Smart Bluetooth Controlled Robot with detecting Obstacle Operates by voice using Obstacle, Noise &

Humidity detector

A.S.M. Lutful Kabir – 161014012

Sadia Hasan Hima – 161014008
Md. Shafiqul Islam - 161014035

Department of Computer Science & Engineering, University of Liberal Arts Bangladesh, Bangladesh

Abstract : The use of collision avoidance agent and the lane keeping agent has become a
famous trend in achieving the autonomous technology, especially in autonomous vehicle system.
But it’s a challenging task to undertake and implement a fully functional autonomous system.
Therefore, in this study the design and implementation of a smart Bluetooth controlled robot has
been described with the most possible details and attention that is going to be used for avoiding
any obstacles and to protect from any kind of collision in the real-world time. The suitable
platform that has been chosen is well known as Arduino platform because of it’s robust and
versatile nature, Bluetooth module has been used to connect the hardware to the software system
and Arduino software has been used to serve as the software counterpart of it’s actual hardware.
The sensor based programming has been used here and some of the core sensors used here are
Bluetooth module, IR sensor, sound detection sensor, temperature and humidity sensors. It can
be used in 2 modes voice or GUI application depending on user preference. The hardware system
will interact with a software that can be used by both android or windows platforms. The purpose
of the study is to help enable the physically handicapped people, blind persons to locate and
safely move from place to place which can be implemented with a wheelchair or walking stick
with live sensors as helping hands.

Keywords : Detecting obstacle, avoid collision, Bluetooth controlled, voice and remote mode,
sensors, physically handicapped people.
1. Introduction: In the present world of science and advanced technologies robots are not a
thing of science fiction, in fact they are an integral part of our day to day lives and especially
with the introduction and advancement Arduino based platform the sector of robotics and
microprocessor has become a very popular for various types of innovative and futuristic models
of programmable robots [1]. This study is based on using the Arduino based Bluetooth controlled
smart robot for the benefit and convenience of the physically handicapped people especially the
blind people who face numerous troubles moving from one place to another. If we look at our
own country Bangladesh there are more than over 15 lakhs of physically handicapped people
recorded so far according to the National Taskforce on Disabilities-friendly Disaster
Management Affairs. Among these people about 5 lakh people belong to some of the most
disaster prone areas of the country which is alarming cause disasters are a frequent occurrence
here [2]. Bangladesh being a medium developing country with a position of 138 in human
development which is a concern cause these people are poor and don’t have access to the
expensive medical facilities so their everyday lives is full of trouble [3]. So, in a country that has
so many physically handicapped people but limited developed facilities this study can be a good
solution to solve some of their problems. The main concept of this study is to design and
implement a smart robot that can be controlled by using voice commands or more widely used
remote using the Bluetooth module in the system. The robot is going to be equipped with sensors
like IR sensor for detecting obstacles and avoid collisions, a sound detecting sensor for detecting
noises which will enable the user to get notified and alert them of a possible gathering where
they will be more careful while moving and there will also be a humidity sensor that will detect
the humidity to alert of a possible weather change like rainfall which will alert the user for
getting required protection going out (e.g. using umbrella or raincoat). In Bangladesh there are
only a few buildings that have special accessibility facilities for physically handicapped people
for example, the National Museum, the Parliament Building, Mirpur National Stadium, Bisswa-
Shahitto Kendra, University of Dhaka are a few of the most well known public buildings but in
the two major cities of the country Dhaka and Chittagong about 90% of the public buildings
don’t have any kind of accessibility for physically challenged people which is a matter of
concern [4]. Therefore, the movement problem of these people can be eased with the proposed
model of robot that will be showcased in this study which can be hoped to bring a little relief and
to make the users experience more profound the system comes with two operating modes one is
the more trending voice controlled mode which can be used with the help of android devices and
the other one is the more conventional remote control system which is a graphical user interface
and can be used with both android or windows platforms.

The study follows the following : 2. This section introduces and describes some related work
done in the field. 3. This section shows the design and workflow of the project, how the system
is prepared and it works on the various modes described earlier. 4. This section describes the
different tools and sensors that were required to be ready and implement the complete physical
structure and hardware based part of the project. 5. This section is the broad and detailed
elaboration of the working principles and methods that were used to build the entire project. 6.
This section gives us the conclusion and the future work reference for this study.

2. Literature Review: This section describes some of the related works similar to the
study of this paper that has been conducted previously in their respective fields. As we have
already mentioned that Arduino has become one of the most popular development platforms for
developing and implementing robotics and microprocessor projects it is not entirely surprising
that there are many similar studies that might bear resemblance with the concept of this study.
Following are some of the related works that have been conducted earlier,

In a study conducted by Tanveer, M.S.R., et al. describes the problem of mobility for blind
persons and a tracker to make their walking a bit easier. In the study the main concept is to use a
bluetooth module and android software system to act as an input machine and later interpret the
input to the sensors to avoid collisions and detecting obstacles. the system works like this,first
the user gives the initial input through voice command in their android device then it’s
transferred through the bluetooth module and gets processed by the blind tracker system, then the
ultrasonic sensor detects if there is any obstacle nearby and acts accordingly, the system also
uses GPS, Google Maps as additional features. This is a large scale project that has been done
considering a large number of people so it used a lot of top quality features like Satellite
tracking, GPS, Google Maps [5].

Another related work conducted by Lodhi, D.K., et.al. talks about the problems of mobility for
the physically handicapped people and a proposed solution that consists of a voice commanded
bluetooth wheelchair that is designed to detect and avoid any kind of obstacles to keep the user
safe from any potential threat. The system works as follows, firstly the user gives commands
through a microphone that goes through a voice recognition kit and a bluetooth module which
then sends the data to the arduino uno which then interprets the data and sends it to the motor
driver. The motor driver then uses it’s sensors to detect if there is any obstacle or not and if there
is any obstacle then it sends an output to the user and avoids any kind of collision with any
objects. Here the Arduino acts as the main controlling factor to operate the whole system and the
sensors act as the human sensory organs to observe the surrounding environment where the
motor driver as the workforce of the physical structure [6].

A study conducted by Noman, A.T., et. al. describes a project about a lane keeping robot that
will follow a specific line and check for any walls or holes in the particular line and if it finds a
hole or wall it will send the data back to the user and notify them using a vibration. Then after
giving notification the robot will avoid the obstacle and turn backwards, it follows the same
technique while keeping in his lane and changes its direction only when it faces any obstacle.
The system consists of arduino as the brain and some sensors to detect obstacles and to keep the
robot in the lane [7].

Another relatable work conducted by Megalingam, R.K., et.al. shows us the problem of ealderly
and physically disabled people to move around the house, basically it is a navigation system for
them to safely get from one room to another. The system works in the following way, First of all
the user sends data through voice command which goes through three voice modules including
the bluetooth module which then transfers the data to the arduino and it processes the data and
receives more information from the sensors, this structure use a number of sensors like the IR
module, Obstacle avoidance sensor, the RF sensor on the doors to send the information of the
surroundings of the home and finally the motor driver to carry the output of the system. The
basic concept is to receive the command or input from the user and process the input using
arduino, percept environment using sensors and produce output which is to safely navigate the
user through the house by detecting & avoiding any kind of obstacle [8].

An additional part of this study is to detect and read the humidity of the environment to notify
the user about the possible changes in the weather so they can be equipped with the necessary
tools to face the problem that might occur. The following is a study conducted by
Krishnamurthi, K. et.al. that describes the proposed system to monitor the weather by using
arduino. The key part we are interested in the work is the use of humidity sensor DHT11. This is
a very well known and powerful sensor that has mainly two parts where one is actually the
humidity sensor and another one is a thermistor. The sensor is used to estimate the change of
humidity in the atmosphere and also to detect the temprature [9].

Finally one last feature of this project is the sound module that is used to detect sound in and
certain range and estimate the noise levels that will be used to notify the user that there is a high
probability of gathering and collision therefore the user will be notified and it will also work as a
support system for the collision avoidance sensor for better security. “A Sound Sensor is a
simple device that detects sound. It is simply put a Microphone with some processing circuit.
Using a Sound Sensor, you can measure the intensity of sound from different sources like
knocks, claps, loud voices” a quote from an arduino based noise detecting system conducted by
electronichub [10].

3. System Architecture: This section is dedicated towards the flow of work and the
working principles which means that here the diagrams and design of the project is described
that how it works and how the physical structures work. This section is mainly the symbolic
representation of the entire workflow of the project. The concept of the study in physical terms is
as follows,
Firstly, the user will give input to the system using an android device the input can be given by
voice command or graphical user interface, then the data from the input will transfer via the
Bluetooth module to the Arduino Uno which is then going to process the data. The Arduino will
also receive some data from the sensors that are installed like IR sensor, sound & humidity
sensor to get the perception of it’s surroundings. Then after processing all the data Arduino will
take proper action using the motor driver. The motor driver will carry the output as the action of
the robot.

The required Block diagram & the Flow Chart for this study is given Below :-

Android Bluetooth

Application Module Arduino Uno

IR

Sensor Motor
Shield

Humidity
Motor
Sensor
Driver

Noise

Sensor

YES

Obstacle
NO

STOP MOVE

YES

Humid NO
ALERT DON’T ALERT
 YES NO

4. System tools specification:

4.1. Arduino Uno:
The Arduino Uno is an open-source microcontroller that is called the robot brain. It is based on
ATmega328 microprocessor which has 14 digital I/O pins and 6 analogue pins. In the market
there are many versions of Arduino boards such as Arduino Uno, Arduino Due, Arduino
Leonardo, Arduino Mega etc. Of them Arduino Uno and Arduino Mega is common version. We
can easily design robots and system by using Arduino. It is working by taking input by sensors.

Figure:2 Arduino Uno

4.2. IR Obstacle Avoidance Module:

Obstacles are detected by IR sensor which can detect obstacle by infrared light. In this module,
there are two parts called infrared transmitter which is used for lights up the surroundings and the
another is infrared receiver which is worked for measuring the amount of reflected infrared.
There is a threshold point which is set for triggering the signal pin that means if the amount of
reflected light reaches above the threshold than the signal pin will be triggered that means high to
low.

Figure:3 IR Obstacle Avoidance Module

4.3. HC05 Bluetooth Module:

HC05 is that type of Bluetooth module which is designed for wireless communication and is
used for many applications such as wireless headset, game controllers, wireless mouse wireless
keyboard etc that we used for communicate devices with other. It is worked like a serial pipe that
allow all serial devices enable for communication. It has 6 pins.

Figure:4 HC05 Bluetooth Module

4.4. DC Motor:
DC motor abbreviated as direct current motor is an electronic machine that converts electrical
energy into machine energy using direct current. DC motors which we used to convert electrical

energy to machine energy has 6 components such as coils, magnets, rotors, brush, stator and
direct current source. In this study DC motor is used for turning the wheels.

Figure:5 DC Motor

4.5. DHT11 Temperature and Humidity Sensor:

The DHT11 is a basic, single wire, ultra-low-cost temperature and humidity sensor which gives
relative humidity in percentage and temperature in degree Celsius by measuring surrounding air.
It provides humidity and temperature values serially.
Figure:6 DHT11 Temperature and Humidity Sensor

4.6 Sound Sensor:

Sound sensor which is usually used to detect sounds is a small board combination of microphone
and some processing circuitry that convert a sound signal into voltage or current proportional to
the detected signals. It provides audio output as well as binary indication of presence of sound.

Figure:7 Sound Sensor

5. Working Principle and Implementation:

The robotic car which we have made is made by Arduino Uno, IR sensor, HC05 Bluetooth
module, DHT11 Temperature and Humidity sensor, DC motor and Sound sensor.

To use this car user at first, need to download the “Arduino Download Controller” from Google
Play. After downloading this application user should checked the Bluetooth function weather it is
turn on or off. If it is turned off user should turn on the Bluetooth connection. To connect with
the module user should enter the application and set the password and whenever it is connected
user has to assign value to desire keys.
After the connection the device is ready for receive the inputs. The user sent the data from the
android application with Bluetooth module. These incoming signals which are coming from
android application will be controlled by the Arduino Uno and it also informs which signal
should be transmitted to the motor driver. According to the inputs order which are given by the
user the robot will be moves in a certain order.

The basic movements such as back and forth, right and left rotation of the robot and stop the
motion can be controlled by the users through their intelligent device. The robotic car can
determine obstacle which is in front of it and it can be calculated its distance that is how much
far away the obstacle and takes decision whether it should be on its way or should be avoid the
obstacle or should be stop.

It also takes input signals from environment through its sensor like sounds and temperature and
humidity. When it can detect too loud it thinks that there may be traffic signals or traffic jam and
it will stop there. By measuring temperature and humidity it can understand the weather.

6. CONCLUSION & FUTURE WORK: Since, Bangladesh is a developing country

with about 16 Lakhs of physically handicapped people and increasing number of people prone to
being to the situation this study is can be breath of relief not only for these under privileged
people but also for the government and to the nation as a whole as it would help to improve the
lives of these people by giving them the freedom and mobility like every normal person has.
Hence making them motivated and helping in their day to day activities which will eventually
not only be beneficial for them but also for the nation as whole as they would be able to
contribute to the country.
For, future working purposes this study can be implemented in a large scale across the nation and
it can be implemented in two designs one can be a wheelchair for general purpose and another
can be a walking stick model especially for the blind people for better adaptation.

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