ABSTRACT

Speech is primary mode of communication among the human beings. In the presence work

we have designed a robot which could move according the our voice command. The system

comprises of mike, microcontroller unit(MCU), motor interfacing circuit ,amplitude shift keying

module (ASK and ultrasonic sensor. Our voice command is given as input to the mike which

is recognized by the HM 2007 IC, then the digital signal is transferred through the wireless

ASK module to the MCU. The MCU sends the control signals based on the voice command for

the movement of the robot. The MCU also checks the input from the ultrasonic sensor which

monitors the obstacle and the MCU gives the necessary control signal for the robot to avoid

obstacle. Our system is person depended voice recognition robot. The biggest advantage of this

type of robot is no one can misuse it. As the robot does not respond to the stranger’s voice, it is

secured. We can configure more than one voice that depends on our usage . Ultrasonic

sensor is used to detect obstacle on their path. The advantage of ultrasonic sensor is to cover

long range. The robot is powered using a 12v battery.

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LIST OF FIGURES

FIGURE NO FIGURE PAGE NO.

Figure 2.1 Structure of service robot wireless control system transmitter

section

Figure 3.1 Block Diagram of Robot

Figure 3.2 Command section

Figure 3.3 Control section

Figure 4.1 Circuit Diagram For Voice Recognition

Figure 4.2 Atmega8 Pin Configuration

Figure 4.3 TQFP Top View

Figure 4.4 MLF Top View

Figure 4.5 Pin Diagram of Motor Driver

Figure 4.6 Internal Circuit Diagram of Motor Driver

Figure 4.7 Architecture Of Atmega8

Figure 4.8 Internal Motor Driver Circuit

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LIST OF TABLES

TABLE NO. FIGURE PAGE NO.

4.1 Values for the motor working 42

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ABBREVTIONS

ACCRONYM WORD

MCU Micro Controller

A/D Analog to digital convertor

D/A Digital to Analog convertor

I/O Input\Output ports

USB Universal Serial Bus

IC Intergrated Circuit

LED Light Emitting Diode

SRAM Secondary Random Access Memory

EEPROM Electrically Erasable Programmable Read Only Memory

ADC Analog to Digital Comparator

TRN Train

CLR Clear

AUI Aural Interface

USART Universal Synchronous Asynchronous Receiver Transmitter

ASK Amplitude Shift Keying

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Page 5 of 37

CHAPTER-1

INTRODUCTION

1.1 OVERVIEW :

A robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with

guidance, typically by remote control. In practice a robot is usually an electro-mechanical machine that is

guided by computer and electronic programming.[citation needed] Robots can be autonomous, semi-

autonomous or remotely controlled.The word robot can refer to both physical robots and virtual software

agents, but the latter are usually referred to as bots. There is no consensus on which machines qualify as

robots but there is general agreement among experts, and the public, that robots tend to do some or all of

the following: move around, operate a mechanical limb, sense and manipulate their environment, and

exhibit intelligent behavior — especially behavior which mimics humans or other animals.

In our project we have designed a wireless robot in such a way that the robot is controlled by the

commands given by a human. This wireless robot system improves the Travel efficiency and convenience.

The input is given through the voice of a human in the form of Analog. This analog input is received by

microcontroller in the form of bits To make human-robot communication natural, it is necessary for the

robot to recognize voice even while is moving and performing gestures. For example, a robot's gesture is

considered to play a crucial role in natural human-robot communication . In addition, robots are expected to

perform tasks by physical actions to make a presentation . If the robot can recognize human interruption

voice while it is executing physical actions or making a presentation with gestures, it would make the robot

more useful.

1.2 HISTORY

1.2.1 ANCIENT BEGINNINGS

In ancient Greece, the Greek engineer Ctesibius (c. 270 BC) "applied a knowledge of

pneumatics and hydraulics to produce the first organ and water clocks with moving figures. In the 4th

century BC, the Greek mathematician Archytas of Tarentum postulated a mechanical steam-operated bird

he called "The Pigeon". Hero of Alexandria (10–70 AD), a Greek mathematician and inventor, created

numerous user-configurable automated devices, and described machines powered by air pressure, steam

and water.In ancient China, the 3rd century BC text of the Lie Zi describes an account of humanoid

automata, involving a much earlier encounter between King Mu of Zhou (Chinese emperor 10th century

BC) and a mechanical engineer known as Yan Shi, an 'artificer'. The latter proudly presented the king with

4.2 ATMEGA8

4.2.1 INTRODUCTION:

We have chosen atmega8 due to its high performance ,low power consumption

and low cost. The Atmel®AVR® ATmega8 is a low-power CMOS 8-bit microcontroller based

on the AVR RISC architecture. By executing powerful instructions in a single clock cycle, the

ATmega8 achieves throughputs approaching 1MIPS per MHz, allowing the system designer to

optimize power consumption versus processing speed.

The main features of Atmel®AVR® ATmega8 are 8 Kbytes of In-System

Programmable Flash with Read-While-Write capabilities, 512 bytes of EEPROM, 1 Kbyte of

SRAM, 23 general purpose I/O lines, 32 general purpose working registers, three flexible

Timer/Counters with compare modes, internal and external interrupts, a serial programmable

USART, a byte oriented Two wire Serial Interface, a 6-channel ADC (eight channels in TQFP

and QFN/MLF packages) with 10-bit accuracy, a programmable Watchdog Timer with Internal

Oscillator, an SPI serial port, and five software selectable power saving modes.

The Atmel ATmega8 is a powerful microcontroller that provides a highly-flexible

and cost-effective solution to many embedded control applications. The ATmega8 is supported

with a full suite of program and system development tools, including C compilers, macro

assemblers, program debugger/simulators, In-Circuit Emulators, and evaluation kits.

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4.2.2PIN CONFIGURATIONS :

Figure 4.2 Atmega8 Pin Configuration

Figure 4.3 TQFP Top View

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Figure 4.4 MLF Top View

4.2.3 OVERVIEW :

The Atmel®AVR® ATmega8 is a low-power CMOS 8-bit microcontroller based on the AVR RISC architecture. By executing powerful instructions in a single clock cycle, the ATmega8 achieves throughputs approaching 1MIPS per MHz, allowing the system designer to optimize power consumption versus processing speed.

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4.2.4 ARCHITECTURE OF ATMAGA8

Figure 4.5 ATMECA8 Architecture

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The Atmel®AVR® core combines a rich instruction set with 32 general purpose working

registers. All the 32 registers are directly connected to the Arithmetic Logic Unit (ALU),

allowing two independent registers to be accessed in one single instruction executed in one clock

cycle. The resulting architecture is more code efficient while achieving throughputs up to ten

times faster than conventional CISC microcontrollers. The device is manufactured using Atmel’s

high density non-volatile memory technology. The Flash Program memory can be reprogrammed

In-System through an SPI serial interface, by a conventional non-volatile memory programmer,

or by an On-chip boot program running on the

AVR core. The boot program can use any interface to download the application program in the

Application Flash memory. Software in the Boot Flash Section will continue to run while the

Application Flash Section is updated, providing true Read-While-Write operation. By combining

an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic chip, the Atmel

ATmega8 is a powerful microcontroller that provides a highly-flexible and cost-effective

solution

to many embedded control applications. The ATmega8 is supported with a full suite of program

and system development tools, including C compilers, macro assemblers, program

debugger/simulators, In-Circuit Emulators, and evaluation

kits.

4.2.5 REASONS FOR CHOSING ATMEGA8

8Kbytes of In-System Self-programmable Flash program memory

512Bytes EEPROM

1Kbyte Internal SRAM

Write/Erase Cycles: 10,000 Flash/100,000 EEPROM

Two 8-bit Timer/Counters with Separate Prescaler, one Compare Mode

One 16-bit Timer/Counter with Separate Prescaler, Compare and Capture mode

23 Programmable I/O Lines

On-chip Analog Comparator

Programmable Watchdog Timer with Separate On-chip Oscillator

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4.2.6 FEATURES

High-performance, Low-power Atmel®AVR® 8-bit Microcontroller

Advanced RISC Architecture

High Endurance Non-volatile Memory segments Power-on Reset and Programmable

Brown-out Detection

Internal Calibrated RC Oscillator

External and Internal Interrupt Sources

Five Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, and Standby

4.2.7 CHARACTERISTICS OF ATMEGA8

Operating Temperature.................................. -55°C to +125C

Storage Temperature ..................................... -65°C to +150°C

Voltage on any Pin except RESET

with respect to Ground ................................-0.5V to VCC+0.5V

Voltage on RESET with respect to Ground......-0.5V to +13.0V

Maximum Operating Voltage ............................................ 6.0V

DC Current per I/O Pin ................................................ 40.0mA

DC Current VCC and GND Pins................................. 300.0mA

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4.3 SENSOR

4.3.1 INTRODUCTION:

A sensor (also called detector) is a converter that measures a physical quantity and converts

it into a signal which can be read by an observer or by an (today mostly electronic) instrument

Sensors are used in everyday objects such as touch-sensitive elevator buttons (tactile

sensor) and lamps which dim or brighten by touching the base. There are also innumerable

applications for sensors of which most people are never aware. Applications include cars,

machines, aerospace, medicine, manufacturing and robotics.

A sensor is a device which receives and responds to a signal. A sensor's sensitivity

indicates how much the sensor's output changes when the measured quantity changes.

Sensors need to be designed to have a small effect on what is measured; making the

sensor smaller often improves this and may introduce other advantages. Technological progress

allows more and more sensors to be manufactured on a microscopic scale as micro sensors using

ROBOTICS.

4.3.2 CLASSIFICATION OF MEASUREMENT OF ERRORS:

A good sensor obeys the following rules:

Is sensitive to the measured property only

Is insensitive to any other property likely to be encountered in its application

Does not influence the measured property

Ideal sensors are designed to be linear or linear to some simple mathematical function of the

measurement, typically logarithmic. The output signal of such a sensor is linearly proportional to

the value or simple function of the measured property. The sensitivity is then defined as the ratio

between output signal and measured property.

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4.3.3SENSORS IN NATURE:

Light, motion, temperature, magnetic fields, gravity, humidity, moisture, vibration,

pressure, electrical fields, sound, and other physical aspects of the external environment

Physical aspects of the internal environment, such as stretch, motion of the organism, and

position of appendages (proprioception)

Environmental molecules, including toxins, nutrients, and pheromones

Estimation of biomolecules interaction and some kinetics parameters

Internal metabolic milieu, such as glucose level, oxygen level, or osmolality

Internal signal molecules, such as hormones, neurotransmitters, and cytokines

4.3.4TYPES OF SENSOR:

INFRARED

ULTRASONIC

BIO SENSOR

RF SENSOR(radio frequency) .

4.3.5 SENSOR DEVIATION:

If the sensor is not ideal, several types of deviations can be observed:

The sensitivity may in practice differ from the value specified. This is called a sensitivity

error, but the sensor is still linear.

Since the range of the output signal is always limited, the output signal will eventually

reach a minimum or maximum when the measured property exceeds the limits. The full

scale range defines the maximum and minimum values of the measured property.

If the output signal is not zero when the measured property is zero, the sensor has an

offset or bias. This is defined as the output of the sensor at zero input.

If the sensitivity is not constant over the range of the sensor, this is called non linearity.

Usually this is defined by the amount the output differs from ideal behavior over the full

range of the sensor, often noted as a percentage of the full range.

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If the deviation is caused by a rapid change of the measured property over time, there is a

dynamic error. Often, this behavior is described with a bode plot showing sensitivity

error and phase shift as function of the frequency of a periodic input signal.

Noise is a random deviation of the signal that varies in time.

Hysteresis is an error caused by when the measured property reverses direction, but there

is some finite lag in time for the sensor to respond, creating a different offset error in one

direction than in the other.

If the sensor has a digital output, the output is essentially an approximation of the

measured property. The approximation error is also called digitization error.

All these deviations can be classified as systematic errors or random errors. Systematic errors

can sometimes be compensated for by means of some kind of calibration strategy.

4.3.6 RESOLUTION:

The resolution of a sensor is the smallest change it can detect in the quantity that it is

measuring. Often in a digital display, the least significant digit will fluctuate, indicating that

changes of that magnitude are only just resolved. The resolution is related to the precision with

which the measurement is made. For example, a scanning tunneling probe (a fine tip near a

surface collects an electron tunneling current) can resolve atoms and molecules.

4.3.7 ULTRA SONIC SENSOR:

Ultrasonic sensor provides a very low-cost and easy method of distance

measurement. This sensor is perfect for any number of applications that require you to perform

measurements between moving or stationary objects. Naturally, robotics applications are very

popular but you'll also find this product to be useful in security systems or as an infrared

replacement if so desired. You will definitely appreciate the activity status LED and the

economic use of just one I/O pin.

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The Ping sensor measures distance using sonar; an ultrasonic (well above human

hearing) pulse is transmitted from the unit and distance-to-target is determined by measuring the

time required for the echo return. Output from the PING))) sensor is a variable-width pulse that

corresponds to the distance to the target.

4.3.8 FEATURES

• Range: 2 cm to 4 m

• Accurate and Stable range data

• Data loss in Error zone eliminated

• Modulation at 40 KHz

• Triggered externally by supplying a pulse to the signal pin.

• Echo pulse: positive TTL pulse, 87 µs minimum to 30 ms maximum(PWM)

4.3.9 WORKING

Normally sensor sense any kind of input signal and produces the desired output. Each

sensor performs various kinds of functions. Some of the sensor plays a vital role in electronics

field. One such sensor is described here as ultrasonic sensor.

• The sensor transmits an ultrasonic wave and produces an output pulse that corresponds to

the time required for the burst echo to return to the sensor.

• By measuring the echo pulse width, the distance to target can easily be calculated.

• The "ECHO" does not require any ADC or USART to measure the distance.

• This sensor helps the bot to travel for a longer distance &also it is used to detect any

• obstacle present while travelling

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4.4 SERIAL TRANSMITTER & RECEIVER

4.4.1 INTRODUCTION

The transmitter & receivers are used to transmit the information in from a source to a

distant destination. The basic principle in this type of communication is that the data to be

transmitted is converted in to corresponding binary codes and transmitted all around in a

particular frequency. The receiver is designed in such a way to scan for the presence of any

signal in the frequency to which it is tuned. Only one frequency/frequency band is used for one

dedicated link, that is the connection between the transmitter and receiver, for the transmission of

the data.

Transmitters and receivers must each perform two basic functions. The transmitter must

generate a radio frequency signal of sufficient power at the desired frequency. It must have some

means of varying (or modulating) the basic frequency so that it can carry an intelligible signal.

The receiver must select the desired frequency you want to receive and reject all unwanted

frequencies. In addition, receivers must be able to amplify the weak incoming signal to overcome

the losses the signal suffers in its journey through space.

4.4.2 TYPES OF TRANSMITTER AND RECEIVER:

The transmission system is classified according to two different categories

According to the way in which the bits are transmitted the transmission system is

classified as follows

PIPO(Parallel In Parallel Out)

SISO(Serial In Serial Out)

PISO(Parallel In Serial Out)

SIPO(Serial In Parallel Out)

According to the range of the frequency of the signal used the system is classifies

into

• Continuous Wave (Cw)

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• Amplitude Modulated (Am)

• Frequency Modulated (Fm)

• Phase Modulated (Pm)

• Single Sideband (Ssb)

• Etc…

4.4.3 ASK TRANSMITTER RECEIVER:

A transmitter can be a separate piece of electronic equipment, or an electrical circuit

within another electronic device. A transmitter and receiver combined in one unit is called

a transceiver. The term transmitter is often abbreviated "XMTR" or "TX" in technical

documents. The purpose of most transmitters is radio communication of information over a

distance. The information is provided to the transmitter in the form of an electronic signal, such

as an audio (sound) signal from a microphone, a video (TV) signal from a TV camera, or

in wireless networking devices a digital signal from a computer. The transmitter combines the

information signal to be carried with the radio frequency signal which generates the radio waves,

which is often called the carrier. This process is called modulation. The information can be

added to the carrier in several different ways, in different types of transmitter. In an amplitude

modulation (AM) transmitter, the information is added to the radio signal by varying

its amplitude (strength). Many other types of modulation are used.

This ASK transmitter (ASK Tx) is about the simplest and most basic ASK Tx it is

possible to build and have a useful transmitting range. It is surprisingly powerful despite its small

component count and 3V operating voltage. It will easily penetrate over three floors of an

apartment building and go over 300 meters in the open air.

The circuit we use is based on a proven Australian design. It may be tuned anywhere in the ASK

band. Or it may be tuned outside the commercial M band for greater privacy. (Of course this

means you must modify your ASK radio to

be able to receive the transmission or have a broad-band ASK receiver).

The output power of this ASK Tx is below the legal limits of many countries (eg, USA

and Australia). However,some countries may ban ALL wireless transmissions without a licence.

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It is the responsibility of the purchaser to check the legal requirements for the operation of this

kit and to obey them.

4.4.4 HT12A/HT12E ENCODERS:

The 212 encoders are a series of CMOS LSIs forVremote control system applications.

They are capable of encoding information which consists of N address bits and 12_N data bits.

Each address data input can be set to one of the two logic states. The programmed addresses/data

are transmitted together with the header bits via an RF or an infrared transmission medium upon

receipt of a trigger signal. The capability to select a TE trigger on the HT12E or a DATA trigger

on the HT12A further enhances the application flexibility of the 212 series of encoders. The

HT12A additionally provides a 38kHz carrier for infrared systems.

4.4.4.1 FEATURES:

Operating voltage

2.4V~5V for the HT12A

2.4V~12V for the HT12E

Low power and high noise immunity CMOS technology

Low standby current: 0.1_A (typ.) at VDD=5V

HT12A with a 38kHz carrier for infrared transmission medium

Minimum transmission word

Four words for the HT12E

One word for the HT12A

Built-in oscillator needs only 5% resistor

Data code has positive polarity

Minimal external components

HT12A/E: 18-pin DIP/20-pin SOP package

4.4.4.2OPERATION:

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The 212 series of encoders begin a 4-word transmission cycle upon receipt of a

transmission enable (TE for the HT12E or D8~D11 for the HT12A, active low). This cycle will

repeat itself as long as the transmission enable (TE or D8~D11) is held low. Once the

transmission enable returns high the encoder output completes its final cycle and then stops.

Figure 4.6 Encoder/Decoder Circuits

4.4.4.3 INFORMATION WORD:

The device is in the latch mode (for use with the latch type of data

decoders). When the transmission enable is removed during a transmission, the DOUT pin

outputs a complete word and then stops. On the other hand, if L/MB=0 the device is in the

momentary mode (for use with the momentary type of data decoders) When the transmission

enable is removed during a transmission, the DOUT outputs a complete word and then adds 7

words all with the _1_ data code.

4.4.4.4 APPLICATIONS:

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• Burglar alarm system

• Smoke and fire alarm system

• Garage door controllers

• Car door controllers

• Car alarm system

• Security system

• Cordless telephones

• Other remote control systems

4.5 MOTOR DRIVER

4.5.1 INTRODUCTION:

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The Device is a monolithic integrated high voltage, high current four channel driver

designed to accept standard DTL or TTL logic levels and drive inductive loads (such as relays

solenoids, DC and stepping motors) and switching power transistors. To simplify use as two

bridges each pair of channels is equipped with an enable input. A separate supply input is

provided for the logic, allowing operation at a lower voltage and internal clamp diodes are

included.

The L293D is assembled in a 16 lead plastic package which has 4 center pins connected together

and used for heat sinking. The L293DD is assembled in a 20 lead surface mount which has 8

center pins connected together and used for heat sinking.

4.5.2 PIN DIAGRAM

Figure 4.7 Pin Diagram of Motor Driver

4.5.3 INTERNAL CIRCUIT OF L293D:

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Figure 4.8 Internal Circuit Diagram of Motor Driver

4.5.4 DESCRIPTION:

The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to

provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is

designed to provide bidirectional drive currents of up to

600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive inductive loads such

as relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage

loads in positive-supply applications.

All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a

Darlington transistor sink and a pseudo- Darlington source. Drivers are enabled in pairs, with

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drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4 EN. When an enable input

is high, the associated drivers are enabled, and their outputs are active and in phase with their

inputs. When the enable input is low, those drivers are disabled, and their outputs are off and in

the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H (or

bridge) reversible drive suitable for solenoid or motor applications.

Direction Motor 1 Motor 2 Hex Value

Forward ON ON 0x0A

Reverse ON ON 0x05

Left – Forward OFF ON 0x02

Right – Forward ON OFF 0x08

Left – Reverse OFF ON 0x01

Right – Reverse ON OFF 0x04

Table 4.1 Values for the motor working

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SOFTWARE IMPLEMENTATION

CHAPTER 5

5.1 ATMEL AVR STUDIO

5.1.1. INTRODUCTION:

This provides information on the tools and the basic steps that are involved in using the C

programming language for the Atmel AVR microcontrollers. It is aimed at people who are new

to this family of microcontrollers. The Atmel STK500 development board and the ATMEGA16

chip are used ,however, it is easy to adapt the information given here for other AVR chips.

5.1.2. INSTALLING TOOLS FOR C PROGRAMMING

To work with the Atmel AVR microcontroller using the C programming language, you

will need two tools: AVR Studio and Win AVR. Both tools are free at the links given below.

• AVR Studio is an integrated development environment that includes an editor, the

assembler, HEX file downloader and a microcontroller emulator. AVR Studio setup file

and service packs are available at

http://www.atmel.com/dyn/products/tools_card.asp?tool_id=2725

• Win AVR is for a GCC-based compiler for AVR. It appears in AVR Studio as a plug-

in. Win AVR also includes a program called Programmer’s Notepad that can be used to

edit and compile C programs, independently of AVR Studio. Win AVR setup file is

available at

http://winavr.sourceforge.net/

Installing these tools is easy: just download and run the setup files, and accept the default

installation options. Remember to install AVR Studio first before Win AVR.

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5.1.3 USING AVR STUDIO FOR C PROGRAMMING:

As an example, we will create a simple C program for the Atmel AVR that allows the

user to turn on one of the eight Light Emitting Diodes (LEDs) on the STK500 development

board, by pressing a switch. Next, you will be guided through four major stages:

• creating an AVR Studio project,

• compiling C code to HEX file,

• debugging C program using the simulator,

• downloading HEX file to the STK500 development board and running it.

5.1.3.1 CREATING AN AVR STUDIO PROJECT:

Perform the following steps to create a simple AVR Studio project.

• Start the AVR Studio program by selecting Start | Programs | Atmel AVR

Tools |AVR Studio.

• Select menu Project | New Project. In the dialog box that appears, select AVR

GCC as project type, and specify the project name and project location. If options ‘Create

initial file’ and ‘Create folder’ are selected, an empty C file and containing folder will be

created for you.

• Click button Next when you are ready.

• In the ‘Select debug platform and device’ dialog that appears, choose ‘AVR

Simulator’ as the debug platform and ‘ATMEGA16’ as the device. Click button Finish.

• A project file will be created and AVR Studio displays an empty file. Enter the

C code. It is not important to understand the code at this stage, but you can do that by

reading the C comments.

• Click menu Project | Save Project to save the project file and the C program.

AVR Studio project files have extension ‘aps’.

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5.1.3.2 COMPILING C CODE TO HEX FILE:

• Click menu Build | Rebuild All to compile the C code.

• If there is no error message, a file called led.hex will be produced This file

contains the machine code that is ready to be downloaded to the ATMEGA16

microcontroller. The file is stored in sub-folder ‘\default’ of your project.

• If there are error messages, check your C code. Most often, they are caused by

some types or syntax errors.

5.1.3.3 DEBUGGING C PROGRAM USING THE SIMULATOR:

Debugging is an essential aspect in any type of programming. This section will show you

how to debug a C program at source-code level, using AVR Studio. You can execute a C

program one line at a time, and observe the effects on the CPU registers, IO ports and memory.

This is possible because AVR Studio provides a simulator for many AVR microcontrollers,

including the

ATMEGA16 and ATMEGA8515. Therefore, this debugging does not require the STK500 kit.

We will continue with the example project led.aps created in Section 3.2 of this tutorial.

• AVR Studio lets you examine the contents of CPU registers and IO ports. To

enable these views, right click on the menu bar at the top and select ‘I/O’ and ‘Processor’

options.

• Select menu Debug | Start Debugging. A yellow arrow will appear in the code

window, it indicates the C instruction to be executed next.

• Select menu Debug | Step Into (or press hot-key F11) to execute the C

instruction at the yellow arrow. Figure 6c shows the IO view after the following C

instruction is executed:

DDRB = 0xFF; // set PORTB for output

We can see that Port B Data Direction Register (DDRB) has been changed to 0xFF.

• While debugging the C program, you can change the contents of a register. For

example, to change Port A Input Pins register (PINA), click on the value column of PINA

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and enter a new value (Figure 8a). This change takes effect immediately. Subsequently,

the contents of PORTB will be 0x04 (see Figure 8b) after running the two C instructions:

i = PINA;

PORTB = i;

• To monitor a C variable, select the variable name in the code window and click

menu Debug | Quick Watch. The variable will be added to a watch window, as in Figure

9.

• Many other debugging options are available in the Debug menu, such as running

up to a break point or stepping over a function or a loop. To view the assembly code

along with the C code, select menu View | Disassembler.

5.1.3.4 DOWNLOADING AND RUNNING HEX FILE ON AVR BOARD:

To perform the steps in this section, you will need a STK500 development board from

Atmel. The STK500 kit includes two AVR microcontroller chips: ATMEGA8515 and

ATMEGA16.

• The ATMEGA8515 is installed on the development board by the manufacturer.

• The ATMEGA16 is installed on all development boards in SECTE laboratories.

5.1.4 HARDWARE SETUP:

• Connect the SPRO3G jumper to the ISP6PIN jumper, using the supplied cable

in the STK500 kit. This is needed to program the ATMEGA16 chip.

• Connect the board with the PC using a serial cable. Note that the STK500C has

two RS232 connectors; we use only the connector marked with RS232 CTRL.

• Connect the SWITCHES jumper to PORTA jumper. This step is needed in our

example because we want to connect 8 switches on the development board to port A of

the microcontroller.

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• Connect the LEDS jumper to PORTB jumper. This step is needed in our

example because we want to connect 8 LEDs on the development board to port B of the

microcontroller.

• Connect the board with 12V DC power supply and turn the power switch ON.

5.1.5 DOWNLOADING AND RUNNING HEX FILE:

• In AVR Studio, select menu Tools | Program AVR | Connect.

• In the ‘Select AVR Programmer’ dialog box, choose ‘STK500 or AVRISP’ as

the platform and ‘Auto’ as Port (see Figure 11). Then click button Connect.

• Depending on the version of your AVR Studio, a message about firmware may

appear. For now, this message can be discarded by clicking button Cancel. In the future,

you may want to read this message carefully and perform the steps described there to

perform firmware update.

• The program will now run on the microcontroller

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CHAPTER-7

FLOW CHART

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CHAPTER-7

ALGORITHM

Step 1: Start.

Step 2: Create a database of commands.

Step 3: Configure port settings.

Step 4: Check for input commands.

Step 5.a: Transmit the corresponding code generated to the microcontroller.

Step 5.b: Generate error codes in case of wrong command.

5 = word to long

6 = word to short

7 = no match

Step 6: Check for response of ultra sonic sensor.

Step 7.a: If ‘1’ stop and wait for command.

Step 7.b: if ‘0’ proceed for the same command.

Step 8: Switch command.

Step 9.a: if ‘1’ move forward.

Step 9.b: if ‘2’ move reverse.

Step 9.c: if ‘3’ move left.

Step 9.d: if ‘4’ move right.

Step 9.e: if ‘5’ move too short.

Step 9.f: if ‘6’ move too long.

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Step 9.g: if ‘7’ move not matched.

Step 9.h: if ‘8’ stop.

Step 10: Go to step 4.

Step 11: Stop.

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REFERENCES

[1] Jizhong Liu Jingjing Yao Hua Zhang , A Design of Wireless Intelligent Control System

for Service Robots 2011 Third International Conference on Measuring Technology and

Mechatronics Automation

[2] Jizhong Liu , A Novel Economical Embedded Multi-mode Intelligent Control System

for Powered Wheelchair Computing, Control and Industrial Engineering (CCIE),

International Conference on 2010

[3] Min Wang, Sunplus 16-bit microcontroller experiments andexercises. Beijing:

Publishing house of Beijing Aeronautic and Astronautic University, 2007.(in Chinese)

[4] Zhi Wei Hang, The Design of Wireless digital transmission circuit.Beijing: Publishing

house of electronic industry, 2003. (in Chinese)

[5] Li zheng , The Program Designing of Visual C + + 6. 0. Beijing: Publishing house of

Tsinghua University, 2006. (in Chinese)

[6] Q. Zhu, “Structural pyramids for representing and locating moving obstacles in visual

guidance of navigation,” in IEEE Comput. Society Conf. Comput. Vis. Pattern Recog., Ann

Arbor, MI, 1988, pp. 832–837.

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[7] P. R. Wurman, R. D’Andrea, and M. Mountz, “Coordinating hundreds of cooperative,

autonomous vehicles in warehouses,” AI Magazine, vol. 29, no. 1, pp. 9–19, 2008.

[8] T. A. Tamba, B. Hong, and K.-S. Hong, “A path following control of an unmanned

autonomous forklift,” Int’l J. of Control, Automation and Systems, vol. 7, no. 1, pp. 113–

122, 2009.

[9] R. Cucchiara, M. Piccardi, and A. Prati, “Focus-based feature extraction for pallets

recognition,” in Proc. British Machine Vision Conf., 2000.

[10] G.Bauzil, M.Briot and P.Ribes, “A navigation sub-system using ultrasonic sensors

Formobile robot HILARE,” in Proc. 1st Int. Conf. Robot Vision And Sensory Controls,

Apr. 1981, Stratford upon-Avon, UK, pp, 47-58 and pp.681-698.

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CONCLUSION

In the present work we have designed a speech recognized obstacle detection

robot using mike, microcontroller unit(MCU), motor interfacing circuit ,amplitude shift keying

module (ASK) and ultrasonic sensor. This is a person depended system. It will recognizes the

following speech commands forward, reverse, left, right, left-reverse, right – reverse and the

MCU sends the corresponding control signals to actuate the robot through proper interface to

carry out the necessary action. The system also incorporates the obstacle monitoring system that

has been achieved using ultra sonic sensor and MCU. The present work involves hardware and

software design. This system is cost effective and simply. The presence work has a lot of future

scope with suitable modification can be employed in varies industrial applications that are

hazardous to the human beings.

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