Report submitted in partial fulfillment for the Degree

of B. Tech in Applied Electronics & Instrumentation

Engineering under Maulana Abul Kalam Azad
University of Technology, West Bengal

SMART BLIND STICK USING ARDUINO

By
Souptik Roy (Roll No. 11705519003)
Ayan Biswas (Roll No. 11705519012)
Anirban Saha (Roll No. 11705519013)

Guide Name
Dr. Srijan Bhattacharya
Head of the Department AEIE

DEPARTMENT OF APPLIED ELECTRONICS & INSTRUMENTATION

ENGINEERING, RCC INSTITUTE OF INFORMATION TECHNOLOGY,
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015,
MAY 2023
 ACKNOWLEDGEMENT

It is a great privilege for us to express our profound gratitude to our respected teacher Dr. Srijan
Bhattacharya, Applied Electronics & Instrumentation Engineering, RCC Institute of
Information Technology, for his constant guidance, valuable suggestions, supervision and
inspiration throughout the course work without which it would have been difficult to complete
the work within scheduled time.
We would like to express our gratitude towards Dr. Srijan Bhattacharya, Mr. Arijit Ghosh, Mr.
Avishek Paul for their kind co-operation and encouragement which helped us in completion of
this project.
We are also indebted to the Head of the Department Dr. Srijan Bhattacharya , Applied
Electronics & Instrumentation Engineering, RCC Institute of Information Technology for
permitting us to pursue the project.
We would like to take this opportunity to thank all the respected teachers of this department for
being a perennial source of inspiration and showing the right path at the time of necessity.

----------------------------------
Souptik Roy

----------------------------------
Ayan Biswas

----------------------------------
Anirban Saha

2
 RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA-700 015
PHONE : 2323 2463, FAX : (033) 2323 4668
E-mail : [email protected] Website : www.rcciit.in

Certificate of Approval
The project report titled “SMART BLIND STICK USING ARDUINO” prepared by Souptik
Roy (Roll No. 11705519003), Ayan Biswas (Roll No. 11705519012), Anirban Saha (Roll No.
11705519013) is hereby approved and certified as a creditable study in technological subjects
performed in a way sufficient for its acceptance for partial fulfilment of the degree for which it is
submitted.

It is to be understood that by this approval, the undersigned do not, necessarily endorse or

approve any statement made, opinion expressed or conclusion drawn therein, but approve the
project only for the purpose for which it is submitted.

……………………………… …………………………………………..
Dr. Srijan Bhattacharya Dr Srijan Bhattacharya
[Supervisor] [Head of the Department]
Applied Electronics & Instrumentation Engineering

____________________________________________________________________________
A unit of RCC Institute of Technology
An Autonomous Society of Department of Higher Education, Govt. of West Bengal

3
 RECOMMENDATION

I hereby recommend that the project report titled “SMART BLIND STICK USING
AURDINO” prepared by Souptik Roy (Roll No. 11705519003), Ayan Biswas (Roll No.
11705519012), Anirban Saha (Roll No. 11705519013) be accepted in partial fulfillment of the
requirement for the Degree of Bachelor of Technology in Applied Electronics & Instrumentation
Engineering, RCC Institute of Information Technology.

......…………………………………..
Dr. Srijan Bhattacharya
(Supervisor)

4
 List of Figures

Fig No. Description

1 Block Diagram of Smart Blind Stick using Arduino Nano

2 Introduction to Arduino board
3 Power led(red) and user led(green) attached to pin13 on Arduino board
4 Arduino Nano
5 The screenshot of the Arduino IDE
6 Lilypad Arduino
7 Red board
8 Arduino Mega
9 Arduino Leonardo
10 Few sensors that are compatible with Arduino shield
11 Ultrasonic sensor HC SR04
12 Feature of HC SR04 sensor
13 2D model of the component
14 B10 buzzer
15 Jumper wires
16 USB cable
17 9V Battery
18 9V Battery Clip
19 Red LED
20 After the connections are completed after the completed connections
and upload the program in Arduino board using software
21 Test 1: without any obstacles in front of ultrasonic sensor
22 Test 2: with an obstacle in front of the sensor

5
 Table of contents:

Chapter name Page no.

1 INTRODUCTION 6

2 AIM OF THE PROJECT 7

3 APPARATUS 7

4 BLOCK DIAGRAM 8

5 PROCEDURE 8

6 APPLICATION 12

7 CODE 37

8 OUTPUT 39

9 CONCLUSION 42

6
 1. INTRODUCTION

Visually impaired persons have difficulty to interact and feel their environment. they
have little contact with surroundings. physical movement is a challenge for visually
impaired persons, because it can become tricky to distinguish obstacles appearing in front
of them, and they are not able to move from one place to another.

They depend on their families for mobility and financial support. their mobility opposes
them from interacting with people and social activities. in the past, different systems are
designed with limitations without a solid understanding of the nonvisual perception.
researchers have spent the decades to develop an intelligent and smart stick to assist and
alert visually impaired persons from obstacles and give information about their location.
over the last decades, research has been conducted for new devices to design a good and
reliable system for visually impaired persons to detect obstacles and warn them at danger
places.

Smart walking stick is specially designed to detect obstacles which may help the blind to
navigate care-free. the audio messages will keep the user alert and considerably reduce
accidents. a voice enabled automatic switching is also incorporated to help them in
private space as well. this system presents a concept to provide a smart electronic aid for
blind people, both in public and private space the proposed system contains the ultrasonic
sensor, water sensor, voice play back board, raspberry pi and speaker. the proposed
system detects the obstacle images which are present in outdoor and indoor with the help
of a camera. the stick measures the distance between the objects and smart walking stick
by using an ultrasonic sensor. when any objects or obstacles come in range of an
ultrasonic sensor and it make buzzer sound.

7
 2. AIM OF THE PROJECT

The main objective of this is to provide an application for blind people to detect the
obstacles in various directions, detecting pits and manholes on the ground to make free to
walk. in an innovative stick is designed for the visually disabled people for their easy
navigation.

3. APPARATUS

1. Arduino board

2. Ultra sonic sensor

3. b10 Buzzer

4. Jumper wires

5. LED

6. Arduino software

7. stick

8
 4. BLOCK DIAGRAMS

Fig 1 : Block Diagram of Smart Blind Stick using Arduino Nano

5. PROCEDURE
INTRODUCTION TO THE ARDUINO BOARD

Looking at the board from the top down, this is an outline of what you will see (parts of the

9
board you might interact with in the course of normal use are highlighted):

Fig No.2: Introduction to Arduino board

STARTING CLOCKWISE FROM THE TOP CENTER:-

 analog reference pin (orange)

 digital ground (light green)
 digital pins 2-13 (green)
 digital pins 0-1/serial in/out - tx/rx (dark green) - these pins cannot be used for
digital i/o (digital read and digital write) if you are also using serial
communication
(e.g. serial.begin).
 reset button - s1 (dark blue)
 in-circuit serial programmer (blue-green)
 analog in pins 0-5 (light blue)

10
  power and ground pins (power: orange, grounds: light orange)
 external power supply in (9-12vdc) - x1 (pink)
 toggles external power and usb power (place jumper on two pins closest to desired
supply) - sv1 (purple)
 usb (used for uploading sketches to the board and for serial communication
between
the board and the computer; can be used to power the board) (yellow)

Digital Pins:-

In addition to the specific functions listed below, the digital pins on an arduino board can
be used for general purpose input and output via the pin mode (), digitalread (),and digital
write () commands. each pin has an internal pull-up resistor which can be turned on and
off using digital write() (w/ a value of high or low, respectively) when the pin is
configured as an input. the maximum current per pin is 40 ma.

.serial: 0 (rx) and 1 (tx). used to receive (rx) and transmit (tx) ttl serial data. on the
arduino diecimila, these pins are connected to the corresponding pins of the ftdi usb-to-ttl
serial chip. on the arduino bt, they are connected to the corresponding pins of the wt11
bluetooth module. on the arduino mini and lilypad arduino, they are intended for use with
an external ttl serial module (e.g. the mini-usb adapter).

• external interrupts: 2 and 3. these pins can be configured to trigger an interrupt on a low
value, a rising or falling edge, or a change in value. see the attachinterrupt() function for
details.
• pwm: 3, 5, 6, 9, 10, and 11. provide 8-bit pwm output with the analogwrite() function. on
boards with an atmega8, pwm output is available only on pins 9, 10, and 11.
• bt reset: 7. (arduino bt-only) connected to the reset line of the bluetooth module.
• spi: 10 (ss), 11 (mosi), 12 (miso), 13 (sck). these pins support spi communication, which,
although provided by the underlying hardware, is not currently included in the arduino
language.
• led: 13. on the diecimila and lilypad, there is a built-in led connected to digital pin 13.
when the pin is high value, the led is on, when the pin is low, it's off.

11
 ANALOG PINS:

In addition to the specific functions listed below, the analog input pins support 10-bit
analog to-digital conversion (adc) using the analog read() function. most of the analog
inputs can also be used as digital pins: analog input 0 as digital pin 14 through analog
input 5 as digital pin
19. analog inputs 6 and 7 (present on the mini and bt) cannot be used as digital pins.

 i2c: 4 (sda) and 5 (scl). support i2c (twi)

communication using the wire
library (documentation on the wiring website).

POWER PINS:
• vin (sometimes labelled "9v"): The input voltage to the arduino board when it's using an
external power source (as opposed to 5 volts from the USB connection or other regulated
power source). you can supply voltage through this pin, or, if supplying voltage via the
power jack, access it through this pin. note that different boards accept different input
voltages ranges, please see the documentation for your board. also note that the lilypad
has no vin pin and accepts only a regulated input.
• 5v. the regulated power supply used to power the microcontroller and other components
on the board. this can come either from vin via an on-board regulator, or be supplied by
usb or another regulated 5v supply.
• 3v3. (diecimila-only) a 3.3 volt supply generated by the on-board ftdi chip.
• gnd. ground pins.

OTHER PINS:
• aref. reference voltage for the analog inputs. not currently supported by the arduino
software.
• reset. (diecimila-only) bring this line low to reset the microcontroller. typically used to
add a reset button to shields which block the one on the board.

12
the text of the arduino getting started guide is licensed under a creative commons
attributionsharealike 3.0 license. code samples in the guide are released into the public
domain.

arduino is an open-source hardware and software company, project and user community
that designs and manufactures single-board microcontrollers and microcontroller kits for
building digital devices. its products are licensed under the gnu lesser general public
license (lgpl) or the gnu general public license (gpl), permitting the manufacture of
arduino boards and software distribution by anyone. arduino boards are available
commercially in preassembled form or as do-it-yourself (diy) kits.

Arduino board designs use a variety of microprocessors and controllers. the boards are
equipped with sets of digital and analog input/output (i/o) pins that may be interfaced to
various expansion boards ('shields') or breadboards (for prototyping) and other circuits.
the boards feature serial communications interfaces, including universal serial bus (usb)
on some models, which are also used for loading programs from personal computers. the
microcontrollers can be programmed using c and c++ programming languages. in
addition to using traditional compiler toolchains, the arduino project provides an
integrated development environment (ide) based on the processing language project.

the arduino project started in 2005 as a program for students at the interaction design
institute ivrea in ivrea, italy, aiming to provide a low-cost and easy way for novices and
professionals to create devices that interact with their environment using sensors and
actuators. common
examples of such devices intended for beginner hobbyists include simple robots,
thermostats and motion detectors.

the name arduino comes from a bar in ivrea, italy, where some of the founders of the
project used to meet. the bar was named after arduin of ivrea, who was the margrave of
the march of ivrea and king of italy from 1002 to 1014

12. APPLICATIONS:

• arduboy, a handheld game console based on arduino

13
• arduinome, a midi controller device that mimics the monome
• ardupilot, drone software and hardware ardusat, a cubesat based on arduino.

• c-stem studio, a platform for hands-on integrated learning of computing, science,

technology, engineering, and mathematics (c-stem) with robotics.
• Data loggers for scientific research.
• obduino, a trip computer that uses the on-board diagnostics interface found in most
modern cars
• Openevse an open-source electric vehicle charger
• xod, a visual programming language for arduino

SOFTWARE:
A program for arduino hardware may be written in any programming language with
compilers that produce binary machine code for the target processor. atmel provides a
development environment for their 8-bitavr and 32-bit arm cortex-m based
microcontrollers: avr studio (older) and atmel studio (newer)
 IDE:- the arduino integrated development environment (ide) is a cross-platform
application (for windows, macos, and linux) that is written in the programming
language java. it originated from the ide for the languages processing and wiring.
it includes a code editor with features such as text cutting and pasting, searching
and replacing text, automatic indenting, brace matching, and syntax highlighting,
and provides simple oneclick mechanisms to compile and upload programs to an
arduino board. it also contains a message area, a text console, a toolbar with
buttons for common functions and a hierarchy of operation menus. the source
code for the ide is released under the gnu general public license, version 2.

the arduino ide supports the languages c and c++ using special rules of code structuring.
the arduino ide supplies a software library from the wiring project, which provides many
common input and output procedures. user-written code only requires two basic
functions, for starting the sketch and the main program loop, that are compiled and linked
with a program stub main() into an executable cyclic executive program with the gnu
toolchain, also included with the ide distribution. the arduino ide employs the program

14
 avrdude to convert the executable code into a text file in hexadecimal encoding that is
loaded into the arduino board by a loader program in the board's firmware.

 pro ide:
On october 18th, 2019, arduino pro ide (alpha preview) was released. the system still uses
arduino cli (command line interface), but improvements include a more professional
development environment, autocompletion support, and git integration. the application
frontend is based on the eclipse the open source ide. the main features available in the
alpha release are:

• modern, fully featured development environment

• dual mode, classic mode (identical to the classic arduino ide) and pro mode (file
system view)
• new board manager
• new library manager
• board list
• basic auto-completion (arm targets only)
• git integration
• serial monitor
• dark mode

SKETCH[EDIT]:

A sketch is a program written with the arduino ide sketches are saved on the development
computer as text files with the file extension .ino. arduino software (ide) pre-1.0 saved
sketches with the extension .pde. a minimal arduino c/c++ program consists of only two
functions

• setup(): this function is called once when a sketch starts after power-up or reset. it is
used to initialize variables, input and output pin modes, and other libraries needed in
the sketch. it is analogous to the function main()

15
• loop(): after setup() function exits (ends), the loop() function is executed repeatedly
in the main program. it controls the board until the board is powered off or is reset. it
is analogous to the function while(1) blink example

power led (red) and user led (green) attached to pin 13 on an arduino compatible board

most arduino boards contain a light-emitting diode (led) and a current limiting resistor

Fig 3 : Power led and user led attached to pin 13 on Arduino board

connected between pin 13 and ground, which is a convenient feature for many tests and
program functions.[63] a typical program used by beginners, akin to hello, world!, is
"blink", which repeatedly blinks the on-board led integrated into the arduino board. this
program uses the functions pin mode(), digital write(), and delay(), which are provided by
the internal libraries included in the ide environment. this program is usually loaded into
a new arduino board by the manufacturer.

#define led_pin 13 // pin number attached to led.

void setup() { pinmode(led_pin, output); // configure pin 13 to be a

digital output. }

void loop() { digitalwrite(led_pin, high); //

turn on the led.
delay(1000); // wait 1 second (1000 milliseconds).
digitalwrite(led_pin, low); // turn off the led.
delay(1000); // wait 1 second.
}

16
 LIBRARIES [EDIT] :
The open-source nature of the arduino project has facilitated the publication of many free
software libraries that other developers use to augment their projects.

Fig 4 : Arduino Nano

This is an Arduino Uno

The uno is one of the more popular boards in the arduino family and a great choice for
beginners. we'll talk about what's on it and what it can do later in the tutorial.

17
 Fig 5 : This is a screenshot of the Arduino IDE.

Believe it or not, those 10 lines of code are all you need to blink the on-board led on your

arduino. the code might not make perfect sense right now, but, after reading this tutorial

and the many more arduino tutorials waiting for you on our site, we'll get you up to speed

in no time! you will learn in this tutorial, we’ll go over the following:

• what projects can be accomplished using an arduino

• what is on the typical arduino board and why

18
 • the different varieties of arduino boards
• some useful widgets to use with your arduino

suggested reading arduino is a great tool for people of all skill levels. however, you will
have a much better time learning along side your arduino if you understand some basic
fundamental electronics beforehand. we recommend that you have at least a decent
understanding of these concepts before you dive in to the wonderful world of arduino.

19
 Power (USB / Barrel Jack) :
Every arduino board needs a way to be connected to a power source. the arduino uno can
be powered from a USB cable coming from your computer or a wall power supply (like
this) that is terminated in a barrel jack. in the picture above the USB connection is labeled
(1) and the barrel jack is labeled (2).

the USB connection is also how you will load code onto your arduino board. more on
how to program with arduino can be found in our installing and programming arduino
tutorial.

note: do not use a power supply greater than 20 volts as you will overpower (and thereby
destroy) your arduino. the recommended voltage for most arduino models is between 6
and 12 volts.

 Pins (5V, 3.3V, GND, Analog, Digital, PWM, AREF): the pins on your arduino

are the places where you connect wires to construct a circuit.

(probably in conjuction with a breadboard and some wire. they usually have black plastic
‘headers’ that allow you to just plug a wire right into the board. the arduino has several
different kinds of pins, each of which is labeled on the board and used for different
functions.)

• gnd (3): Short for ‘ground’. there are several gnd pins on the arduino, any of
which can be used to ground your circuit.
• 5v (4) & 3.3v (5): As you might guess, the 5v pin supplies 5 volts of power, and
the 3.3v pin supplies 3.3 volts of power. most of the simple components used with
the arduino run happily off of 5 or 3.3 volts.
• analog (6): The area of pins under the ‘analog in’ label (a0 through a5 on the uno)
are analog in pins. these pins can read the signal from an analog sensor (like a
temperature sensor) and convert it into a digital value that we can read.
• digital (7): Across from the analog pins are the digital pins (0 through 13 on the
uno).
these pins can be used for both digital input (like telling if a button is pushed) and

20
 digital output (like powering an led).
• pwm (8): You may have noticed the tilde (~) next to some of the digital pins (3, 5,
6, 9, 10, and 11 on the uno). these pins act as normal digital pins, but can also be
used for something called pulse-width modulation (pwm). we have a tutorial on
pwm, but for now, think of these pins as being able to simulate analog output (like
fading an led in and out).

• aref (9): Stands for analog reference. most of the time you can leave this pin
alone. it is sometimes used to set an external reference voltage (between 0 and 5
volts) as the upper limit for the analog input pins.

RESET BUTTON:
Just like the original nintendo, the Arduino has a reset button (10). pushing it will
temporarily connect the reset pin to ground and restart any code that is loaded on the
arduino. this can be very useful if your code doesn’t repeat, but you want to test it
multiple times. unlike the original nintendo however, blowing on the arduino doesn't
usually fix any problems.

POWER LED INDICATOR :

Just beneath and to the right of the word “uno” on your circuit board, there’s a tiny led
next to the word ‘on’ (11). this led should light up whenever you plug your arduino into a
power source. if this light doesn’t turn on, there’s a good chance something is wrong.
time to recheck your circuit!

TX RX LEDS :
TX is short for transmit, rx is short for receive. these markings appear quite a bit in
electronics to indicate the pins responsible for serial communication. in our case, there
are two places on the arduino uno where tx and rx appear -- once by digital pins 0 and 1,
and a second time next to the tx and rx indicator leds (12). these leds will give us some
nice visual indications whenever our arduino is receiving or transmitting data (like when
we’re loading a new program onto the board).

MAIN IC :
The black thing with all the metal legs is an ic, or integrated circuit (13). think of it as the

21
 brains of our arduino. the main ic on the arduino is slightly different from board type to
board type, but is usually from the atmega line of ic’s from the atmel company. this can
be important, as you may need to know the ic type (along with your board type) before
loading up a new program from the arduino software. this information can usually be
found in writing on the top side of the ic. if you want to know more about the difference
between various ic's, reading the datasheets is often a good idea.

VOLTAGE REGULATOR :
The voltage regulator (14) is not actually something you can (or should) interact with on
the arduino. but it is potentially useful to know that it is there and what it’s for. the
voltage regulator does exactly what it says -- it controls the amount of voltage that is let
into the arduino board. think of it as a kind of gatekeeper; it will turn away an extra
voltage that might harm the circuit. of course, it has its limits, so don’t hook up your
arduino to anything greater than 20 volts.

THE ARDUINO FAMILY :

Arduino makes several different boards, each with different capabilities. in addition, part
of being open source hardware means that others can modify and produce derivatives of
arduino boards that provide even more form factors and functionality. if you’re not sure
which one is right for your project, check this guide for some helpful hints. here are a few
options that are well-suited to someone new to the world of Arduino.

ARDUINO UNO (R3)

This uno is a great choice for your first arduino. it's got everything you need to get
started, and nothing you don't. it has 14 digital input/output pins (of which 6 can be used
as pwm outputs), 6 analog inputs, a USB connection, a power jack, a reset button and
more. it contains everything needed to support the microcontroller; simply connect it to a
computer with a USB cable or power it with a ac-to-dc adapter or battery to get started.

22
LILYPAD ARDUINO :

This is lilypad arduino main board. lilypad is a wearable e-textile technology developed
by leah buechley and cooperatively designed by leah and sparkfun. each lilypad was
creatively designed with large connecting pads and a flat back to allow them to be sewn
into clothing with conductive thread. the lilypad also has its own family of input, output,
power, and sensor boards that are also built specifically for e-textiles. they're even
washable!

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 Fig 6 : Lilypad Arduino

REDBOARD :

At spark fun we use many arduino and we're always looking for the simplest, most stable
one. each board is a bit different and no one board has everything we want -- so we
decided to make our own version that combines all our favorite features.

the red board can be programmed over a USB mini-b cable using the arduino ide. it'll
work on windows 8 without having to change your security settings (we used signed
drivers, unlike the uno). it's more stable due to the usb/ftdi chip we used, plus it's
completely flat on the back, making it easier to embed in your projects. just plug in the
board, select "arduino uno" from the board menu and you're ready to upload code. you
can power the red board over USB or through the barrel jack. the on-board power
regulator can handle anything from 7 to 15vdc.

24
 Fig 7 : Red Board

ARDUINO MEGA (R3)

The arduino mega is like the uno's big brother. it has lots (54!) of digital input/output pins
(14 can be used as pwm outputs), 16 analog inputs, a USB connection, a power jack, 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 a ac-to-dc adapter or battery
to get started. the large number of pins make this board very handy for projects that
require a bunch of digital inputs or outputs (like lots of leds or buttons).

25
 Fig 8 : Arduino Mega

ARDUINO LEONARDO :

The leonardo is arduino's first development board to use one microcontroller with built-in
USB. this means that it can be cheaper and simpler. also, because the board is handling
usb directly, code libraries are available which allow the board to emulate a computer
keyboard, mouse, and more!

26
 Fig 9: Arduino Leonardo

the extended family while your arduino board sure is pretty, it can't do a whole lot on its
own -- you've got to hook it up to something. there are lots of tutorials here on learn as
well as the links back in the 'what does it do' section, but rarely do we talk about the
general kinds of things you can easily hook into. in this section we'll introduce basic
sensors as well as arduino shields, two of the most handy tools to use in bringing your
projects to life.

 sensors :

With some simple code, the arduino can control and interact with
awi variety of sensors things that can measure light, temperature, degree of flex,
proximity, acceleration, carbon monoxide, radioactivity, humidity, barometric pressure,
you name it, you can sense it!

27
Fig 10: Just a few of the sensors that are easily compatible with Arduino shields

additionally, there are these things called shields -- basically they are pre-built circuit
boards that fit on top of your arduino and provide additional capabilities -- controlling
motors, connecting to the internet, providing cellular or other wireless communication,
controlling an lcd screen, and much more.

a partial selection of available shields to extend the power of your arduino

28
HC-SR04 Ultrasonic Sensor :

Fig 11: Ultra sonic sensor HC SR04

29
ULTRASONIC SENSOR HC SR04

ULTRASONIC SENSOR HC SR04 PIN DIAGRAM

 ULTRASONIC SENSOR PIN CONFIGURATION

PIN PIN DESCRIPTION

NUMBER NAME

1 VCC THE VCC PIN POWERS THE SENSOR, TYPICALLY WITH

+5V

2 TRIGGER TRIGGER PIN IS AN INPUT PIN. THIS PIN HAS TO BE KEPT

HIGH FOR 10US TO INITIALIZE MEASUREMENT BY
SENDING US WAVE.

3 ECHO ECHO PIN IS AN OUTPUT PIN. THIS PIN GOES HIGH FOR A
PERIOD OF TIME WHICH WILL BE EQUAL TO THE TIME
TAKEN FOR THE US WAVE TO RETURN BACK TO THE
SENSOR.

4 GROUND THIS PIN IS CONNECTED TO THE GROUND OF THE

SYSTEM.

HC-SR04 SENSOR FEATURES:

• operating voltage: +5v

• theoretical measuring distance: 2cm to 450cm
• practical measuring distance: 2cm to 80cm
• accuracy: 3mm
• measuring angle covered: <15°
• operating current: <15ma
• operating frequency: 40hz

30
you can buy hc-sr04 ultrasonic sensor from here. equivalent distance measuring sensors us

transmitter receiver pair, IR sensor module, IR sensor pair, IR analog distance sensor,

hc-sr04 ultrasonic sensor - working as shown above the hc-sr04 ultrasonic (us) sensor is
a 4 pin module, whose pin names are vcc, trigger, echo and ground respectively. this
sensor is a very popular sensor used in many applications where measuring distance or
sensing objects are required. the module has two eyes like projects in the front which
forms the ultrasonic transmitter and receiver. the sensor works with the simple high
school formula that distance = speed × time the ultrasonic transmitter transmits an
ultrasonic wave, this wave travels in air and when it gets objected by any material it gets
reflected back toward the sensor this reflected wave is observed by the ultrasonic receiver
module as shown in the picture below

Fig 12 : Feature of HC SR04

now, to calculate the distance using the above formulae, we should know the speed and
time. since we are using the ultrasonic wave we know the universal speed of us wave at
room conditions which is 330m/s. the circuitry inbuilt on the module will calculate the
time taken for the us wave to come back and turns on the echo pin high for that same
particular amount of time, this way we can also know the time taken. now simply
calculate the distance using a microcontroller or microprocessor.

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 how to use the hc-sr04 ultrasonic sensor hc-sr04 distance sensor is commonly used with
both microcontroller and microprocessor platforms like arduino, arm, pic, raspberry pie
etc. the following guide is universally since it has to be followed irrespective of the type
of computational device used.

power the sensor using a regulated +5v through the vcc ad ground pins of the sensor. the
current consumed by the sensor is less than 15ma and hence can be directly powered by
the on board 5v pins (if available). the trigger and the echo pins are both i/o pins and
hence they can be connected to i/o pins of the microcontroller. to start the measurement,
the trigger pin has to be made high for 10us and then turned off. this action will trigger an
ultrasonic wave at frequency of 40hz from the transmitter and the receiver will wait for
the wave to return. once the wave is returned after it getting reflected by any object the
echo pin goes high for a particular amount of time which will be equal to the time taken
for the wave to return back to the sensor.

the amount of time during which the echo pin stays high is measured by the mcu/mpu as
it gives the information about the time taken for the wave to return back to the sensor.
using this information the distance is measured as explained in the above heading.

APPLICATIONS:

• used to avoid and detect obstacles with robots like biped robot, obstacle avoider robot,
path finding robot etc.

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• used to measure the distance within a wide range of 2cm to 400cm
• can be used to map the objects surrounding the sensor by rotating it
• depth of certain places like wells, pits etc can be measured since the waves can
penetrate through water

2D MODEL OF THE COMPONENT

Fig 13 : 2D model of the component

B 10 BUZZER

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 Fig 15 : Jumper Wires

jumper wires are used for making connections between items on your breadboard and

your arduino’s header pins. use them to wire up all your circuits! buy jumper wires from

amazon, sparkfun, adafruit, or newark.

 USB CABLE

Fig 16
Fig 16: USB Cable

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 IMAGE COURTESY OF SPARKFUN ELECTRONICS.
this is a standard a-b USB cable. it can be used to connect your computer to arduino that
use a full-sized b-type USB connection, such as the UNO and mega2560.

buy a USB cable from amazon, sparkfun, or adafruit.

9V BATTERY:

Fig 17:9v Battery.

IMAGE COURTESY OF SPARKFUN ELECTRONICS

use a 9v battery with your arduino projects to provide a higher-current power supply for
things like motors. you can also feed 9v power into your arduino’s dc barrel jack using 9v
battery clip with a jack to get a regulated 5v from the internal regulator.

buy a 9v battery from amazon, sparkfun, adafruit, or newark.

9V BATTERY CLIP:

Fig 18.9v Battery Clip

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 use a 9v battery clip to easily connect your 9v battery to your arduino. use one with leads
to connect your battery directly to a breadboard or the vin pin on the arduino. you can
also buy a clip with a barrel jack for plugging directly into the arduino’s barrel jack
(shown above)

buy a 9v battery clip with a barrel jack connector from amazon, adafruit or sparkfun. buy
a 9v battery clip with leads from newark.

RED LED :

Fig 19. RED LED.

IMAGE COURTESY OF SPARKFUN ELECTRONICS

An average 5mm red led has a 2v forward voltage drop, and a forward current of 20ma. don’t
forget to use a current-limiting resistor when you connect an led to your arduino!

buy red leds from amazon, sparkfun, adafruit, or newark.

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 6. CODE

// DEFINES PINS NUMBERS

CONST INT TRIGPIN = 9;
CONST INT ECHOPIN = 10;
CONST INT BUZZER = 11;
CONST INT LEDPIN = 13;

// DEFINES VARIABLES
LONG DURATION;
INT DISTANCE;
INT SAFETYDISTANCE;

VOID SETUP() {
PINMODE(TRIGPIN, OUTPUT); // SETS THE TRIGPIN AS AN OUTPUT
PINMODE(ECHOPIN, INPUT); // SETS THE ECHOPIN AS AN INPUT
PINMODE(BUZZER, OUTPUT);
PINMODE(LEDPIN, OUTPUT);
SERIAL.BEGIN(9600); // STARTS THE SERIAL COMMUNICATION
}

VOID LOOP() {
// CLEARS THE TRIGPIN
DIGITALWRITE(TRIGPIN, LOW);
DELAYMICROSECONDS(2);

// SETS THE TRIGPIN ON HIGH STATE FOR 10 MICRO SECONDS

DIGITALWRITE(TRIGPIN, HIGH);
DELAYMICROSECONDS(10);
DIGITALWRITE(TRIGPIN, LOW);

// READS THE ECHOPIN, RETURNS THE SOUND WAVE TRAVEL TIME IN

MICROSECONDS
DURATION = PULSEIN(ECHOPIN, HIGH);

// CALCULATING THE DISTANCE

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DISTANCE= DURATION*0.034/2;

SAFETYDISTANCE = DISTANCE;
IF (SAFETYDISTANCE <= 20){
DIGITALWRITE(BUZZER, HIGH);
DIGITALWRITE(LEDPIN, HIGH);
}
ELSE{
DIGITALWRITE(BUZZER, LOW);
DIGITALWRITE(LEDPIN, LOW);
}
}

CONNECTIONS

ULTRA SONIC SENSOR CONNECTION WITH AURDINO

1. Vcc----------------------------------5v pin

2. Trig----------------------------------- 9th pin

3. ECHO----------------------------------10th pin

4. Gnd-----------------------------------------gnd pin

BUZZER CONNECTION WITH AURDINO

1. +ve leg(big leg)---------------------------11th pin

2. -ve leg (small leg)-----------------------------gnd pin

LED CONNECTION WITH AURDINO

1. +ve leg(big leg)---------------------------13th pin

2. -ve leg (small leg)-----------------------------gnd pin

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 8. OUTPUT

1. AFTER CONNECTIONS ARE COMPLETED

Fig 20: After the connections are completed after the completed connections and upload
the program in Arduino board using software.

39
 2. AFTER THE COMPLETED CONNECTIONS AND UPLOAD THE
PROGRAME IN AURDINO BOARD USING AURDINO SOFTWARE

3.TEST-1: WITH OUT ANY OBSTACLES IN FRONT OF ULTRA SONIC SENSOR

Fig 21. Test 1: without any obstacles in front of ultrasonic sensor.

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 4. TEST-2: WITH A OBSTACLES IN FRONT OF ULTRA SONIC SENSOR

Fig 22. Test 2: With an obstacle in front of the sensor.

5. AFTER CONNECTION TO THE PIPE ,HENCE IT IS A SMART BLIND STICK

USING AURDINO.

Fig 23. After connection to the pipe Hence it is a smart it ia a smart blind stick using
aurdino.

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 9. CONCLUSION

The smart walking stick, constructed with at most accuracy, will help the blind people to
move from one place to another without others help. this could also be considered a crude
way of giving the blind a sense of vision. this stick reduces the dependency of visually
impaired people on other family members, friends and guide dogs while walking around.
the proposed combination of various working units makes a real-time system that
monitors position of the user and provides dual. the smart stick detects objects or
obstacles in front of users and feeds warning back, in the form of voice making rather
than vibration. also the incorporation of automatic room equipment switching in the stick
will be useful while they are indoor. the advantage of the system lies in the fact that it can
prove to be a low cost solution to millions of blind person worldwide.

42
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