ELT-II Project Report

Table of Contents
Abstract: .................................................................................................................................................. 2
Introduction: ........................................................................................................................................... 2
Purpose: .................................................................................................................................................. 2
Equipment:.............................................................................................................................................. 2
Arduino Uno R3: ............................................................................................................................... 2
Bluetooth Module (HC-05): .............................................................................................................. 3
Pin Description: .............................................................................................................................. 4
Android Application: ......................................................................................................................... 5
Ultrasonic Sensor (HC-SR04):............................................................................................................ 5
Servo Motor (SG90): ......................................................................................................................... 6
H-Bridge Motor Driver: ..................................................................................................................... 7
Block Diagram: ........................................................................................................................................ 8
Transmitting Side: ............................................................................................................................... 8
Receiving Side: .................................................................................................................................... 8
Methodology:.......................................................................................................................................... 8
 H-bridge: ......................................................................................................................................... 8
 Ultrasonic Sensor interfacing: ......................................................................................................... 9
 Bluetooth module: .......................................................................................................................... 9
 Servo motor: ................................................................................................................................. 10
 Assembling of the hardware: ........................................................................................................ 10
Application Instructions: ....................................................................................................................... 12
Problems faced and their solutions: ..................................................................................................... 13
Conclusion: ............................................................................................................................................ 13
Applications: ......................................................................................................................................... 13
Modifications: ....................................................................................................................................... 13
Reference: ............................................................................................................................................. 14

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Abstract:
A robot is usually an electro-mechanical machine that is guided by computer and electronic
programming. Many robots have been built for manufacturing purpose and can be found in
factories around the world. Designing of the latest robot which can be controlling using an
application for android mobile. We are developing the remote buttons in the android app by
which we can control the robot motion with them. And in which we use Bluetooth
communication to interface controller and android. Controller can be interfaced to the
Bluetooth module though UART protocol. According to commands received from android
the robot motion can be controlled. It is made up of simple materials rather than
preassembled kits because the materials are readily and easily available, the robot becomes
very light weight and it can be formed into any desired size.

Introduction:
Purpose:
The purpose of our research is to provide simpler robot’s hardware architecture but with
powerful computational platforms so that robot’s designer can focus on their research and
tests instead of Bluetooth connection infrastructure. This simple architecture is also useful for
educational robotics, because students can build their own robots with low cost and use them
as platform for experiments in several courses. Common control architectures: The following
list shows typical robot control architecture:

Equipment:
 Arduino Uno R3.
 Bluetooth Module (HC-05)
 Android Application.
 Ultransonic Sensor (HC-SR04)
 Servo motor (SG-90)
 12 V, 2000mAh (batteries)
 Motor driver (H-Bridge)
 MOSFET (IRF9640, IRF540N).
 NPN Transistor (2N2222).
 Resistors.

Arduino Uno R3:

The Arduino Uno R3 is a microcontroller board based on the ATmega328. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a
16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset
button. It contains everything needed to support the microcontroller; simply connect it to a
computer with a USB cable or power it with an AC-to-DC adapter or battery to get started.
Arduino is an open-source platform used for building electronics projects. Arduino consists
of both a physical programmable circuit board (often referred to as a microcontroller) and a
piece of software, or IDE (Integrated Development Environment) that runs on your computer,
used to write and upload computer code to the physical board.
The Arduino platform has become quite popular with people just starting out with electronics,
and for good reason. Unlike most previous programmable circuit boards, the Arduino does

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not need a separate piece of hardware (called a programmer) in order to load new code onto
the board – you can simply use a USB cable. Additionally, the Arduino IDE uses a simplified
version of C++, making it easier to learn to program. Finally, Arduino provides a standard
form factor that breaks out the functions of the micro-controller into a more accessible
package.
The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version R2) programmed
as a USB-to-serial converter.

Figure.Arduino Uno R3 pin description

Bluetooth Module (HC-05):

 It is used for many applications like wireless headset, game controllers, wireless
mouse, wireless keyboard and many more consumer applications.
 It has range up to greater than100m which depends upon transmitter and receiver,
atmosphere, geographic & urban conditions.
 It is IEEE 802.15.1 standardized protocol,
through which one can build wireless Personal
Area Network (PAN). It uses frequency-
hopping spread spectrum (FHSS) radio
technology to send data over air.
 It uses serial communication to communicate
with devices. It communicates with
microcontroller using serial port (USART).
 HC-05 is a Bluetooth module which is designed
for wireless communication. This module can
be used in a master or slave configuration.

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 Pin Description:

Bluetooth serial modules allow all serial enabled devices to communicate with each other
using Bluetooth.
It has 6 pins,
1. Key/EN: It is used to bring Bluetooth module in AT commands mode. If Key/EN pin is
set to high, then this module will work in command mode. Otherwise by default it is in data
mode. The default baud rate of HC-05 in command mode is 38400bps and 9600 in data
mode.
HC-05 module has two modes,
1. Data mode: Exchange of data between devices.
2. Command mode: It uses AT commands which are used to change setting of HC-05.
To send these commands to module serial (USART) port is used.
2. VCC: Connect 5 V or 3.3 V to this Pin.
3. GND: Ground Pin of module.
4. TXD: Transmit Serial data (wirelessly received data by Bluetooth module transmitted out
serially on TXD pin)
5. RXD: Receive data serially (received data will be transmitted wirelessly by Bluetooth
module).
6. State: It tells whether module is connected or not.

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Android Application:
A mobile app or mobile application is a computer
program or software application designed to run on
a mobile device such as a phone/tablet or watch. Apps
were originally intended for productivity assistance such
as mobile games, factory automation, GPS and location-
based services, order-tracking, and ticket purchases, so
that there are now millions of apps available for different
purposes and controlling.

Ultrasonic Sensor (HC-SR04):

HC-SR04 is an ultrasonic sensor mainly used to determine the distance of the target object. It
measures accurate distance using a non-contact technology – A technology that involves no
physical contact between sensor and object.
 Transmitter and receiver are two main parts of the sensor where former converts an
electrical signal to ultrasonic waves while later converts that ultrasonic signals back to
electrical signals.

These ultrasonic waves are nothing but sound signals that can be measured and displayed at
the receiving end.
This sensor works similar to sonar that measures the distance of the object by comprehending
the reflected signal.
Following table shows the pin out description of this sensor.

1 VCC The power supply pin of the sensor that mainly operates at 5V DC.

Trig or It plays a vital role to initialize measurement for sending ultrasonic waves.
2
Input Pin It should be kept high for 10us for triggering the measurement.

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Echo pin is an Output pin. This pin remains high for short period based on
Echo or
3 the time taken by the ultrasonic waves to bounce back to the receiving
Output Pin
end.

4 Ground This pin is connected to ground.

Figure. Transmitting and receiving operation of ultrasonic sensor

Servo Motor (SG90):

A servo motor is an electrical device which can push or rotate an object with great precision.
It is tiny and lightweight with high output power. This servo can rotate approximately 180
degrees (90 in each direction). If you want to rotate and object at some specific angles or
distance, then you use servo motor. It is just made up of simple motor which run
through servo mechanism. If motor is used is DC powered then it is called DC servo motor,
and if it is AC powered motor then it is called AC servo motor. We can get a very high torque
servo motor in a small and light weight packages. Due to these features they are being used in
many applications like RC helicopters and planes,
It consists of three parts:
 Controlled device
 Output sensor
 Feedback system

Figure.Servo motor SG90

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H-Bridge Motor Driver:

The H-bridge was made with the help of MOSFETs as it is used as a switching device here. It
functions on different logics of high and low, which change the direction of the motor.
During the forward direction of motor, Q1 & Q4 are on and Q2 & Q3 are off while during the
reverse direction of motor, Q1 & Q4 are off and Q2 and Q3 are on. BJTs are just used to
control the input of the gate in case of high current.

Figure, Simulation of H-bridge using mosfet in proteus.

Figure, Soldered H-bridge motor driver on veroboard for the project.

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Block Diagram:
Transmitting Side:

Receiving Side:

Methodology:
A smart phone Android operated robot. it is a simple to control your robot car using
Bluetooth module HC-05 and arduino microcontroller with android Smartphone device. The
controlling devices of the whole system is a microcontroller. Bluetooth module, DC motors
are interfaced to the microcontroller. The data receive by the Bluetooth module from android
smart phone is fed as input to the controller. The controller acts accordingly on the DC motor
of the robot. The robot in the project can be made to move in all the four directions using the
android phone app. In achieving the task the controller is loaded with program written using
Embedded ‘C’ Languages. In case of any obstacle the vehicle stops until the obstacle
removed or waiting to the next command.

 H-bridge:
Before constructing our hardware for the robotic vehicle, we first tested the simulation of the
H-bridge which drives the motors of the vehicle. After simulation on proteus, we soldered the
H-bridge on the veroboard. In our practical model, we used MOSFETS, and to drive the gate
of the MOSFET we used BJT’s (NPN).

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 Ultrasonic Sensor interfacing:

The sensor which we used for hurdle detection was HC-SR04. The code for the interfacing
with the arduino is given as below and with the help of this code, we calculated the distance
between the sensor and the hurdle:

 Bluetooth module:
We used the Bluetooth module HC-05 for interfacing with arduino, by connecting the
transmitting and receiving pins. The code which is used to interface it is given as follows.
After this step, the module was connected with an Android App, and by this we gave the
vehicle commands which included characters.

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 Servo motor:
To rotate the ultrasonic sensor about 0 to 180 degrees to detect the left, right and forward
hurdles, for this purpose we used Servo SG90. The following code helps in interfacing the
servo motor with arduino.

 Assembling of the hardware:

All the components were then combined and the collective effect on the vehicle was observed
and final testing was done.

Figure. Our prototype

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The code for the final interfacing of all the components of the hardware working together
collectively is given below:

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Application Instructions:
 First make sure HC-05 Bluetooth module is paired with your mobile. The default
password for pairing is “1234”.
 When press upper arrow in the app, it sends the data “1” to bluetooth module connected
with the circuit. When microcontroller detects “1” the robot moves forward direction.
 When press down arrow, it sends the data “2” to bluetooth module connected with the
circuit. When microcontroller detects “2” the robot moves reverse direction.
 When press left arrow, it sends the data “3” to bluetooth module connected with the
circuit. When microcontroller detects “3” the robot turns LEFT direction.
 When press right arrow, it sends the data “4” to bluetooth module connected with the
circuit. When microcontroller detects “4” the robot turns RIGHT direction.
 When press in the center it sends the data “0” to the bluetooth module connected with
the circuit. When microcontroller detects “0” the robot gets stopped.
 Click on “DISCONNECT” icon to disconnect paired Bluetooth modem.

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Problems faced and their solutions:

 The camera interfacing could not be attained due to the fact that we had to connect the
camera (OV7670) serially with the PC to take the screenshots, it would not show us live
streaming. This camera was arduino interfaced, and the cameras which give live stream
are usually interfaced with Rasberry pie or PIC controller, thus that meant changing our
microcontroller.
 To assemble the camera on the vehicle we needed an additional SD-card reader interfaced
with the arduino so that we could see the snapshot and it was well over our budget.
(Rs.3000 pkr)
 Due to the use of high rpm motor, the time for the transmitting and receiving the
radiowaves from the ultrasonic sensor was delayed, and thus that is why the vehicle
stopped at the last moment and sometimes touches the hurdle. We can overcome this
problem by using the IR sensor because this sensor transmits and receives infrared waves
which have faster speed than radiowaves.

Conclusion:
The objective of this project is to realise the smart living, more specifically the home lighting
control system using Bluetooth Technology. Robot and smart phones are a perfect match,
specially mobile robots. As phones and mobile devices are each time more powerful, using
them as robot for building robot with advanced feature such as voice recognition. Android
bluetooth-enable phones and bluetooh module via HC-05 and communication among
bluetooth devices. It is concluded that smart living will gradually turn into a reality that
consumer can control their home remotely and wirelessly.

Applications:
 Military operations.
 Surveillance along border.
 Search and Rescue Operation.
 Maneuvering in hazardous environment.

Modifications:
 Artificial intelligence based.
 Installed a camera (or a night vision camera) which shows the live feed to the control
room.
 Armed robot.
 Voice recognition.

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Budget:
Items Price
Vehicle Model with motors 1200/-
1 battery and charger 1000/-
Bluetooth module (HC-05) 500/-
Servo Motor (SG90) 150/-
Components (MOSFETs, BJTs,
600/-
resistors, etc)
Veroboard 100/-
Wires (male, female) 100/-
Arduino Uno R3 600/-

The cost of the entire project almost 4,250 pkr.

Reference:
 https://acadpubl.eu/jsi/2018-118-18/articles/18d/20.pdf
 http://article.sciencepublishinggroup.com/pdf/10.11648.j.ijiis.20170605.12.pdf

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