project lastest one 9.00pm

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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 InputOutput 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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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

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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 a life-size, human-shaped figure of
his mechanical 'handiwork' made of leather, wood, and artificial organs.
In the medieval Islamic world, Al-Jazari (1136–1206), a Muslim inventor during the
Artuqid dynasty, designed and constructed a number of automated machines, including kitchen appliances,
musical automata powered by water, and programmable automata.[14][25] The autmomata appeared as four
musicians on a boat in a lake, entertaining guests at royal drinking parties. His mechanism had a programmable
drum machine with pegs (cams) that bumped into little levers that operated percussion instruments. The
drummer could be made to play different rhythms and different drum patterns by moving the pegs to different
locations
1.2.2 EARLY MODERN DEVELOPMENTS
In Renaissance Italy, Leonardo da Vinci (1452–1519) sketched plans for a humanoid robot
around 1495. Da Vinci's notebooks, rediscovered in the 1950s, contained detailed drawings of a mechanical
knight now known as Leonardo's robot, able to sit up, wave its arms and move its head and jaw. The design was
probably based on anatomical research recorded in his Vitruvian Man. It is not known whether he attempted to
build it.
In Japan, complex animal and human automata were built between the 17th to 19th centuries, with many
described in the 18th century Karakuri zui (Illustrated Machinery, 1796). One such automaton was the karakuri
ningyō, a mechanized puppet. Different variations of the karakuri existed: the Butai karakuri, which were used
in theatre, the Zashiki karakuri, which were small and used in homes, and the Dashi karakuri which were used
in religious festivals, where the puppets were used to perform reenactments of traditional myths and legends.
1.3 MODERN ROBOTS
Mobile robots have the capability to move around in their environment and are not fixed to one
physical location. An example of a mobile robot that is in common use today is the automated guided vehicle or
automatic guided vehicle (AGV). An AGV is a mobile robot that follows markers or wires in the floor, or uses
vision or lasers. AGVs are discussed later in this article.Mobile robots are also found in industry, military and
security environments. They also appear as consumer products, for entertainment or to perform certain tasks like
vacuum cleaning. Mobile robots are the focus of a great deal of current research and almost every major

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university has one or more labs that focus on mobile robot research.
Modern robots are usually used in tightly controlled environments such as on assembly lines because they have
difficulty responding to unexpected interference. Because of this most humans rarely encounter robots. However
domestic robots for cleaning and maintenance are increasingly common in and around homes in developed
countries. Robots can also be found in military applications.
1.4TYPES OF ROBOTS
1.4.1 INDUSTRIAL ROBOTS
Industrial robots usually consist of a jointed arm (multi-linked manipulator) and an end effector
that is attached to a fixed surface. One of the most common type of end effector is a gripper assembly.
The International Organization for Standardization gives a definition of a manipulating industrial robot in ISO
8373:"an automatically controlled, reprogrammable, multipurpose, manipulator programmable in three or more
axes, which may be either fixed in place or mobile for use in industrial automation applications."
1.4.2 SERVICE ROBOTS
Most commonly industrial robots are fixed robotic arms and manipulators used primarily for
production and distribution of goods. The term "service robot" is less well-defined. IFR has proposed a tentative
definition, "A service robot is a robot which operates semi- or fully autonomously to perform services useful to
the well-being of humans and equipment, excluding manufacturing operations”.
1.4.3 MODULAR ROBOTS:
Modular robots is a new breed of robots that are designed to increase the utilization of the robots
by modularizing the robots. The functionality and effectiveness of a modular robot is easier to increase
compared to conventional robots.

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CHAPTER- 2
LITERATURE REVIEW
2.1 EXISTING SYSTEM
Jizhong Liu Jingjing Yao Hua Zhang [1] has designed a wireless intelligent control system by
combining radio frequency technology, MCU, ultrasonic sensor technology, image sensors and personal PC.
Voice broadcasting, barrier avoiding by ultrasonic technology are realized wirelessly. Hardware modules and
software design are partly given in there paper. Some experiments were carried out to verify the system
performance. The results and the design show that the system has advantages of stability, cost-effective, and
easy for function extension and transplantation which leads to a prospect of wide use.
Figure2.1 Structure of service robot wireless control system transmitter section

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2.1.1 INTRODUCTION:
The robots can replace human working in some high-risk environment and scientific research
activities. With the rapid development of economic and technology, more and more service robots are widely
used in a lot of machineries. How to effectively and reliably control the robots to serve human has become the
focus of the study. The introduction of service robot wireless control system greatly improved travel efficiency
and convenience for the disabled. It plays an important role not only to the operator but also to the caregiver.
A novel wireless control system is designed in the paper. It can control the robot and feed back information in
real time with ultrasonic obstacle avoidance function The wireless monitoring hardware system for service robot
is composed of upper PC workstation, MCU module, wireless communication module, ultrasonic sensor,
wireless image transmission module, service robots and other parts. Circuit design plays an important role in the
control system which consists of transmitting terminal peripheral circuit , ultra sonic obstacle avoidance circuit,
D/A converter module circuit, the power module circuit, etc.
2.1.2 DESIGN OF TRANSMITTING TERMINAL PERIPHERAL CIRCUIT:
The design of transmitting terminal peripheral circuit It uses SPCE061A as its testing and
controlling center.SPCE061A includes several parts as universal I/O ports ,timer, A/D converter, D/A converter,
serial device input and output, universal asynchronous serial interface, low voltage monitor and low voltage
reset section, built and on-line simulation of the circuit ICE interface. PDIUSBD12 chip and NRF2401A chip
are the core of the USB module and the wireless communication module respectively. Based on the design
requirements of controller, the lower modules are communicated with the host by USB .In order to obtain
obstacles information sufficiently, the system uses multi-channel program to measure the distance between
service robot and obstacles .

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2.1.3 DESIGN OF ULTRASONIC OBSTACLE AVOIDANCE SYSTEM
The wireless CMOS camera is chosen for the real-time image transmission. Because of so large
amount of image information, it cannot be transmitted or stored effectively
Without compression. Functions are designed for image /video acquisition, compression, transmission and
storage .Image contains a wealth of environmental information around the robot, which is equivalent to the
function of its"eyes." The wireless receiver is connected to the upper computer. The caregiver can monitor and
control the robot inreal time. It can also recognize and determine the initial target pose of robot by further image
processing.
Jizhong Liu[2] has designed a system to assist different kinds of disabled persons and senior
citizens, to lower the cost and improve the effectiveness and convenience of human-machine interaction, a novel
economical embedded multi-mode intelligent control system for powered wheelchair is developed. The system
is based on a high-performance 16-bit compact single chip system. It has “Manual”, “Speech”, “Vision”, and
“Autonomous” four modes that are fulfilled by four modules. The mode and the corresponding module can be
customized according to the needs of different users and situations and that makes a further lower cost. In
addition, fusion of multi-mode and other security measures are discussed. The hardware, software, control
mechanism, and some experimental results are elaborated in the paper.

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CHAPTER 3
PROPOSED SYSTEM
3.1 BLOCK DIAGRAM
COMMAND SECTION CONTROL SECTION
Figure 3.1Block diagram of robot
3.1.1 COMMAND SECTION
This section of the bot consists of 3 components MIC, VOICE RECOGNIZER and a ASK
TRANSMITTER in it. It gets the voice signal , recognizes the command and transmits the equivalent binary
word generated to the mobile robot.
3.1.2 CONTROL SECTION
This section of the bot consists of MCU ,ASK RECEIVER, SENSOR and MOTOR DRIVER. It
functions to move the bot respective to command received and the signal from the sensor with the help of the
motor driver circuit.
VOICE
RECOGINITION
CIRCUIT
ASK
TRANSMITTER
ASK
RECEIVER
MICRO
CONTROLLER
ULTRASONIC
SENSOR
MOTOR
DRIVER
MIC
c

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3.2 CIRCUIT DIAGRAM
Figure 3.2 Command section

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Figure 3.3 Control section

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3.2.1 VOICE RECOGNITION BLOCK:
This block consists of voice recognition IC HM2007.First the database of commands is created by proper
training through mic and keys .The voice commands are first generated and stored in specific memory locations
in this block, later when the commands are given the corresponding values generated gets called and transmitted
through the ASK transmitter.
3.2.2MICROCONTROLLER :
In this block the atmega micro-controller is used. It acts as an interface between the speech recognition and
the motor driver circuits. It gets the input’s from the ultra-sonic sensor and the ASK section and directs the
robot.
3.2.3 MOTOR DRIVER :
Here we have used L293D IC for the purpose of controlling the motors .The robot consists of two motors
for movement in all directions. The motor needs an current of 40mA and these motor’s are directly connected to
the wheel. The motor rotation is controlled by the coding stored (or) programmed in the microcontroller.

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HARDWARE IMPLEMENTATION
CHAPTER-4
4.1 VOICE RECOGNITION
4.1.1 INTRODUCTION
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.
Speech recognition will become the method of choice for controlling appliances, toys, tools and
computers. At its most basic level, speech controlled appliances and tools allow the user to perform parallel
tasks (i.e. hands and eyes are busy elsewhere) while working with the tool or appliance.
The heart of the circuit is the HM2007 speech recognition IC. The IC can recognize 20 words, each word
a length of 1.92 seconds or maximum of 40 words of length 0.90 seconds.
The speech recognition system is a completely assembled and easy to use programmable speech
recognition circuit. Programmable, in the sense that you train the words (or vocal utterances) you want the
circuit to recognize.
It has 8 bit data out which can be interfaced with any microcontroller for further development. Some of
interfacing applications which can be made are controlling home appliances, robotics movements, Speech
Assisted technologies, Speech to text translation, and many more .

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4.1.2 FEATURES
 Self-contained stand alone speech recognition circuit.
 User programmable , multilingual.
 Up to 20 word vocabulary of duration approximately two second(1.92s) each.
 Maximum of 40 words of duration approximately one second (0.90s) each.
 Non-volatile memory back up with 3V battery onboard will keep the speech recognition data in
memory even after power off.
 Easily interfaced to control external circuits .
 The keypad and digital display are used to communicate with and program the HM2007 chip.
 The keypad is made up of 12 normally open momentary contact switches.
When the circuit is turned on,“00” is on the digital display, the red LED (READY) is lit and the circuit
waits for a command.

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4.1.3 CIRCUIT DIAGRAM FOR VOICE RECOGNITION:
Figure 4.1 Circuit Diagram For Voice Recognition

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4.1.4 DATABASE CREATION:
The process of creating the database of the commands used to control the bot is done through training of
the HM2007 IC. It involves the following process
 Training words for recognition
 Testing recognition
 Error codes assignment
4.1.4.1 TRAINING WORDS FOR RECOGNITION:
Press “1” (display will show “01” and the LED will turn off) on the keypad, then press .The TRAIN key
( the LED will turn on) to place circuit in training mode, for word one. Say the target word into the on board
microphone the circuit signals acceptance of .The voice input by blinking the LED off then on. The word (or
utterance) is now identified as the “01” word. If the LED did not flash, start over by pressing “1” and then
“TRAIN” key .You may continue training new words in the circuit. Press “2” then TRN to train the second
word and so on. The circuit will accept and recognize up to 20 words (numbers 1 through 20). It is not necessary
to train all word spaces. If you only require 10 target words that’s all you need to train.
4.1.4.2 TESTING RECOGNITION:
Repeat a trained word into the microphone. The number of the word should be displayed on the digital
display. For instance, if the word “directory” was trained as word number 20, saying the word “directory” into
the microphone will cause the number 20 to be displayed.

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4.1.4.3 ERROR CODES:
The chip provides the following error codes..
5 = word to long
6 = word to short
7 = no match
The circuit signals acceptance of the voice input by blinking the LED off then on. The word (or
utterance) is now identified as the “01” word. If the LED did not flash, start over by pressing “1” and then
“TRAIN” key .You may continue training new words in the circuit. Press “2” then TRN to train the second word
and so on. The circuit will accept and recognize up to 20 words (numbers 1 through 20). It is not necessary to
train all word spaces. If you only require 10 target words that’s all you need to train .When interfacing the
external circuit through its data bus, The decoding circuit must recognize the word numbers from error codes. So
the circuit must be designed to recognize error codes 5, 6 and 7 and not confuse them with word spaces 5, 6 and
7.
4.1.5 CLEARING MEMORY:
To erase all words in memory press “99” and then “CLR”. The numbers will quickly scroll by on the
digital display as the memory is erased . Changing & Erasing Words Trained words can easily be changed by
overwriting the original word. For instances suppose word six was the word “Capital” and you want to change it
to the word “State”. Simply retrain the word space by pressing “6” then the TRAIN key and saying the word
“State” into the microphone. If one wishes to erase the word without replacing it with another word press the
word number (in this case six) then press the CLR key Word six is now erased.
4.1.6 SIMULATED INDEPENDENT RECOGNITION :
The speech recognition system is speaker dependant, meaning that the voice that trained the system has
the highest recognition accuracy. But you can simulate independent speech recognition. To make the
recognition system simulate speaker independence one uses more than one word space for each target word.
Now we use four word spaces per target word. Therefore we obtain four different enunciation’s of each target

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word. (speaker independent). The word spaces 01, 02, 03 and04 are allocated to the first target word .We
continue do this for the remaining word space. For instance, the second target word will use the word spaces 05,
06, 07 and 08. We continue in this manner until all the words are programmed. If you are experimenting with
speaker independence use different people when training a target word. This will enable the system to recognize
different voices, inflections and enunciation's of the target word.
The more system resources that are allocated for independent recognition the more robust the circuit will
become . If you are experimenting with designing the most robust and accurate system possible, train target
words using one voice with different inflections and enunciation's of the target word.
4.1.7 THE VOICE WITH STRESS & EXCITEMENT:
Stress and excitement alters ones voice. This affects the accuracy of the circuit’s recognition. For
instance assume you are sitting at your workbench and you program the target words like fire, left right, forward,
etc., into the circuit. Then you use the circuit to control a flight simulator game, Doom or Duke Nukem. Well,
when you’re playing the game you’ll likely be yelling “FIRE! …Fire! ...FIRE!! ...LEFT …go RIGHT!”. In the
heat of the action you’re voice will sound much different than when you were sitting down relaxed and
programming the circuit. To achieve a higher accuracy word recognition one needs to mimic the excitement in
ones voice when programming the circuit These factors should be kept in mind to achieve the high accuracy
possible from the circuit. This becomes increasingly important when the speech recognition circuit is taken out
of the lab and put to work in the outside world.
4.1.8 VOICE SECURITY SYSTEM :
This circuit isn’t designed for a voice security system in a commercial application, but that should not
prevent anyone from experimenting with it for that purpose. A common approach is to use three or four
keywords that must be spoken and recognized in sequence in order to open a lock or allow entry.

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4.1.9 AURAL INTERFACES :
It’s been found that mixing visual and aural information is not effective. Products that require visual
confirmation of an aural command grossly reduces efficiency. To create an effective AUI products need to
understand (recognize) commands given in an unstructured and efficient methods.
4.1.10 LEARNING TO LISTEN :
The ability to listen to one person speak among several at a party is beyond the capabilities of today’s
speech recognition systems. Speech recognition systems cannot (as of yet) separate and filter out what should be
considered extraneous noise . Speech recognition is not understanding speech. Understanding the meaning of
words is a higher intellectual function.
Because a circuit can respond to a vocal command doesn’t mean it understands the command spoken. In
the future, voice recognition systems may have the ability to distinguish nuances of speech . Speaker Dependent
/ Speaker Independent Speech recognition is divided into two broad processing categories; speaker dependent
and speaker independent . Speaker dependent systems are trained by the individual who will be using the
system. These systems are capable of achieving a high command count and better than 95% accuracy for word
recognition . The drawback to this approach is that the system only responds accurately only to The individual
who trained the system. This is the most common approach employed in software for personal computers .
Speaker independent is a system trained to respond to a word regardless of who speaks. Therefore the system
must respond to a large variety of speech patterns, inflections and enunciation's of the target word. The
command word count is usually lower than the speaker dependent however high accuracy can still be maintain
within processing limits. Industrial applications more often require speaker independent voice recognition
systems.
4.1.11 RECOGNITION STYLE :
In addition to the speaker dependent/independent classification, speech recognition also contends with
the style of speech it can recognize. They are three styles of speech: isolated, connected and continuous. Isolated
: Words are spoken separately or isolated. This is the most common speech recognition system available today.
The user must pause between each word or command spoken Connected: This is a half way point between

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isolated word and continuous speech recognition.
It permits users to speak multiple words. The HM2007 can be set up to identify words or phrases 1.92
seconds in length. This reduces the word recognition dictionary number to 20.Continuous: This is the natural
conversational speech we use to in everyday life. It is extremely difficult for a recognizer to sift through the
sound as the words tend to merge together. Voice recognition HM2007 ic is a single chip CMOS voice
recognition LSI circuit with the on-chip Analog front end, analysis, recognition process and system control
functions. This System can be composed of external microphone, keyboard, 64K SRAM and some Other
components. combined with the microprocessor, an intelligent recognition system can be built.
4.1.12 PIN DESCRIPTIONS OF HM2007:
Vref is the voltage reference input terminal of internal ADC. Supply the reference voltage of the
internal A/D converter LINE terminal is used for testing process MIC_IN in which microphone is connected A
microphone should be connected via a coupling capacitor and resistor V d0 is for positive power supply AGND
is analog ground & GND is negative power supply X2,X1 are the crystal connect pin .A 3.58 MHz crystal is
connected to these pin S1,S2 are the keypad scanning pin manual mode and the read/write control pins in the
cpu mode RDY is voice input ready for indication , active low output . when HM2007 is ready for the voice
input in training or recognition mode , a low signal is sent . if the chip is busy , a high signal is sent K1,K2 are
the keypad inputs in the manual mode And the bidirectional data bus(k-bus)in the cpu mode .
In the manual mode , the four pins combined with S1 to S3 form the keypad scanning circuit .
Maximum 12 keys can be scanned. A high level signal that appears in the pin S2 will place the content of
internal register onto to the data bus(K-bus).The data may be come from the status register or the output buffer
which is selected by the pin S1.if S1 is high output buffer is selected or else status register is selected. A high
level signal that appears in the pin S3 will place the content of K-bus into the input register H is the test mode
and L is the normal mode WLEN is the word length select pin Selecting the voice length to be recognized .
when set to high 1.92 sec is selected .internally pull low for 0.9sec is selected . Note that when 1.92 is selected
only 20 words maximum can be recognized if 8K-byte memory is used CPUM is the cpu mode select pin
internally pull low for manual mode when set to high , CPU mode is selected WAIT is for waiting control input .
Active low input , when this pin is set to “L” and manual mode is selected , HM2007 will enter the waiting
stage and do not accept the voice input, until this pin is back to “H” HM2007 is ready to get the voice input , if
this pin is set to “L” HM2007 will skip the voice input process and enter the get command DEN is data enable

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signal . when the recognition or training process is complete , the chip will place its response on the data bus D0
to D7 and which can be latched onto external devices by this pin SA0,SA1 is the external memory address bus
SA2-SA7 is used as an external memory address when ME pin is active Vdd is positive power supply GND is
negative power supply ME is the memory enable pin . Active low output This pin will send the memory enable
signal to the external SRAM . This pin can be connected directly to the R/W pin of 6264 SRAM. D0-D6 is
external memory data bus D7 is the bus used as an external memory I/O bus when ME pin is active and used as
output response bus when DEN pin is active.
4.1.13 FUNCTIONAL DESCRIPTIONS OF HM2007:
There are 2 operation mode
1.MANUAL MODE
2.CPU CONTROL MODE
1.MANUAL MODE:
a)POWER ON:
When the power is on ,HM2007 will start its initialization process . if WAIT pin is”L”,HM2007 will do the
memory check to see whether the external 8K byte SRAM is perfect or not.
b)RECOGNITION MODE:
i).WAIT pin “H”
In this mode ,the ready is set to low and HM2007 is ready to accept the voice input to be recognized When the
voice input is detected , the ready will return to high and HM2007 begins its recognition process it is
recommended that user train the word pattern before the beginning of the recognition process is completely , the
result will appear on the D-bus with the pin DEN drive. The data on the data bus is a decimal code in binary
format.

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ii) WAIT pin “L”:
In this mode, no voice input is accepted until WAIT pin back to “H” state
c) Training or clearing one pattern:
Two operation are included during this time
1)clearing trained pattern &
2)training new pattern
To clear or train the voice pattern , one must select the word number to process first. The number of
word is composed of two digits the 2 digits are entered into HM2007 through keypad one digit a time. If more
than two digits are entered, only the last 2 digits are valid. When number key is pressed, the number of key will
be echoed to the D-bus. When the word number is entered, press the function key to choose the operation
function. if function key CLR is pressed, the corresponding word pattern will be cleared and then HM2007 will
return its recognition mode.
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. This device is suitable for use in switching applications at frequencies up to 5 kHz. 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.

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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.

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 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.
 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)

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 According to the range of the frequency of the signal used the system is classifies
into
• Continuous Wave (Cw)
• 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).

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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.
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

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4.4.4.2OPERATION:
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.

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4.4.4.4 APPLICATIONS:
• 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

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4.5 MOTOR DRIVER
4.5.1 INTRODUCTION:
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

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4.5.3 INTERNAL CIRCUIT OF L293D:
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.

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All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a
Darlington transistor sink and a pseudo- Darlington source. Drivers are enabled in pairs, with
drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4 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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