Table of Contents

Content Page no.

Abstract…………………………………………………… I

List of Figures…………………………………………….. II

Chapter 1 Introduction

1.1 About 1

1.2 Development Methods 1

Chapter 2 Literature Review

2.1 Optical flow or image subtraction in

human detection from infrared camera

on mobile robot 2

2.1.1 Abstract 2

2.1.2 Research Highlights 2

Chapter 3 Problem Identification

3.1 Statement of Problem 3

3.2 Advanced Technology 3

Chapter 4 Methodology

4.1 Design & Development of Hardware

4.1.1 Total Circuit Internal Working

Explantion

44.2 Regulated Power Supply 5

4.3 Encoder HT12E

7 4.4 Decoder HT12D

8 4.5Encoding & Decoding Process

8 4.5.1 What is encoding &

decoding 8 4.5.2 HT12D

&HT12E 9 4.6 DPDT Switch

Connection with Encoder 15 4.7 RF

Transmitter & Receiver 16

Chapter 5 Result & Discussion

5.1 Result

17

Chapter 6 Conclusion & Future Scope

6.1 Conclusion

18 6.2 Future Scope

18

Bibliography 19

ABSTRACT

The main aim the project is to design “LIVE HUMAN BEING DETECTION WIRELESS REMOTE CONTROLLED ROBOT”AT89S51, RF remote control,HT12D Decoder, HT12E Encoder, PIR sensor, Driver IC and DC motor.In the existing method we are controlling the robot by using IR remote which cancontrol the robot in the line of sight only. The main disadvantage of this method is we can control the robot up to shortest range only and also during the earthquakes person cannot move into the places along with the robot for detection of the live person inside the area where person movement is not possible.In the proposed method we are using RF remote control which can be used to control the robot at any range. To detect the live person we are using PIR sensorcalledas passive infrared sensor which is used to detect the persons whether they are alive or not. The remote uses certain range of Radio frequencies which is used to transfer the commands from the remote to the robot. By using this we can change the directions of the robot. Programs are developed in Embedded C. Flash magic is used for loading programs into Microcontroller.Used to detect the live persons where earthquakes are generated.Low cost, easy to use for rural areas, automated operation, and low power consumption.

I

LIST OF FIGURES

Name of Figure Page no.

4.1.1 Transmitter & power Supply Circuit 8

4.3.1.1 LM7805 Regulator Pin Diagram 12

4.3.2.1 HT12E Pin Diagram 13

4.4.2.1 HT12E (Tx Side) 16

4.4.2.2 HT12E Parallel Input & Serial Output 17

4.4.2.3 HT12D(Rx Side) 18

4.4.2.4 HT12D Serial Input & Parallel Output 19

4.5.1 DPDT Switch Connection with Encoder 20

II

Chapter 1

INTRODUCTION

1.1 About

Live Human Being Detection Wireless Remote Control Robot is used to detectthe

live persons. This robot is very helpful in detecting live persons under the buried

and pillars etc., whenever there is any earthquake occurred, tsunami or any other building

collapse. At the time of these effects people may fell down and buried under the

bridgesand under the pillars etc., in some cases we can’t get into that felled contacts and

we can’thelp them. In such cases to save them immediately we use this robot. This robots

job is todetect the live person and indicate the signal to the helpers.

1.2 Development Methods

To implement this mechanism we used discrete components to control the

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

control theentire robot function it has vast advantages, and PIR sensor to detect live

persons. DCmotors are used to for robot movement and it can be controlled by user.

When we send this robot to such places where man movement is not possible, It willtry to

find out the live persons. The user will control the robot movement with the remote.The

live person can be detected by the body temperature radiation. Normally human body will

have 96.8 to 105’c temperature range. The PIR (passive infrared) sensor will bedesigned

like that it will activate when it will detect that much temperature. This project

issophisticated in the market since it is a real time embedded project.

In the advanced market these robots are further implemented using the new technologies

like GSM, GPS and LCD displays. Using theseGSM technologies we can operate

the robot from the far distances and we can identify thelocation using GPS. Using

Camera at the Robot and LCD display at the user section we canoperate the device

accurately and it provides live section. Gear wheels can provide theaccurate movement in

all areas. 

1

Chapter 2

LITERATURE

REVIEW

2.1 Optical flow or image subtraction in human detection from infrared camera on

mobile robot

2.1.1 Abstract

Perceiving the environment is crucial in any application related to mobile robotics

research. In this paper, a new approach to real-time human detection through

processing video captured by a thermal infrared camera mounted on the

autonomous mobile platform mSecuritT M  is introduced. The approach starts with

a phase of static analysis for the detection of human candidates through some

classical image processing techniques such as image normalization and

thresholding. Then, the proposal starts a dynamic image analysis phase based in

optical flow or image difference. Optical flow is used when the robot is moving,

whilst image difference is the preferred method when the mobile platform is still.

The results of both phases are compared to enhance the human segmentation by

infrared camera. Indeed, optical flow or image difference will emphasize the

foreground hot spot areas obtained at the initial human candidates’ detection.

2.1.2 Research highlights

► Use of infrared camera on mobile robot.

►Comparison of performance of optical flow vs. image subtraction in motion

detection.

► Introduction of the mSecurit mobile robot.

Chapter 3

PROBLEM

IDENTIFICATION

3.1 Statement of Problem

There is many different kind of catastrophe in natural and man-

made disaster :earthquake, flooding, hurricane and they cause different disaster area like

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

n urban disaster, many different people are deployed (policeman, fire fighters and

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

and evacuate victims to safety. In these situations, human rescuers must make quick

decisions under stress, and try to get victims to safety often at their own risk. They must

gather determine the location and status of victims and the stability of the structures

as quickly as possible so that medics and firefighters can enter the disaster area and save

victims. All of these tasks are performed mostly by human and trained dogs, often in very

dangerous and risky situations. This is why since some years, mobile robots have been

proposed to help them and to perform tasks that neither humans dogs nor existing tools

can do. For this project, we will focused only on robots which will work

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

3.2 Advanced Technology

The advent of new highspeed technology and the growing computer capacity provided  o

pportunity for new robot controls and realization of new methods of control theory. This

technical improvement together with the need for high performance robots created faster,

more accurate and more intelligent robots using new robots control devices, new drives

and advanced control algorithms. This Project deals with live personal detection robot is

based on 8 bit Microcontroller. This Robot follows which is drawn over the surface. Here

we are using PIR sensor for detect the which are detect human. The project is mainly

used in the DEBRIS for Earth quake rescue. Internally it consists of IR sensors. The

infrared sensors are used to sense the live persons. All the above systems are controlled

by the Microcontroller. In our project we are using the popular 8 bit

microcontroller .The Microcontroller is used to control the motors. It gets

the signals from the PIR sensors and it drives the motors according to the sensor inputs.

Two DC gear motors are used to drive the robot.

6

Chapter 4

METHODOLOGY

4.1 DESIGN AND DEVELOPMENT OF HARDWARE

MAIN CIRCUIT DIAGRAM AND ITS OVERALL OPERATION

Fig 4.1: Transmitter and power supply circuit

8

4.2 INTERNAL WORKING EXPLANATION:

Mainly the block diagram consists of following parts:

Power supply circuit

RF transmitter

HT12E Encoder IC 

The devices that act as input are

Power supply

Switch box

 The devices that act as output are

RF transmitter 

4.3 Total circuit internal working explanation:

The main aim is to design “LIVE PERSON DETECTION ROBOT USING RF

WIRELESS COMMUNICATION”.

This robot is developed by using LPC2148 micro controller to it RF receiver is connected

and driver IC and DC motors are used. The robot movement is controlled by using RF

remote control. This remote consists of RF transmitter through this remote robot

movement is controlled by sending commands to robot through RF transmitter which

receives data through RF receiver connected to controller and then based on commands

received by controller for changing direction of robot. To change the position of robot RF

transmitter is used which is used to change to particular direction. Consider To

move robot in forward direction then particular command is send to controller through

RF remote this remote internally contains RF encoder, The RF encoder to transmit the

position change wirelessly to robot. HT12E is RF encoder which receives the parallel

data from the controller and converts this parallel data into serial data and to transmit the

serial data to RF transmitter through “Dout” pin in RF encoder TE pin should always be

kept high to transmit it to data pin of RF transmitter. Then serial data is received by the

data pin of transmitter and is send out wirelessly by the antenna to RF receiver present at

robot. The RF receiver connected to robot receives the data through antenna and sends to

controller. The sent data by the RF transmitter is received by the RF receiver and send

that data RF decoder which decodes the signal ie., serial data into parallel by using

HT12D. Thesignal is received by “DIN” pin and sends out using data pins and through

data pins data issend to controller. Then controller sends received data to Driver IC which

is used to changethe direction of robot.

4.3.1 REGULATED POWER SUPPLY

A variable regulated power supply, also called a variable bench power supply ,is one

where you can continuously adjust the output voltage to your requirements. Varying the

output of the power supply is the recommended way to test a project after having double

checked parts placement against circuit drawings and the parts placement guide. This

type of regulation is ideal for having a simple variable bench power supply. Actually this

is quite important because one of the first projects a hobbyist should undertake is the

construction of a variable regulated power supply. While a dedicated supply is quite

handy, it's much handier to have a variable supply on hand, especially for testing.

Regulator: 

The filter output is not a pure d.c and it is not a constant d.c voltage it varies with the

fluctuations in the main power supply. But our requirement is to get constant d.c power

supply. The regulator can give constant d.c power supply. These are two types –ve power

supply and +ve power supply. The 78xx series gives+ve power supply (78 indicates +ve

and xx indicates any voltage value). TheLM79xx series gives –ve power supply ( 79

indicates –ve and xx indicates anyvoltage value). In our project AT89c51, HT12E and

HT12D needs +5v power.LM7805 gives +5v constant power supply. 

Fig.4.3.1.1 LM7805  regulator pin diagram

LM7805 Features

Output Current up to 1A

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

Thermal Overload Protection

Short Circuit Protection

Output Transistor Safe Operating Area Protection

4.3.2 ENCODER HT12E

HT12E is an encoder integrated circuit of 212 series of encoders. They are paired with

212 series of decoders for use in remote control system applications. It is mainly used in

interfacing RF and infrared circuits. The chosen pair of encoder/decoder should have

same number of addresses and data format.

 Simply put, HT12E converts the parallel inputs into serial output. It encodes the 12 bit

parallel data into serial for transmission through an RF transmitter. These 12 bits are

divided into 8 address bits and 4 data bits.

 HT12E has a transmission enable pin which is active low. When a trigger signal is

received on TE pin, the programmed addresses/data are transmitted together with the

header bits via an RF or an infrared transmission medium. HT12E begins a 4-word

transmission cycle upon receipt of a transmission enable. This cycle is repeated as long as

TE is kept low. As soon as TE returns to high, the encoder output completes its final

cycle and then stops.

Fig 4.3.2.1: Pin Diagram- HT12E

4.3.3 DECODER HT12D

HT12D is a decoder integrated circuit that belongs to 212 series of decoders. This series

of decoders are mainly used for remote control system applications, like burglar alarm,

car door controller, security system etc. It is mainly provided to interface RF and infrared

circuits.  They are paired with 212 series of encoders. The chosen pair of encoder/decoder

should have same number of addresses and data format.

 In simple terms, HT12D converts the serial input into parallel outputs. It decodes the

serial addresses and data received by, say, an RF receiver, into parallel data and sends

them to output data pins. The serial input data is compared with the local addresses three

times continuously. The input data code is decoded when no error or unmatched codes

are found. A valid transmission in indicated by a high signal at VT pin.

 HT12D is capable of decoding 12 bits, of which 8 are address bits and 4 are data bits.

The data on 4 bit latch type output pins remain unchanged until new is received.

4.4 ENCODING AND DECODING PROCESS

4.4.1 What is Encoding and Decoding:

In simple words, encoding is wrapping up the data. The data could be anything like

simple binary data (in the form of 1’s and 0’s) or it could be an audio signal or it could be

certain text. But here we are dealing with the encoding that is used for binary signals. The

wrapped data is called as a Packet. This packet is sent through a medium (“Through wire

or wireless”) to the decoder part where it gets unwrapped or decoded. Yes, now what you

are thinking is right, it is exactly similar to posting an envelope. Encoding is when you

put the letter into envelope, the postman is medium to take the envelope to the recipient

and when recipient opens the envelope then it is called decoding.

So, essentially to apply encoding and decoding technique in our digital world we need

three entities: (1). A sender or in electronics sense it is Transmitter. (2). To receive this

sent data we need a receiver. (3). And of course we need an address of the receiver. The

role of address in electronics is played by address lines.

4.4.2 HT12D and HT12E 

Encoder-decoder IC pair. In market, it is available with the name as HT12E and HT12D.

The ‘12’ in the name means 8-address lines and 4-data lines while E and D letters

represents ‘Encoder and decoder’ respectively.

HT12E(Transmitter side)

Fig4.4.2.1: HT12E(Tx Side)

Let’s first take the Encoding side. The encoder has four input lines. Theses lines are used

to give input which we want to encode. In encoding, we are wrapping up the data which

means if we want to send a binary signal ‘1001’ to other end, we have to make data pins

as ‘1001’. Now, to make data pin like this, what we need to do is to give high or 5 volts

(which in digital means ‘1’) to pins ‘D0’ and ‘D3’ while we have to provide pins ‘D1’

and ‘D2’ with 0 volt. (Ground). This altogether gives us ‘1001’ which is transmitted out

from the ‘Data out’ pin of the HT12E. The input given to data pin is in parallel form

which is being transmitted into serial form from the data output pin. The figure below

will clear this:

Fig 4.4.2.2: HT12E Parallel Input & Serial Output

Our data is now been encoded and will be transmitted. The transmission medium could

be anything, it could be our regular wire, or wireless. In this tutorial, we are going to use

our steady single core wire which we use to provide connections in breadboard (nothing

fancy!).

The data flows in serial form through the wire and reaches the other end i.e. to the

receiver. Receiver now decodes this signal. So, let’s see how decoder works:

HT12D (Receiver side):

Below is the pin diagram of HT12D decoder IC.

Fig 4.4.2.3: HT12D(Rx Side)

Now neglect all the pins for this moment and just concentrate on Din (Data in) pin and

the for Data lines pin. The encoded data which is coming from the transmitter side goes

into the Data in (Din) pin. The data which was in serial order gets decoded and the output

is generated at the for data line pins in same order as that on transmitter pin.

When there is no input at the data in pin, the output pins i.e. data lines remains high.

The figure below shows the decoding taking place in HT12D

Fig 4.4.2.4: HT12D Serial Input & Parallel Output

Role of Address Lines:

When using a single pair of encoder-decoder IC, we generally leave the address pins as it

is i.e. we do not connect them to either ground or VCC. But what if there is more than

one decoder but only single encoder. In that case we need to give an address to the data

that it might travel to specific decoder only and our data should not leak at unnecessary

decoders. This is very useful in wireless communication. 

To define an address, what we need to do is to connect specific address pins to the ground

on both encoder and decoder side; remember that the order of connecting the address pins

to the ground must be same. See the animation below for; it will remove all the twists in

your mind:

Oscillator Pins:

When we first hear the word oscillations, the first thing that comes in our mind is the to

and fro waving motion, yup as always you are correct. The role of oscillator in digital

electronics is to produce waves which are in Sine wave form or rectangular wave form.

The device used to generate this waveform is called ‘Oscillator’. The waveform

generated by the oscillator is called as ‘Pulses’ (like our heart beat). So, in digital world

the oscillator works identical to our Heart. Unfortunately, we will not be able to see the

oscillator device itself because in HT12D and HT12E, the oscillator comes inbuilt, what

we have to do is to put a resistor between the oscillators pins. But, in our coming tutorial

over microcontrollers, the need of oscillator is must, so we will learn about it in that

tutorials only.

VT Pin (Valid Transmission):

The valid transmission pin in decoder shows that the transmitter address and the receiver

address are same and is ready to receive the data from the encoder side.

During implementation of the circuit, we will see how to get notification about the valid

transmission through this pin.

So, now we are loaded with all the essentials needed to implement Encoder-Decoder

circuit. Let’s start implementing one:     

Components Required:

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

2.      Breadboard with complete Power supply.

3.      LEDs (5)

4.      Resistors (Four 125 ohm for LEDs)

                 (750k ohm for oscillator of Encoder)

                 (27k ohm for oscillator of Decoder).

5.      Reset Switch (4).

6.      Battery (6-24 volts)

Step1.

Take the power supply circuit and insert the encoder and decoder IC’s at some distance.

Also provide the VCC and ground to the pins (Pin number 9 ground and pin number 18

VCC for both the IC’s). See the figure below:

Step2.

Now, we will first make the encoder part. Insert the 750k ohm resistor in pin number 15

and 16 i.e. you have to short both the pins using this resistor. Connect the ‘Transmission

Enable pin’ (TE) to ground. This action will enable the IC to transmit the data through

data out pin. Now connect four reset switches in data line. Remember, reset switch has

two legs. One will go into the data line and the other one will go to ground. So, whenever

you will press the switch, the pin will get connected to the ground. See the figure below

which how actually you have to connect the switches:

Step3.

Yup, our encoder part is completed. You are ready to encode your secret data. But there

should be something which shows the reception of data at data output lines. We are using

LEDs for that purpose. The LED will glow when data is received. So, let’s put down

hands over decoder circuit.

Connect all for LEDs separately with the four data lines of decoder IC. To have a better

understanding, I am not showing the 125 ohm resistor. If you don’t know how to connect

resistor or having doubt over polarity, then click here   to have quick tutorial.

Also connect or short pin number 15 and 16 with 27k ohm resistor.

Step4.

That’s it, we are almost done. Now connect our last LED at the VT pin of the decoder.

When circuit is given power, the LED at VT pin glows, it gives the indication that

decoder address is matched with the encoder and ready to have Valid Transmission. At

last connect the data out and data in of encoder and decoder respectively. The circuit will

work in the same way as shown in the window below.

Click the button D0, D1, D2, or D3 at the encoder circuit to view the working of our

encoding and decoding circuit.

The complete circuit on breadboard will look like this. The bold blue line in centre of the

breadboard connects the data in and data out pins. You can also do this with real

breadboard by taking the wire through the slot provided in centre of breadboard. This

makes the circuit look less messy:

4.5 DPDT SWITCH CONNECTION WITH ENCODER

Fig 4.5.1: DPDT Switch Connection with Encoder

4.6 RF TRANSMITTER & RECEIVER

 RF TRANSMITTER:

General Description:

The ST-TX01-ASK is an ASK Hybrid transmitter module.ST-TX01-ASK is designed by

the Saw Resonator, with an effective low cost, small size,and simple-to-use for

designing.Frequency Range:315 / 433.92 MHZ.Supply Voltage: 3~12V.Output Power :

4~16dBmCircuit Shape: Saw

Applications

*Wireless security systems

*Car Alarm systems

 *Remote controls.

*Sensor reporting

*Automation systems

Chapter 5

RESULT AND DISCUSSION

5.1 RESULT

The project “LIVE PERSON DETECTION ROBOT USING RF WIRELESSTECHNOLOGY—TRANSMITTER SECTION” has been successfully designed and tested. It has been developed by integrating features of all the hardware components used. Presence of every module has been reasoned out and placed carefully thus contributing to the best working of the unit. Secondly, using highly advanced IC’s and with the help of growing technology the project has been successfully implemented.

Chapter 6

CONCLUSION & FUTURE SCOPE

6.1 CONCLUSION

The project “LIVE PERSON DETECTION ROBOT USING RF WIRELESSTECH

NOLOGY—TRANSMITTER SECTION” has been successfully designed and

tested. It has been developed by integrating features of all the hardware components used.

Presence of every module has been reasoned out and placed carefully thus contributing to

the best working of the unit. Secondly, using highly advanced IC’s and with the help of

growing technology the project has been successfully implemented.

BIBLIOGRAPHY

BIBLIOGRAPHY

1. Citation from book –

Electronic Components- D.V.Prasad

Wireless Communications - Theodore S. Rappaport

Mobile Tele Communications- William C.Y. Lee

2. Citation from website –

www.alldatasheet.com

33