’
MOVF R1,0 //Move [R1]->[W];i.e data for LCD
ANDLW 0XF0 //Make lower nibble of [W] zero and pass to LCD
MOVWF PORTD
BTFSC FLAG,0 //Checking 0th bit of flag register
BSF PORTD,2 //PORT D bit 2 connected to LCD RS is set
CALL EN
SWAPF R1,0 //Swap nibbles of ‘R1’ and pass to ‘W’
ANDLW 0XF0
MOVWF PORTD
BTFSC FLAG,0
BSF PORTD,2
CALL EN
BCF PORTD,2 //PORT D bit 2 connected to LCD RS is reset
RETURN
END //Program end
12.2 PROGRAM CODE (RECEIVER SECTION)
LIST P=PIC16F877A //LISTING THE TYPE OF IC USED

#INCLUDE "P16F877A.INC"
CBLOCK 0X20 //REGISTER INITIALISATION BLOCK
//Allocate data memory space for GPRs
ENDC
LCOM MACRO COM //COMMAND MACRO
MOVLW COM
MOVWF M1
BCF M2,0
CALL SUB
ENDM
LDATA MACRO DATA //DATA MACRO
MOVLW DATA

MOVWF M1
BSF M2,0
CALL SUB
ENDM
LVALUE MACRO VALUE //VALUE DATA MACRO
MOVF VALUE,0
MOVWF M1
BSF M2,0
CALL SUB
ENDM
ORG 0X00 //Program memory start

BCF STATUS,6 //Main program
BCF STATUS,5
CLRF R1
CLRF M1
CLRF M2
BSF STATUS,5 //ADC and USART initialization
BCF STATUS,6
MOVLW B'10000111'
MOVWF OPTION_REG
MOVLW 0X24
MOVWF TXSTA
MOVLW .25 //Note: The prefixes ('D'='d'='.') are all same
MOVWF SPBRG
MOVLW 0X00
MOVWF ADCON1
BCF TRISC,6
BSF TRISC,7
BCF TRISE,0 //BUZZER power control pin
BCF TRISC,2 //TROLLEY REMOTE power control pin
CLRF TRISB //Port initialization for RELAYS
BCF STATUS,5
BCF STATUS,6
MOVLW 0X90
MOVWF RCSTA
CLRF PORTA //Output on all ports initialized as zero
CLRF PORTB

CLRF PORTC
CLRF PORTD
CLRF PORTE
MOVLW 0X03 //Set count for LCD initialization repetition
MOVWF R1
FIRST BSF STATUS,5 //LCD initialisation
BCF STATUS,6
CLRF TRISD
BCF STATUS,5
BCF STATUS,6
CALL DELAY1 //15ms delay
CALL DELAY1
CALL DELAY1
CALL FNSET
CALL DELAY1 //5ms delay
CALL FNSET
MOVLW D'254'
MOVWF TMR0
MOVF TMR0,0
BTFSS STATUS,2
GOTO $-2
CALL FNSET
LCOM 0X21
LCOM 0X0C
LCOM 0X06
LCOM 0X02
LCOM 0X01
DECFSZ R1,1
GOTO FIRST
DISP LCOM 0X01
LCOM 0X80
LDATA 'v' //Display ‘voice controlled x-bee robot’
CALL DEL1S
GOTO MSG
DELAY1 MOVLW D'235' //5ms delay
MOVWF TMR0
MOVF TMR0,0

BTFSS STATUS,2
GOTO $-2
RETURN
DELAY MOVLW .255 //0.25s delay
MOVWF Y2
AN MOVLW .255
MOVWF Y1
DECFSZ Y1,1
GOTO $-1
DECFSZ Y2,1
GOTO AN
RETURN
DEL1S MOVLW D'15' //1s delay
MOVWF CNT
MOVLW D'1'
MOVWF TMR0
MOVF TMR0,0
BTFSS STATUS,2
GOTO $-2
DECFSZ CNT,1
GOTO $-6
NOP //1us delay
RETURN
FNSET MOVLW 0X30 //LCD command; 8- bit mode initialization
MOVWF PORTD
BSF PORTD,3
NOP
NOP
NOP
BCF PORTD,3
RETURN
ENABLE BSF PORTD,3 //Enable pulse for LCD
NOP
NOP
NOP
BCF PORTD,3
RETURN
SUB BSF STATUS,5 //Subroutine to transfer data/command to LCD

BCF STATUS,6
MOVLW 0XF0
MOVWF TRISD
BCF STATUS,5
BCF STATUS,6
BSF PORTD,1
BSF PORTD,3
BTFSC PORTD,7
GOTO $-1
BSF STATUS,5
BCF STATUS,6
CLRF TRISD
BCF STATUS,5
BCF STATUS,6
CLRF PORTD
MOVLW 0XF0
ANDWF M1,0
MOVWF PORTD
BTFSC M2,0
BSF PORTD,2
CALL ENABLE
SWAPF M1,0
ANDLW 0XF0
MOVWF PORTD
BTFSC M2,0
BSF PORTD,2
CALL ENABLE
BCF PORTD,2
RETURN
MSG CALL REC //Go for data reception
MOVF R0,0
SUBLW '*' //Check if received data is ‘*’
BTFSC STATUS,2
GOTO VOICE //Prepare for VOICE COMMAND reception
CALL TRANS //Go for data transfer
GOTO MSG //SYSTEM RESTART (Program)
VOICE CLRF PORTB
BSF PORTE,0 //BUZZER ON

BSF PORTC,2 //TROLLEY REMOTE ON

CALL DELAY //0.5s delay
CALL DELAY
BCF PORTE,0 //BUZZER OFF
//Display ‘waiting for voice commands’
LOP CALL REC //Go for data reception
MOVLW 'L'
SUBWF R0,0 //Check if received data is ‘L’
BTFSC STATUS,2
GOTO LEFT //Go for follow up of command ‘LEFT'’
MOVLW 'R'
SUBWF R0,0 //Check if received data is ‘R’
BTFSC STATUS,2
GOTO RIGHT //Go for follow up of command ‘RIGHT’
MOVLW 'F'
SUBWF R0,0 //Check if received data is ‘F’
BTFSC STATUS,2
GOTO FRONT //Go for follow up of command ‘FRONT’
MOVLW 'B'
SUBWF R0,0 //Check if received data is ‘B’
BTFSC STATUS,2
GOTO BACK //Go for follow up of command ‘BACK’
MOVLW 'E'
SUBWF R0,0 //Check if received data is ‘E’
BTFSC STATUS,2
GOTO EXIT //Go for follow up of command ‘EXIT’
MOVLW 'S'
SUBWF R0,0 //Check if received data is ‘S’
BTFSC STATUS,2
GOTO STOP //Go for follow up of command ‘STOP’
MOVLW 'A'
SUBWF R0,0 //Check if received data is ‘A’
BTFSC STATUS,2
GOTO STRA //Go for follow up of command ‘STRIGH’
GOTO LOP //Repeat loop
EXIT NOP
//Display ‘VOICE MODE EXIT’


BCF PORTC,2 //TROLLEY REMOTE OFF
CALL DEL1S
GOTO DISP
LEFT //Display ‘left’
BCF PORTB,4 //Initiate trolley control ‘left’
CALL DELAY
BSF PORTB,5
GOTO LOP
RIGHT //Display ‘right’
BCF PORTB,5 //Initiate trolley control ‘right’
CALL DELAY
BSF PORTB,4
GOTO LOP
FRONT //Display ‘front’
BCF PORTB,7 //Initiate trolley control ‘front’

CALL DELAY
BSF PORTB,6
GOTO LOP
BACK //Display ‘back’
BCF PORTB,6 //Initiate trolley control ‘back’
CALL DELAY
BSF PORTB,7
GOTO LOP
STOP //Display ‘stop’
CLRF PORTB //Initiate trolley control ‘stop’
CALL DELAY
GOTO LOP
STRA //Display ‘straight’
BCF PORTB,5 //Initiate trolley control ‘straight’
CALL DELAY

BCF PORTB,4
CALL DELAY
BSF PORTB,6
CALL DELAY
BCF PORTB,7
CALL DELAY
GOTO LOP
REC BSF RCSTA,CREN //Subroutine to receive data
BCF PIR1,RCIF
NOP
NOP
BTFSS PIR1,RCIF //Check if any data received
GOTO $-1
MOVF RCREG,0
MOVWF R0 //Move received data to ‘R0’
BCF RCSTA,CREN //Stop reception
RETURN
TRANS CLRF TXREG //Subroutine to Transmit data to PC
BTFSS PIR1,TXIF
GOTO $-1
MOVF R0,0
MOVWF TXREG //Move received data to start transmission
RETURN
END //Program end
12.3 PROGRAM CODE (VB PC INTERFACE)
Dim MIDHU As Integer

Option Explicit
Private My_menu As Long
Private Loop_1 As Long
Private TCount As Long
Dim TEMP As String
Dim PRE As String
Dim SPEED As String

Dim LIGHT As String

Dim DIR As String
Dim HUM As String
Dim WIND As String
Private Sub Cmd_Exit_Click()

' Code to 'EXIT' the application
' MSComm1.PortOpen = True
MSComm1.Output = "E"
' MSComm1.PortOpen = False
Unload Me
End Sub
Private Sub Cmd_Start_Click()

' Cmd_Start.Caption = "Listen"
' Activate my list of commands. These will show in the 'What can I say' form of
' Microsoft Voice apllication
VoiceCmd.Activate My_menu
MIDHU = 1
' MSComm1.PortOpen = True--------------
MSComm1.Output = "*"
' MSComm1.PortOpen = False---------------
Frame1.Visible = True
' Frame2.Visible = False
End Sub
Private Sub Command1_Click()

' Deactivate my list of commands. These will now not show in the
' What can I say' form of Microsoft Voice apllication
VoiceCmd.Deactivate My_menu

MIDHU = 0
Label2.Caption = ""
MSComm1.Output = "E"
Frame1.Visible = False
' Frame2.Visible = True
End Sub

Label2.BackColor = vbCyan
Label2.Caption = "STOP"
MSComm1.Output = "S"
End Sub

Label2.Caption = "FORWARD"
Label2.BackColor = &HFF0101
MSComm1.Output = "F"
End Sub

Label2.Caption = "LEFT DIRECTION"
Label2.BackColor = &H101FF
MSComm1.Output = "L"


End Sub

Label2.Caption = "REVERSE"
Label2.BackColor = vbMagenta
MSComm1.Output = "B"
End Sub

MSComm1.Output = "R"
Label2.Caption = "RIGHT DIRECTION"
Label2.BackColor = &H1FF01
End Sub

Label2.Caption = "STRAIGHT"
Label2.BackColor = vbYellow
MSComm1.Output = "A"
End Sub

Text1.Text = ""
End Sub

Private Sub Form_Load()

MIDHU = 0
' Dim some variables used for retriving commands from 'VoiceCmd'
Dim Command As String, Description As String, Category As String, Flags As Long,
Action As String
' Initialize the voice control...
VoiceCmd.Initialized = 1
' Create and return a Menu control
My_menu = VoiceCmd.MenuCreate("My Commands", "commands State", 4)

' Enable our voice control
VoiceCmd.Enabled = 1
' Suppress any voice errors that may occur
' VoiceCmd.SuppressExceptions = 1
' Load our list of commands into the menu.
VoiceCmd.AddCommand My_menu, 1, "LEFT", "LEFT DIRECTION", "listen list", 0, ""

VoiceCmd.AddCommand My_menu, 1, "RIGHT", "RIGHT DIRECTION", "listen list", 0,
""
VoiceCmd.AddCommand My_menu, 1, "FRONT", "FORWARD", "listen list", 0, ""
VoiceCmd.AddCommand My_menu, 1, "BACK", "REVERSE", "listen list", 0, ""
VoiceCmd.AddCommand My_menu, 1, "EXIT", "Exit App", "listen list", 0, ""
VoiceCmd.AddCommand My_menu, 1, "STOP", "STOP", "listen list", 0, ""
VoiceCmd.AddCommand My_menu, 1, "STRAIGHT", "straight", "listen list", 0, ""
' VoiceCmd.AddCommand My_menu, 1, "TURN", "RIGHT", "listen list", 0, ""
' Activate the List of commands
VoiceCmd.Activate My_menu
'load the commands from the menu in to the list
TCount = VoiceCmd.CountCommands(My_menu)
For Loop_1 = 1 To TCount

VoiceCmd.GetCommand My_menu, Loop_1, Command, Description, Category, Flags,

Action
Frame1.Visible = False
If MSComm1.PortOpen = False Then
MSComm1.CommPort = 1
MSComm1.Settings = "9600,n,8,1"
MSComm1.PortOpen = True
MSComm1.RThreshold = 14
End If
Next Loop_1
End Sub
Private Sub Form_Unload(Cancel As Integer)

' Remove the commands from the menu
TCount = VoiceCmd.CountCommands(My_menu)
For Loop_1 = TCount To 1 Step -1
VoiceCmd.Remove My_menu, Loop_1
Next Loop_1
' Release the usage of the command menu.
VoiceCmd.ReleaseMenu My_menu
VoiceCmd.Enabled = 0
End Sub
Private Sub MSComm1_OnComm()
Text1.Text = Text1.Text & MSComm1.Input
Text1.SelStart = 0
Text1.SelLength = 1
TEMP = Text1.SelText
Text1.SelStart = 4
Text1.SelLength = 1
LIGHT = Text1.SelText
Text1.SelStart = 8
Text1.SelLength = 1
WIND = Text1.SelText
Text1.SelStart = 10
Text1.SelLength = 1
HUM = Text1.SelText
Text1.SelStart = 14
Text1.SelLength = 1
PRE = Text1.SelText
Text1.SelStart = 18
Text1.SelLength = 1
SPEED = Text1.SelText
If (WIND = "D") Then

Text1.SelStart = 9
Text1.SelLength = 1
DIR = Text1.SelText
If DIR = "E" Then
Text2.Text = "EAST"
End If
End If
If DIR = "W" Then

Text2.Text = "WEST"
End If

If DIR = "N" Then

Text2.Text = "NORTH"
End If
If DIR = "S" Then

Text2.Text = "SOUTH"
End If
If (TEMP = "T") Then

Text1.SelStart = 1
Text1.SelLength = 3
Text5.Text = Text1.SelText
End If
If (HUM = "H") Then

Text1.SelStart = 11
Text1.SelLength = 3
End If
If (LIGHT = "L") Then

Text1.SelStart = 5
Text1.SelLength = 3
End If
If (PRE = "P") Then

Text1.SelStart = 15
Text1.SelLength = 3

End If
If (SPEED = "S") Then

Text1.SelStart = 19
Text1.SelLength = 3
End If
'Text1.Text = ""
End Sub
Private Sub Timer1_Timer()

' After a perion of silence reset the last word heard
Detect.Caption = "<Nothing>"
End Sub
' Private Sub Timer2_Timer()

' Text1.Text = ""
' End Sub
Private Sub VoiceCmd_CommandOther(ByVal CmdName As String, ByVal Command As

String)
' If commands other than those listed in our menu are heard Display them
Timer1.Enabled = False
Detect.Caption = Command
Timer1.Enabled = True
Timer1.Interval = 2000
End Sub

Private Sub Voicecmd_CommandRecognize(ByVal ID As Long, ByVal CmdName As

String, ByVal Flags As Long, ByVal Action As String, ByVal NumLists As Long, ByVal
ListValues As String, ByVal Command As String)
' One of our listed commands has been spoken
If MIDHU = 0 Then
MsgBox "click 'LISTEN' first"
Exit Sub
Else
Timer1.Enabled = False
' Display it.
Detect.Caption = Command
' Look for it in a list and execute the relavant commands
Select Case UCase(Command)
Case "EXIT"
Cmd_Exit_Click
Case "STOP"
Label2.BackColor = vbCyan
Label2.Caption = "STOP"
MSComm1.Output = "S"
Case "LEFT"
Label2.Caption = "LEFT DIRECTION"
Label2.BackColor = &H101FF
MSComm1.Output = "L"

Case "RIGHT"
MSComm1.Output = "R"
Label2.Caption = "RIGHT DIRECTION"
Label2.BackColor = &H1FF01
Case "FRONT"
Label2.Caption = "FORWARD"
Label2.BackColor = &HFF0101
MSComm1.Output = "F"
Case "BACK"
Label2.Caption = "REVERSE"
Label2.BackColor = vbMagenta
MSComm1.Output = "B"
Case "STRAIGHT"
Label2.Caption = "STRAIGHT"
Label2.BackColor = vbYellow
MSComm1.Output = "A"
End Select
' If we not exiting then reset the timer.

If Not (UCase(Command) = "EXIT") Then

Timer1.Enabled = True
Timer1.Interval = 2000
End If
End If
End Sub
Private Sub VoiceCmd_VUMeter(ByVal Level As Long)

' This Procedure is called +- every 8 seconds.
' Set the level of out vu meter..
If VU_Meter.Max < Level Then VU_Meter.Max = Level
VU_Meter.Value = Level
End Sub
12.4 BILL OF MATERIALS

S.No Item Name Specification Quantity Net Price (Rs)
1 PIC16F877A USART with 9 bit address detection, 2 500
4 operating frequency, PORT A
(6bit), PORT B, PORT C, PORT
D(8 bit), PORT E(3 bit) , 10 bit
ADC (8 input channel), 8K FLASH
program memory (14 bit words),
368bytes data memory, 256 Bytes
EEPROM data memory.
2 LM317, L1117 Adjustable and fixed output voltage 1 each 60
regulators with low drop out voltage
(1.2V). Both can give a maximum
output current (1A). Regulated input
up to 30V and provide output up to
37V
3 XBEE module Data communication up to 1 mile 2 4500
(1.6 km) range. Low supply voltage
of +3.3V
4 MAX 232 RS 232/(TTL/CMOS)-voltage level 1 30
converter with inbuilt capacitor
boost output up to 12Vfrom a single
5V supply.

5 Crystal 4 MHZ crystal 2 5

6 LED 30mA 4 2
8 Resistors 1/4 watt resistors for current. 26 13
limiting and circuitry uses
9 Capacitors 1uF, 10uF, 1000uF 15 60
10 LM35 Temperature sensor based on 1 35
voltage variation across a diode with
inbuilt signal conditioning Range :
-50-150 °C
11 LDR Light sensor based on resistance 1 7
variation. Dark resistance: 1-2
MOhm
12 Power Source 230V-18V/12V transformer with o/p 2 200
maximum current of 600 mA. Cell
(9 V, 400mAH)
13 Relays SPDT with excitation 12V 6 300
14 LDR 2 MOhm dark resistance 1 4
15 Humidity Sensor N/A 1 490
16 Pressure Sensor N/A 1 390
17 Wind direction Wind catching element on a spindle 1 10
Sensor attached to 10KOhm pot
18 ULN2003 Drive 12 V relays from 5 V inputs. 1 25
Operates at 12 VDC
19 RS232 port Serial port for PC interface 1 50
20 Camera CMOS wireless camera .Range 50 1 2500
feet
21 Trolley Supply: 9 V Range 30m 1 500
Total Estimated Cost : 9750
12.5 GANTT CHART

DATASHEETS


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Voice Controlled Robot For Remote Data Access

VOICE CONTROLLED ROBOT FOR REMOTE

Submitted in the partial fulfilment of the award of degree

ARAVIND SURESH KUMAR

Department of Electronics Engineering

College of Engineering, Chengannur

We are immensely indebted to our very understanding project co-coordinator, Sri.

College of Engineering, Chengannur

The project consists of a system developed to gather data of atmospheric condition in

College of Engineering, Chengannur

2 PROBLEM DEVELOPMENT AND OPTIMISED SOLUTION.......4

4 BLOCK DIAGRAM DESCRIPTION...................................................9

6 COMPONENTS AND DEVICES........................................................14

6.7.5 Pressure Sensor.................................................................................31

9 RESULTS AND DISCUSSIONS.........................................................46

10 FUTURESCOPES AND CONCLUSION...........................................48

College of Engineering, Chengannur

VOICE CONTROLLED ROBOT FOR REMOTE DATA ACCESS

College of Engineering, Chengannur

College of Engineering, Chengannur

College of Engineering, Chengannur

PROBLEM DEVELOPMENT AND OPTIMISED

College of Engineering, Chengannur

The sensors as well as other modules shall be so chosen/designed to withstand the

College of Engineering, Chengannur

3.2 RECEIVER SECTION

College of Engineering, Chengannur

College of Engineering, Chengannur

BLOCK DIAGRAM DESCRIPTION

4.1 TRANSMITTER SECTION

College of Engineering, Chengannur

4.2 RECEIVER SECTION

College of Engineering, Chengannur

LM317 (Adjustable voltage regulator)

 Output voltage of LM317 set using variable resistor R9.

 Vout= 1.25V(1+ R9/R10)+ Iadj*R2

L1117-3.3 (Low drop out fixed voltage regulator)

 Output voltage of L1117 is 3.3V for Xbee module

Min. transformer output and filter capacitor design

 Transformer 230V-50Hz (600 mA)

 Require transformer output= exact 12V (Min.)

 A capacitor is preferred for output stability, a 10 µF is chosen.

College of Engineering, Chengannur

COMPONENTS AND DEVICES

Microchip PIC (Peripheral Interface Controller) 16LF877A-

 RISC MCU-35 instructions

 Mid Range 14bit Program Memory (8Kx14bits). Upto 8000 instructions

 PORTS:- PORTA (6 bit); [PORT B,PORTC,PORTD] (8 bit); PORTC (3 bit)

 Operating speed: DC - 20 MHz clock input. Internally divided by 4

 Wide operating voltage range: 2.0V to 5.5V. We use 5V

 Supply Current: < 0.6 mA typical @ 3V, 4 MHz

Figure 6.1- The Peripheral Interface Controller (PIC) Schematic

10 bit 8 channel ADC

College of Engineering, Chengannur

 We set it for ‘Fosc/32’ [bit7:bit6= 10]. A requirement for operations at

 ADC is made ON with ADON= 1

 Scanning may be started after channel selection [bit5:bit3] with GO/DONE=

 The GO/DONE will be reset by hardware after conversion

 Result is taken from 8- bit ADRESH register using option ADFM= 0

 It has got a dedicated 8- bit baud rate generator

College of Engineering, Chengannur

The control and status registers are as under:-

 The system is made to run on external clock using CSRC= 0

 We use 8- bit transmission using option TX9= 0

 Picture : PAL- 628582 (pixel); 5.784.199mm (area)