GESTURE CONTROLLED ROBOTIC

VEHICLE

Section - 8 Team 6: 5th Gear

Amar Kumar, Mali K. Vijay, Ratan Junior, Thutipati S. Charan and Kriti Gupta
Indian Institute of Technology, Kharagpur
DY17003: Do It Yourself Laboratory

Faculty :
Dr. Abhay Singh Gour (Cryogenic Engineering Centre)
Prof. Manoj Kumar Mondal (RMSoE)
Prof. Shibayan Roy (Material Science)

Teaching Assistants (TA’s):

Mr. Sumit K. Chand

Mr. Navinder Singh (Naval Architecture)
Mr. Imran Haider (ISE)
February 25, 2022

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 Contents

1. Abstract 3

2. Introduction 3
a. Transmitter Circuit
b. Receiver Circuit

3. Major Components and their Specifications 5

4. Working and Programming 7

a. Accelerometer on RF Transmitter Side - Functioning

b. Hand Gesture RF Receiver Functioning
c. Bluetooth Module Functioning
d. Ultrasonic Sensor Functioning

e. Metal Detector Functioning

5. Mathematical Analysis 13

6. Conclusion 14

7. Bibliography 15

8. Softwares Used 16

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Abstract

This project aims at creating a gesture controlled robotic vehicle by the use of

micro controllers. The vehicle’s dimensions are around 16 cm x 18 cm x 6.5 cm

and its weight is around 560 grams. We have made use of a 3-axis accelerometer

to capture hand movements, which are worked upon and the vehicle is signalled

to move accordingly. We also have a short-distance voice control using

Bluetooth Technology, where voice commands drive the vehicle. The vehicle

also detects obstacles in its path and signals the user about the same. A mine

detection feature is also present, which makes use of a metal detector to locate

mines. This project has the potential to be used in enhancing communications

with surveillance probes in farms, construction sites, mine grounds etc, allowing

for usage by physically challenged, and gaming and recreational services.

Introduction

Transmitter Circuit (TC)

The TC is located on the hand gloves and is powered by a 9V battery. It consists of

the components for hand gesture control. This includes the MPU6050

accelerometer, a 9V battery, 433MHz transmitter module, jumper wires, switches

and resistors. Acceleration values along X and Y axes are measured for our project

with the MPU6050 accelerometer. These signals are received by the Arduino Nano

through its analog pins and the code written in its respective Integrated

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Development Environment (IDE) is executed to generate forward, backward, right

turn, left turn and brake commands. These commands are sent to the 433MHz

transmitter module on the TC.

Receiver Circuit (RC)

The RC is placed on the mobile vehicle and is powered by four 3.7V rechargeable

Li-ion batteries. It consists of the Arduino UNO R3, ultrasonic sensor, piezo

speaker, bluetooth module, RF receiver module, metal detector, motor driver,

motors, breadboard, side switches, resistors and jumper wires.

The RF receiver catches the signals sent by the transmitter, processes it and sends it

to the Arduino UNO, which further sends it to the L293D motor driver.

The Ultrasonic Sensor makes use of ultrasonic waves which get reflected back

from the obstacle and thus help in determining the proximity.

The buzzer beeps as and how the vehicle passes over a metal object which is

sensed by the metal detector.

The Voice Control Feature makes use of an application which functions using

Google's Speech-to-Text conversion technology and transmits the commands to the

vehicle via Bluetooth.

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Major Components and their Specifications

Arduino UNO Arduino Nano V3

Development Board Development Board

● Microcontroller : ATmega328 SMD. ● Operating Voltage (logical) - 5 V

● Operating Voltage : 5V. ● Digital I/O Pins- 14
● Digital I/O Pins : 14 (of which 6 ● Analog Input Pins- 8
provide PWM output). ● DC Current per I/O Pin- 40 mA
● Analog Input Pins : 6. ● Dimensions- 0.70” x 1.70”
● DC Current per I/O Pin : 40 mA.
● DC Current for 3.3V Pin : 50 mA.
● Weight - 28 gm

Receiver Module 433MHz Transmitter Module 433

MHz
● Voltage- 5V
● Voltage- 3-12V
● Static Current- 4MA
● Operating frequency- 433.92MHz;
● Receiver frequency- 433.92MHZ;
315Mhz
315 Mhz
● Standby current: 0mA
● Sensitivity- 105 dB
● Operating current :20-28mA
● Dimensions- 30*14*9mm
● Transmission distance:> 500m (open
to receiving plate sensitivity at- 103
dBm distance of more than)
● Output Power: 16 dBm (40mW)
● Transfer rate: <10Kbps
● Dimensions- 19*19*8 mm

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 Motor Driver L393D Bluetooth Module HC-05

● Output Voltage- 5V ● Voltage - 3.6-6 V

● Driver Voltage- 5-35V
● Logical Current- 0-36 mA
● Driver Current- 2A (Single Bridge)
● Maximum Power- 25W
● Weight- 26 gm
● Dimensions- 49*55*33 mm
● Current - 50 mA
● Distance - Within 10m
● Emission Power - 4 dBm
● Weight - 0.01 kg (10 gm)
● Dimensions- 26.9*13* 2.2 mm

Accelerometer - MPU6050 Ultrasonic Sensor HC-

SR04
● Digital I2C interface to read the
output of the sensor ● Detection distance: 2 cm-400 cm
● Voltage - 3-5 V (0.02M - 4.0M)
● Weight - 10 gm ● Weight- 9gm

Geared DC Motor Piezo Buzzer

● Rated speed - 100 RPM ● Maximum Voltage - 5V

● Torque - 0.35 kg cm ● Resistance - 42 ohm
● Voltage- 3-12 V ● Weight - 1.2 gm
● Current- 40-180mA
● Low Friction
● Each weight- 33gm
● Dimensions- 55*48*23 mm

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Working and Programming

I. Accelerometer - The accelerometer is a device which measures acceleration

along different axes. It helps in sensing the orientation, acceleration and

falling. The model MPU6050 is a capacitance accelerometer. This gives out

Analog signals in the form of voltage. It can calculate tilt in 2 directions as

well. It has 8 pins (VCC, GND, SCL, SDA, XDA, XCL, ADO and INT). The

VCC and GND are connected to the power supply and GND pins on Arduino

NANo respectively. The SCL pin provides clock pulse while SDA helps to

transfer data. The INT or Interrupt pin indicates that data is available.

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 II. Arduino NANO - It is an ATmega microcontroller with 14 digital, and 8

analog pins. Here, it processes the analog signal from the accelerometer and

sends it to the RF Transmitter module.

III. RF Transmitter Module - The Radio Frequency Transmitter Module used

here operates at a frequency of 433.92 MHz and over a distance of about 500

m in open areas and 100 m under a roof. It has 3 pins (VCC, GND, and

DATA). The VCC and GND are connected to the power output and GND pin

on Arduino NANO respectively, while the DATA pin is connected to a digital

pin.

The Complete Transmitter Circuit Overview

IV. RF Receiver Module - The Radio Frequency Receiver Module is located on

the receiver circuit and here, operates at 433.92 MHz. The inbuilt decoder is

used by the RF receiver to decode the serial format and retrieve the original

signals as outputs. It has 4 pins - a VCC, two DATA pins and a GND. The

VCC and GND pins are connected to the breadboard with 5V and GND pins

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 of Arduino UNO. One of the two DATA pins is connected to digital pins of

Arduino UNO.

V. Arduino UNO - The Arduino UNO on the RC helps in programming its

execution. The code for the same is written in Arduino IDE. It receives digital

inputs from the ultrasonic sensor, RF receiver and bluetooth modules. It

receives analog inputs from the metal detector system. It transmits signals

through digital pins to the piezo speaker and motor driver system. Its 5V pin

and GND pins are connected to the breadboard.

VI. Motor Driver and Motors- The signals sent by the Arduino UNO run the

motor driver, and hence the motors. The motor driver has a total of 6 pins (4

INPUT and 2 ENABLE) and 7 terminals ( 4 OUTPUT, a Power Supply, A

Power Output and GND). The IN pins are connected to 4 digital pins on the

Arduino UNO. The Power Input (12V) and GND are connected to the battery

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 power supply ends while the Power Output (5V) is connected to the

microcontroller unit.

VII. Application on the Android Phone- This application makes use of Google’s

speech-to-text conversion technology to convert voice commands into text

commands, which are then received by the HC-05 Bluetooth Module on the

vehicle.

VIII. Bluetooth HC-05 Module - Bluetooth also makes use of radio waves to

operate and in a frequency band of 2.4 to 2.483 GHz. Its range is about 15 ft.

It has a total of 6 pins (STATE, RXD, TXD, GND, VCC and EN). RXD and

TXD are connected to their namesake on the microcontroller, while VCC and

GND are connected to the Power Supply and GND respectively. It receives

the commands from the Android Phone and transmits it to the Arduino UNO

for further processing.

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IX. Ultrasonic Sensor- The HC- SR04 Ultrasonic Sensor present on the RC

circuit can detect obstacles in ranges 0.02 m to 4m. Its GND and VCC pins

are connected to the breadboard with 5V and GND pins of Arduino UNO. Its

Echo and Trig pins are connected to the Arduino UNO digital pins. The code

sets a threshold for obstacle distance below which the LED and Piezo

speakers are triggered.

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X. Metal Detector - The Metal Detector functions on the principle of

Electromagnetic Induction. Whenever the material inside the inductor coil

changes, the value of inductance changes. Here, we make use of Pulse

Induction Technology which basically means, we send current through the

inductor in the form of pulses (here at the rate of 64 pulses per second). This

generates a short magnetic field. Whenever, there's an obstruction in the field

due to a metal object, the field is altered, which is recorded by the Arduino

which thus signals the alarm system, consisting of the LED and the buzzer, to

go off.

The Complete Receiver Circuit Overview:

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Mathematical Analysis

We analysed and figured out that there were 3 different types of motions the vehicle

could be in.

First, where the vehicle is performing Unidirectional Motion.

Second, where only one tyre moves (i.e. the vehicle is turning).

Third, when the tyres are rotating in opposite directions (i.e drifting).

The kinetic energy used will be maximum in the 1st case, corresponding to which

we did the calculations.

The Vehicle can run for approximately 28 hours on a fully charged battery.

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Conclusion
This Gesture Control Robotic Vehicle makes use of hand gesture sensing technology

and voice commands unlike its traditional counterparts with joysticks and buttons.

For the RF Transceiver system, it works efficiently upto a distance of 80-100 m and

the Bluetooth Voice Commands, upto 15 ft. This is a cheap and easily transportable

prototype, which has a huge scope for development and can be altered as per

application. Introduction of cameras and image processing technology can make it

efficient for uses like spying, soil monitoring and identifying terrains. The use of an

accelerometer makes it very sensitive to movement, which is both a pro and a con.

This can also be a commercially successful product if introduced in the recreational

gaming sector, by making the design more attractive and compact. It can also be

used by Defence Teams for identification of Terror Hotspots and in After-War

Grounds.

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Bibliography

[1] Mr Pravin Vaishnav, Mrs Shalini Tiwari, Accelerometer Based Hand Gesture

Controlled Robot, International Journal of Science and Research (IJSR).

[2] Harish Kumar Kaura, Vipul Honrao, Sayali Patil, Pravish Shetty, “Gesture

Controlled Robot using Image Processing”, International Journal of Advanced

Research in Artificial Intelligence (IJARECE), PP.-69-77, Vol. 2, No.5 [2013].

[3] “Energy estimation for differential drive mobile robots on straight and rotational

trajectories”, Mauricio F Jaramillo-Morales, Sedat Dogru, Juan B Gomez-Mendoza,

[April 2020].

[4] Arduino Project Hub (create.arduino.cc)

[5] www.github.com (for libraries)

[6] Instructable Circuits (instructables.com)

[7] electroclinic.com

[8] https://youtu.be/0dAP3MRp2AM

[9] www.quartzcomponents.com

[10] www.electroniscomp.com

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Softwares Used

1) Arduino IDE

2) TinkerCAD (for writing the code for UltraSonic Sensor)

3) EasyEDA (for Circuit Designing)

4) Microsoft Paint (for flowcharts)

5) Microsoft PowerPoint

6) Google Docs

7) Google Slides

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