INTELEGENCE BLIND STICK WITH

ESP-32 AND GPS MODULE

A Project report submitted in partial fulfilment

of the requirements for the degree of B. Tech in Electrical Engineering

Mainak Mondal
Registration No. - 201170101610019 OF 2020 - 2021
University Roll No. - 11701620005

Souvik Jana
Registration No. - 201170101610016 OF 2020 - 2021
University Roll No. - 11701620008

Anirudha Biswas
Registration No. - 211170101620001 OF 2021 - 2022
University Roll No. - 11701621033

Under the supervision of

Asst. Prof. Mr. Deepam Gangopadhyay

Department of Electrical Engineering
RCC Institute of Information Technology

Department of Electrical Engineering

RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL
Maulana Abul Kalam Azad University of Technology (MAKAUT)
© 2024
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

CERTIFICATE

This is to certify that the project work entitled Intelegence Blind Stick with ESP-32 and GPS module
is the bona fide work carried out by Mainak Mondal (Roll No.- 11701620005), Souvik Jana (Roll No.-
11701620008), Anirudha Biswas (Roll No.- 11701621033) students of B.Tech in the Dept. of Electrical
Engineering, RCC Institute of Information Technology (RCCIIT), Canal South Road, Beliaghata,
Kolkata-700015, affiliated to Maulana Abul Kalam Azad University of Technology (MAKAUT), West
Bengal, India, during the academic year 2023-24, in partial fulfillment of the requirements for the degree
of Bachelor of Technology in Electrical Engineering and this project has not submitted previously for the
award of any other degree, diploma and fellowship.

……………………………………….. ………………………………………………..
Signature of the Guide Signature of the HOD, EE
Mr. Deepam Gangopadhyay Mrs. Shilpi Bhattacharya
Asst. Prof. Dept. of EE HOD, Electrical Dept.

………………………………………………..
Signature of the External Examiner
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

ACKNOWLEDGEMENT

It is my great fortune that I have got opportunity to carry out this project work under the supervision of
Asst. Prof. Mr. Deepam Gangopadhyay in the Department of Electrical Engineering, RCC Institute of
Information Technology (RCCIIT), Canal South Road, Beliaghata, Kolkata-700015, affiliated to Maulana
Abul Kalam Azad University of Technology (MAKAUT), West Bengal, India. I express my sincere thanks
and deepest sense of gratitude to my guide for his constant support, unparalleled guidance and limitless
encouragement.
I wish to convey my gratitude to Prof. (Dr.) Shilpi Bhattacharya, HOD, Department of Electrical
Engineering, RCCIIT and to the authority of RCCIIT for providing all kinds of infrastructural facility
towards the research work.
I would also like to convey my gratitude to all the faculty members and staffs of the Department of
Electrical Engineering, RCCIIT for their whole hearted cooperation to make this work turn into reality.

Place :- ……………… ……………………………………………………

Signature of the Students
Date :- ………………..
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

TABLE OF CONTENTS

Topic Page No.

List of Figures i
Abstract & Keywords 1
1. Introduction 2-7
1.1 Introduction 2
1.2 Objectives of the project 3-4
1.3 Benefits of the project 5-7
2. Literature Review 8-9
3. List of Hardware Components 10-28
3.1 Ultrasonic Sensors 10-11
3.2 ESP32 Microcontroller 12-14
3.3 Neo 6M GPS Module 15-16
3.4 MPU6050 (Accelerometer + Gyroscope) 17-19
3.5 LM317T Voltage Regulator 20-23
3.6 Potentiometer 24-27
3.7 Buzzer & LEDs 28
4. List of Sofwares used 29-30
4.1 Arduino IDE 29
4.2 Blynk App 30
5. Logic & Operations 31-39
5.1 Theory 31-33
5.2 Circuit Diagram of the System 34-35
5.3 Flow Chart of the system 36
5.4 Working Principle 37-39
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

TABLE OF CONTENTS

Topic Page No.

6. Results & Discussion 40-43

6.1 Results 40-41
6.2 Discussion 42-43
7. Future Scopes &Conclusion 44-47
7.1 Future Scopes 44-46
7.2 Conclusion 47
Appendix 48-62
A.1 Project Pics 48-49
A.2 Arduino Code 50-62
Reference 63-65
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

LIST OF FIGURES

List of Figures Page No.

1. Ultrasonic Sensor 10
2. Ultrasonic Sensor working principle 10
3. Ultrasonic Sensor timing diagram 11
4. ESP32 12
5. Pinout of ESP32 Board 14
6. Neo 6M GPS Module 15
7. MPU6050 (Accelerometer + Gyroscope) 17
8. LM317T Voltage Regulator 20
9. LM317T Voltage Regulator circuit diagram 21
10. LM317T Current Regulator circuit diagram 22
11. Potentiometer 24
12. Potentiometer working principle 25
13. Buzzer & LEDs 28
14. Arduino IDE Interface 29
15. Blynk working principle 30
16. Variable Voltage Regulator ckt. of the project 34
17. Main ckt. of the project 35
18. Flow Chart of the project 36
19. Results of GPS Module working 40
20. Results of MPU6050 (Accelerometer + Gyroscope) working 40
21. Results of Ultrasonic Sensors working 41
22. Project Pics 48-49

i
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

ABSTRACT & KEYWORDS

ABSTRACT

This project develops the Intelligent Blind Man Stick, an advanced mobility aid designed to enhance the
autonomy and safety of visually impaired individuals. Integrating an ESP32 microcontroller and a GPS
module, the stick facilitates sophisticated navigational support and obstacle detection. The ESP32 enables
essential connectivity features such as Wi-Fi and Bluetooth for real-time environmental interaction and
data processing. The GPS module ensures accurate location tracking and aids in efficient pathfinding. The
stick also incorporates ultrasonic sensors for obstacle detection and employs a combination of auditory
signals and haptic feedback to alert users about nearby objects and directions. The project phases included
comprehensive design, implementation, and testing to ensure functionality and user safety. The
prototype’s effectiveness in improving mobility for visually impaired individuals indicates that such
integrative technological enhancements could significantly redefine the capabilities of traditional assistive
devices, promoting greater independence and improved quality of life.

KEYWORDS

• Assistive Technology
• ESP32 Microcontroller
• GPS Navigation
• Visually Impaired Mobility
• Smart Cane
• Ultrasonic Sensors
• Real-Time Data Processing
• Haptic Feedback
• Bluetooth Connectivity

1
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

INTRODUCTION

1.1 INTRODUCTION

In the realm of assistive technology for the visually impaired, there is a continuous need for innovation to
enhance the mobility and independence of users. Traditional aids such as the white cane have been
indispensable for many years but lack the capability to interact with and adapt to dynamic environments.
This project introduces an advanced version of the traditional aid, the Intelligent Blind Man Stick, which
integrates modern technological components including an ESP32 microcontroller, a GPS module,
ultrasonic sensors, a gyroscope, a buzzer, and an LED. This combination of technologies aims to create a
more interactive and responsive tool that significantly improves the navigation abilities of visually
impaired users.

The core of the Intelligent Blind Man Stick is the ESP32 microcontroller, which serves as the central
processing unit. It enables various functionalities such as Wi-Fi and Bluetooth connectivity, allowing the
stick to interact with mobile applications and other smart devices. The integration of a GPS module
provides precise geolocation services, enabling users to navigate to specific coordinates and receive real-
time location updates. This is especially valuable in unfamiliar environments where traditional navigation
methods may be insufficient. Additionally, the stick is equipped with ultrasonic sensors for obstacle
detection in the user's path. These sensors help in identifying obstacles both at ground level and at higher
positions that a regular cane might miss, such as overhanging branches or protrusions. The gyroscope
improves the accuracy of movement detection, helping to track the orientation and angular velocity of the
stick, which is crucial for maintaining balance and proper navigation cues. Feedback mechanisms include
a buzzer and an LED. The buzzer provides auditory signals when obstacles are detected or when specific
GPS waypoints are reached, while the LED offers visual cues for those who have partial vision or as an
aid in low-light conditions. Together, these features ensure that the user receives comprehensive and
accessible feedback to aid in safe and effective navigation.

2
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

1.2 OBJECTIVES OF THE PROJECT

The primary goal of this project is to design and develop the Intelligent Blind Man Stick, an enhanced
mobility aid for visually impaired individuals. This innovative device integrates cutting-edge technology
including an ESP-32 microcontroller, a gyroscope, and a GPS module to create a comprehensive
navigation system that addresses several challenges faced by the visually impaired community. The
specific objectives of the project are as follows:

1. Enhanced Navigation Capabilities :-

▪ To provide real-time location tracking using the GPS module to facilitate accurate and reliable
route navigation.
▪ To enable the device to offer directional guidance and destination updates through auditory
feedback, allowing users to navigate to specific locations efficiently and safely.

2. Improved Path Stability and Orientation :-

▪ To utilize the gyroscope for detecting and maintaining the orientation of the stick, thereby helping
users keep a straight path.
▪ To enhance the user’s spatial awareness by monitoring and correcting deviations in movement,
thus preventing potential missteps and falls.

3. Obstacle Detection and Alerts :-

▪ To integrate sensors that can detect obstacles not only in the path but also from above, such as low-
hanging objects, which are typically missed by traditional canes.
▪ To provide immediate feedback through vibrations or auditory signals when an obstacle is
detected, thus alerting the user in time to avoid collisions.

3
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

4. Interconnectivity and Data Processing :-

▪ To leverage the capabilities of the ESP-32 microcontroller for processing environmental data in
real-time and facilitating seamless communication with other smart devices.
▪ To develop an interface that allows the stick to connect to mobile applications and other digital
platforms, enhancing the user's interaction with their surroundings and providing them with
additional data like weather conditions, traffic updates, and public transportation schedules.

5. User-Friendly Design :-
▪ To design a device that is ergonomic, durable, and suitable for everyday use. The stick must be
lightweight, easy to handle, and robust enough to withstand regular use in various environments.

4
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

1.3 BENEFITS OF THE PROJECT

1. Enhanced Obstacle Detection :-

• Ultrasonic Sensors :- These sensors provide spatial detection of obstacles not just directly ahead,
but also to the sides, potentially increasing the detection accuracy and offering a broader range of
obstacle avoidance. This arrangement helps in navigating complex environments more safely.
• MPU6050 (Gyroscope and Accelerometer) :- Helps in detecting the orientation and movement
of the stick, enabling more dynamic adjustments based on the user’s walking pattern and the
stick's position.

2. Accurate Positioning and Navigation :-

The integration of a GPS module enables precise geolocation. This feature can help users know their
exact location and get directions to their destination. It can also be used to track the user’s path, which
can be helpful in emergency situations or for finding the user if they get lost.

3. Smart Connectivity :-
ESP32 Microcontroller Offers Wi-Fi and Bluetooth capabilities, which can be used for connecting the
stick to other devices (like smartphones or smartwatches) and applications. This connectivity can
enable features like remote monitoring, navigation assistance through map integration, or emergency
alerts.

4. Improved User Feedback :-

• Buzzer and LED Lights :- Serve as alert systems for obstacles at different distances, improving
the user's reaction time and decision-making in navigating spaces.
• Visual Feedback through LEDs :- Beneficial for users who have partial vision and bystanders,
helping in low-light conditions

5
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

5. Learning Capabilities :-
The ESP32’s processing power supports basic data processing and machine learning algorithms
directly on the device. This means the stick can learn from the user’s habits and typical routes,
optimizing its feedback and improving its functionality over time.

6. Emergency Assistance :-
In case of an emergency, the user can activate a help signal through the stick. With the GPS module,
the user’s location can be shared instantly with emergency services or family members. Immediate
alerts through buzzers and potential automatic responses or notifications to emergency contacts in case
of unusual patterns (like a fall detected by the MPU6050) enhance user safety.

7. Customizable and Programmable :-

Using an ESP32, the stick can be programmed to include additional features or improve existing
functionalities based on user feedback or technological advancements. This makes the device
adaptable and future-proof.

8. Data Collection and Analysis :-

The combination of sensors and connectivity options allows for the collection of data regarding travel
patterns, obstacle encounters, and usage habits, which can be used to further refine the device, train
machine learning models to predict potential issues, or offer personalized adjustments for the user.

9. Battery Efficiency and Management :-

The ESP32 is known for its low power consumption, which is crucial for a device like a smart walking
stick that needs to operate for extended periods on battery power. Its deep sleep and multiple power
modes allow for efficient power management.

6
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

10. Expandability :-
The modular nature of using components like ESP32 means that it's relatively easy to add additional
sensors or functionalities in the future, such as air quality sensors, temperature sensors, or even
integration with other IoT devices.

11. User-Friendly Interface :-

The technology can be tailored to suit the needs of different users, offering various customization
options for feedback and alerts, which can be critical for building a user-friendly product for visually
impaired individuals.

12. Cost-Effective :-
Despite its advanced capabilities, using components like the ESP32 and MPU6050 keeps the cost
relatively low, especially compared to specialized navigation devices. This makes the intelligent blind
stick more accessible to a broader audience.

7
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

LITERATURE REVIEW

Approach suggested for use of a blind smart stick without eyes: danger identification, artificial vision
and GPS real time support. With GPS, an artificial intelligence tool, danger recognition and an audio
circuit this system works. The reference stick is used for the indoor and outdoor use of the blind person.
In addition to a GPS navigation system, it has an obstacle detection system. The GPS navigation
system is ready to help people on their way. The hazard identification programs and GPS navigation
programs are processed using a raspberry pi. Audio feedbacks are provided to the consumer for
navigation and obstacle detection [1]. The camera in this project is on the individual's head; an
algorithm is used to spot obstacles. The platform actually uses ultra-sonic sensors to detect obstacles.
The GPS device allows you to hit the correct location. Once an obstacle is reached or we hit the speech
circuit of destination should trigger supplying a sort of expression. Subsystems are connected to a
microcontroller which executes the operations and schedules them. The machine is inexpensive. The
accuracy is big. Nevertheless, the difficulty of the concept is high [2]. A similar study for the unsightly
utilizes bursts echoes methodology to provide a warning sound when the hazards are found. The United
States Military uses this technique to monitor the submarines. The signals hit a hard surface and vary
from 21 KHz to 50 KHz. Nevertheless, a strong demand is met [3]. A further review took into account
the efficiency and flexibility of our low-cost design. A user friendly android platform has been created.
Blind people still keep alert at the buzzer duration and listen to noises. The sound search on Google
Maps is extremely accurate and confidential, not for finding places such as shutdown houses, but for
the detection of barriers. Thus, the software is affordable, quick to use and features a simple design
capable of integrating new technologies [4]. This research requires an ultra-sonic stick powered with
GPS. The stick has GPS which has a SD memory card and holds different locations. The person sets
the path by means of GPS to guide the individual to his / her destination [5]. To visually impaired
people, a smart stick has been built to help identify obstacles using infrared, ultrasonic and water
sensors. With the assistance of these sensors, obstacles within the distance of around 3 m can be
observed [6].The main purpose of this research paper is to provide a simple, economical and effective
solution for the visually impaired. The concept behind the stick's nature was to make it structurally

8
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

identical, i.e. compact, lightweight and easy to handle, yet provide the consumer with a constructive
perspective on the hazards along their walking path. The smart white cane is fitted with ultrasonic
sensors that detect holes, bumpers, downfalls, ramps, lying low and knee-level threats and even those
above the tail [7]. God endowed the human being with sense of vision is an important aspect of our
universe. Yet poor people who lack the capacity to imagine situations are aresome. The mentally
impaired have to meet other daily challenges. If they travel to an unknown place, the problem gets
worse. Only a few current search programs can provide immersive interaction via speech output for
people with visually impaired conditions. For both indoor and outdoor uses, none of these systems
work correctly [8]. In this function, the Blind stick is a revolutionary stick designed to improve
mobility for visually disabled people. This is an innovative, blind brace, which helps people with visual
disabilities move effectively using state-of - the-art technologies [9].The use of engineering practices
in medicine in all areas of biomedical research has significantly added results. The creation of
advanced supports to mentally disabled persons is one of the results of this program. This paper
describes, integrating and detecting the position and distance of the barrier through a network of
ultrasound sensors. Through incorporating warning light, the efficiency and reliability are also
enhanced [10]. This article presents the adaptive handlebar for visually impaired individuals, focused
on Arduino and ultrasonic sensors. According to the World Health Organization, there are around 37
million blind people worldwide. Those with visual impairments also rely on external assistance, which
can be provided as decision-making support systems by those, trained dogs or special electronic
instruments. We were therefore inspired to create an intelligent blind stick that would transcend these
constraints. In certain locations, we attached ultrasound sensors to the stick that fitted users with
ambient information via a buzzer toning system.

9
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

LIST OF HARDWARE COMPONENTS

The project includes a simple electronic system that includes the following components :-
Walking Stick, ESP32 Microcontroller, Ultrasonic Sensors, Neo 6M GPS Module, MPU6050
(Accelerometer + Gyroscope), LM317T Voltage Regulator, Potentiometer, 3.7V batteries, Buzzer,
Switch, DC Socket, Resistors, Capacitors, Connectors and Wiring, LEDs.

WORKING OF COMPONENTS

3.1 ULTRASONIC SENSORS

The ultrasonic sensor works on the principle of SONAR and RADAR system which is used to determine
the distance to an object. An ultrasonic sensor generates the high-frequency sound (ultrasound) waves.
When this ultrasound hits the object, it reflects as echo which is sensed by the receiver as shown in below
figure 1. By measuring the time required for the echo to reach to the receiver, we can calculate the distance.
This is the basic working principle of Ultrasonic module to measure distance.

10
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

HC-SR04 Ultrasonic Module Timing Diagram

1. We need to transmit trigger pulse of at least 1 us to the HC-SR04 Trig Pin.

2. HC-SR04 automatically sends Eight 40 kHz sound wave and wait for rising edge output at echo pin.
3. When rising edge capture occurs at Echo pin, start the Timer and wait for falling edge on Echo pin.
4. As soon as the falling edge is captured at the Echo pin, r ad the count of the Timer. This time count is
the time required by the sensor to detect an object and return back from an object.

Distance Calculation using HC-SR04

We know that, Distance = Speed x Time
The speed of sound waves is 343 m/s.
So,
𝟑𝟒𝟑 𝐗 𝐓𝐢𝐦𝐞 𝐨𝐟 𝐇𝐢𝐠𝐡 (𝐄𝐜𝐡𝐨) 𝐏𝐮𝐥𝐬𝐞
Total Distance = 𝟐

Total distance is divided by 2 because signal travels from HC-SR04 to object and returns to the module
HC-SR-04.

11
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

3.2 ESP32 MICROCONTROLLER

The ESP32 microcontroller, is a low-cost, low-power system on a chip (SoC) series designed for a variety
of IoT applications. It's notable for its dual-core capabilities, extensive connectivity options, and
flexibility. Here’s an overview of its primary features and how it works:

Core Components :-
• Processor :- The ESP32 features a Tensilica Xtensa LX6 microprocessor which can be configured as
either a single-core or dual-core processor, typically running at up to 240 MHz. The dual-core setup is
particularly beneficial for tasks that require concurrent operations — one core can handle
communication tasks, while the other manages user commands and processing.
• Memory :- It includes both internal memory and supports external storage:
• Internal :- It typically has around 520 KB of internal SRAM.
• External :- Supports interfaces for SD cards and can connect to external SPI flash (up to 16 MB).
• GPIO Pins :- The ESP32 provides a wide range of General Purpose Input/Output (GPIO) pins which
can be used for various functions like digital reading and writing, analog reading (ADC), PWM output,
and more.

12
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Connectivity :-
• Wi-Fi :- Integrated 802.11 b/g/n Wi-Fi transceiver, capable of operating as both a station and access
point with support for the typical Wi-Fi security protocols.
• Bluetooth :- Includes Bluetooth v4.2 BR/EDR and BLE (Bluetooth Low Energy) capabilities, making
it suitable for applications involving wireless data transfer and IoT connectivity.
• Other Peripherals :- Includes interfaces like SPI, I2C, I2S, UART, CAN, and more. This makes it
extremely versatile for connecting a wide range of sensors, actuators, and other peripherals.

Power Management :-
• Modes :- Features various power modes to optimize consumption for different scenarios, including
active mode, modem sleep, light sleep, and deep sleep, which are crucial for battery-powered
applications.

Programming :-
• Development Platforms :- The ESP32 can be programmed using the ESP-IDF (Espressif IoT
Development Framework), which provides a comprehensive set of tools and features for developing
sophisticated applications. Alternatively, it supports programming via Arduino IDE, which is
beginner-friendly and widely used in the maker community.
• Language Support :- Primarily programmed in C or C++, but there are frameworks available that
support scripting languages like Python (through MicroPython) and JavaScript.

13
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Pinout of ESP32 Board :-

14
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

3.3 NEO 6M GPS MODULE

The Neo 6M GPS module, manufactured by u-blox, is a popular choice for a wide variety of applications
that require satellite positioning and timing data. Here are the key features and details on how it generally
operates:

Key Features :-
• Support for Multiple GNSS Systems :- The Neo 6M supports GPS (USA), GLONASS (Russia),
QZSS (Japan), and SBAS (Satellite-based Augmentation Systems) which enhances the position
accuracy.
• High Sensitivity :- It can track up to 16 satellites at once, offering improved performance in
challenging environments like urban canyons.
• Update Rate :- The module can provide position updates up to 5 times per second (5 Hz).
• Low Power Consumption :- It's designed for power-sensitive devices, making it ideal for battery-
operated applications.
• AssistNow Online and Offline :- u-blox's AssistNow service helps reduce the time to first fix (TTFF)
and improves the acquisition sensitivity.
15
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Working Principle :-
• Connecting the Module :- The Neo 6M typically comes with a serial interface, and connections
generally include power supply (VCC), ground (GND), transmit (TX), receive (RX), and possibly a
pulse per second (PPS) output, which provides timing information.
• Configuration :- Upon powering up, the module starts acquiring satellite signals to determine its
position, speed, and time. Initial configuration might be required to set up parameters such as baud
rate, output message format (like NMEA, UBX binary protocol), and update rate. This is usually done
through u-blox’s u-center software or through sending specific commands via the serial interface.
• Receiving Data :- Once the Neo 6M locks onto the satellite signals, it starts outputting data such as
latitude, longitude, altitude, and time. This data is formatted in sentences if using the NMEA protocol,
which is readable and can be parsed by most GPS software.
• Antenna :- The performance of the Neo 6M heavily depends on the antenna quality and its placement.
A clear view of the sky improves accuracy and reduces the time to first fix.

Common Applications
• Drones and UAVs :- For navigation and control.
• Vehicle Tracking :- For fleet management and vehicle security.
• Personal Navigation Devices :- For hiking, cycling, and other outdoor activities.
• Time Synchronization :- For network timekeeping.

Troubleshooting
• No Fix :- Ensure the antenna has a clear view of the sky, check antenna connections, and make sure the
module is configured correctly.
• Serial Communication Issues :- Verify baud rate settings and cable connections. Also, check whether
the correct serial protocol settings are applied.
• Poor Accuracy :- Check for sources of interference nearby, consider using an external antenna if using
the built-in one doesn’t suffice.

16
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

3.4 MPU6050 (ACCELEROMETER + GYROSCOPE)

The MPU-6050 is a popular microelectromechanical systems (MEMS) device that combines a 3-axis
gyroscope and a 3-axis accelerometer on the same silicon die, along with an onboard Digital Motion
Processor™ (DMP). It is widely used in mobile devices, drones, and other types of motion-sensitive
devices due to its capability to track 3-dimensional motion. Here’s how it works:

Basic Components :-
• Gyroscope :- Measures angular velocity, indicating how fast the device is rotating around each of its
three physical axes (x, y, and z).
• Accelerometer :- Measures linear acceleration along the same three axes, detecting the amount and
direction of acceleration as it happens.

Working Principle :-

1. Sensing Motion :-
• Accelerometer :- It works on the principle of a mass attached to a spring which moves within a
sealed chamber. When the MPU-6050 is accelerated, the mass compresses or stretches the spring
in the opposite direction (according to Newton's law: every action has an equal and opposite

17
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

reaction). The displacement is then measured and converted into an acceleration reading. This can
be affected by gravity, providing not only motion but also orientation information relative to the
Earth's surface when stationary.
• Gyroscope :- It utilizes the Coriolis effect to measure angular velocity. Inside the gyroscope, a
vibrating element (often a tuning fork) is subjected to angular velocity about the sensitive axis,
causing a secondary vibration orthogonal to both the axis of rotation and the primary vibration
direction. This motion is detected and processed to produce a measure of angular velocity.

2. Signal Processing :-
• Each sensor (gyro and accelerometer) generates analog signals that represent motion. These signals
are converted into digital form using an Analog-to-Digital Converter (ADC).
• After conversion, the digital data can be processed by the device’s microprocessor or by the
onboard Digital Motion Processor (DMP) of the MPU-6050. The DMP can execute complex
algorithms to filter and combine the data from both sensors to determine more accurate orientation
and motion vectors.

3. Output :-
• The processed motion data is typically output through a digital interface such as I2C or SPI. The
data can be used for various applications, such as input for control systems, user interface
interactions, or orientation and gesture recognition.

4. Calibration :-
• To ensure accuracy, the MPU-6050 needs to be calibrated. Calibration involves adjusting the
sensor readings so that they match the expected output in a neutral position or under known
conditions. This process can account for sensor biases and scaling errors.

18
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Applications :-
• Mobile Phones :- To detect orientation changes (portrait/landscape), step detection, and motion-
based commands.
• Drones :- For stabilization and flight control by sensing tilt angles and movements.
• Gaming Devices :- To enhance interactive gameplay through motion control.
• Virtual Reality :- To track user movement and orientation to adjust the visual output accordingly.

The MPU-6050's ability to provide a six-axis integration of sensors with onboard processing makes it a
valuable component in many portable electronics and motion-based technologies, offering cost-effective
and compact motion sensing solutions.

19
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

3.5 LM317T VOLTAGE REGULATOR

LM317 Voltage Regulator :-

It is a three-terminal-adjustable-voltage regulator and is easy to use because to set the output voltage it
requires only two external resistors in the LM317 voltage regulator circuit. It is majorly used for local and
on-card regulation. If we connect a fixed resistor between the output and adjustment of the LM317 regulator,
then the LM317 circuit can be used as a precision current regulator.
LM317 Voltage Regulator Circuit :-

The three terminals are input pin, output pin, and adjustment pin. The LM317 circuit is shown in the below
figure is a typical configuration of the LM317 voltage regulator circuit diagram including the decoupling
capacitors. This LM317 circuit is capable to provide variable DC power supply with an output of 1A and
can be adjusted up to 30V. The circuit consists of a low-side resistor and high-side resistor connected in
series forming a resistive voltage divider which is a passive linear circuit used to produce an output voltage
which is a fraction of its input voltage.
Decoupling capacitors are used for decoupling or to prevent undesired coupling of one part of an electrical
circuit from another part. To avoid the effect of noise caused by some circuit elements over the remaining
elements of the circuit, the decoupling capacitors in the circuit are used for addressing the input noise and

20
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

output transients. A heat sink is used with the circuit to avoid the components getting overheated due to more
power dissipation.

Features :-

• It is capable of providing an excess current of 1.5A, hence it is conceptually considered as an

operational amplifier with an output voltage ranging from 1.2V to 37V.
• The LM317 voltage regulator circuit internally consists of thermal overload protection and short
circuit current limiting constant with temperature.
• It is available in two packages as 3-Lead Transistor Package and surface mount D2PAK-3.
• Stocking many fixed voltages can be eliminated.

Working of Voltage Regulator LM317 Circuit :-

The LM317 regulator can provide excess output current and hence with this capacity, it is conceptually
considered as an operational amplifier. The adjustment pin is the inverting input of the amplifier and to
produce a stable reference voltage of 1.25V, an internal bandgap reference voltage is used to set the non-
inverting input.
The output pin voltage can be continuously adjusted to a fixed amount using a resistive voltage divider
between the output and ground, which will configure the operational amplifier as a non-inverting amplifier.
A bandgap reference voltage is used to produce constant output voltage irrespective of the changes in supply
power. It is also called a temperature-independent reference voltage frequently used in integrated circuits.
21
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

The output voltage (ideally) of the LM317 voltage regulator circuit

𝑉𝑜𝑢𝑡 = 𝑉𝑟𝑒𝑓 * (1+ (𝑅𝐿 /𝑅𝐻 ))

An error term is added because some quiescent current flows from the adjustment pin of the device.
For achieving more stable output, the LM317 voltage regulator circuit diagram is designed such that to make
the quiescent current less than or equal to 100 micro-Ampere. Thus, in all practical cases, the error can be
ignored. If we replace the low-side resistor of the divider from the LM317 voltage regulator circuit diagram
with the load, then the resulting configuration of the LM317 regulator will regulate the current to a load.
Hence, this LM317 circuit can be treated as LM317 Current Regulator Circuit.
The output current is the voltage drop of reference voltage across the resistance RH and is given as Output
current in the ideal case is
𝑉𝑟𝑒𝑓
𝐼𝑜𝑢𝑡 = ⁄
𝑅𝐻

Considering the quiescent current, the output current is given as

𝐼𝑜𝑢𝑡 = (𝑉𝑟𝑒𝑓 /𝑅𝐻 ) + 𝐼𝑄

22
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

These linear voltage regulators LM317 and LM337 are frequently used in DC-DC converter applications.
Linear regulators naturally draw much current as they supply. The power produced due to the multiplication
of this current with the voltage difference between the input and output will be dissipated and wasted as heat.
Due to this, heat is required to be considered for significant design and leads to inefficiency. If the voltage
difference increases, then the power wasted will increase, and sometimes this dissipated waste power will
be more than the supplied power.
Even though this is insignificant, but as the linear voltage regulators with a few additional components is a
simple way to obtain stable voltage, so, we must accept this trade-off. The switching voltage regulators are
alternative for these linear regulators as these switching regulators are generally more efficient, but they
require more number of components to design and thus need more space.

23
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

3.6 POTENTIOMETER

A Potentiometer is a resistor with three terminals. Out of the three terminals – one is varying, whereas the
rest two are fixed. It is an electric component used to measure the unknown voltage by comparing it with
the known one, which can be drawn by a cell or any of the other supply sources. In other words, it is a
device used for measuring the EMF (electromotive force), and internal resistance of a given cell. A
Potentiometer can also be used to vary the resistance for measuring the potential differences. Although
the most common use of Potentiometer is to control volume in radios and other audio-related electronic
equipment, they are also helpful in manufacturing electronic components that provide a way of adjusting
circuits to obtain the correct outputs.

Characteristics of Potentiometer :-
Some significant characteristics of Potentiometer are as follows:
• As the potentiometers work on the comparative method rather than the deflection method for
determining the unknown voltages, these are very accurate.
• Potentiometers measure null or balance point that doesn't require the power for measurement. As no
current flows through pots when they are balanced, their working is free from the source resistance.

Potentiometer Working Principle :-

The potentiometer consists of L which is a long resistive wire and a battery of known EMF V, whose
voltage is known as driver cell voltage. Assume a primary circuit arrangement by connecting the two ends

24
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

of L to the battery terminals. One end of the primary circuit is connected to the cell whose EMF E is to be
measured, and the other end is connected to galvanometer G. This circuit is assumed to be a secondary
circuit.

The working principle depends on the potential across any portion of the wire which is directly
proportional to the length of the wire that has a uniform cross-sectional area and current flow is constant.
Following is the derivation used to explain the potentiometer working principle -:
𝑉 = 𝐼𝑅 (Ohm’s law)
Where, I: current, R: total resistance, V: voltage
ρL⁄ IρL⁄
𝑅= 𝐴 𝑉= 𝐴
Where, ⍴: resistivity, A: cross-sectional area

With ⍴ and A constant, I is constant too for a rheostat.

ρL⁄
𝐴=𝐾 𝑉 =𝐾𝐿
ρLx⁄
𝐸= 𝐴 = 𝐾x
Where, x: length of potentiometer wire, E: cell with Lower EMF, K: constant

The galvanometer G has null detection as the potential difference is equal to zero and there is no flow of
current. So, x is the length of the null point. Unknown EMF can be found by knowing x and K.
ρLx⁄
𝐸= 𝐴 = 𝐾x
Since the EMF has two cells, let 𝐿1 be the null point length of the first cell with EMF 𝐸1 and 𝐿2 be the null
point length of the second cell with EMF 𝐸2 .
𝐸1 𝐿
= 𝐿1
𝐸2 2

25
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Types of Potentiometer :-

Although the basic working principle and construction of all potentiometers are the same, they differ based
on the geometry of moving terminals. Most of the potentiometers have a wiper that rotates on an arc-
shaped resistive material. Nonetheless, in some other types of potentiometers, the wiper slides linearly on
a straight resistive strip. Based on the concept of the resistive strip, the potentiometers are of two types:
Rotary and Linear.

1. Rotary Potentiometer :- This sort of pot has a wiper that rotates across two terminals for varying the
resistance of the potentiometer. Depending upon the number of times one can turn or rotate the wiper,
rotary potentiometers can be classified in the below categories :-
• Single Turn :- The wiper takes only a single turn and often rotates just 3/4th of the complete
turn.
• Multi-Turn :- These potentiometers can make multiple rotations such as 5, 10, or more.
• Concentric Pot :- Here, two pots are adjusted together by using concentric shafts.
• Servo Pot :- This is a motorized pot used to adjust or control a servo motor automatically.

2. Linear Potentiometer :- Also known as slider, fader, or slide pot, these are potentiometers in which
the wiper slides on a straight resistive strip. These can further be classified in following categories :-
• Slide Pot :- Slide potentiometers are the high-quality pots mostly made from conductive plastics.
• Dual Slide Pot :- This sort of pot is the calibration of two slide pots in parallel.
• Multi-Turn Pot-: This type of potentiometer is constructed by using a spindle, which actuates the
slider.
• Motorised Fader :- The resistance and movement of the wiper in this pot are controlled by a
motor.

26
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Applications of Potentiometer
A potentiometer operates as a voltage divider and, therefore, has numerous applications. Some of the
applications of pots are as follows :-
• Audio Control :- Both rotary and linear Potentiometers are used to control audio devices for
changing and controlling the loudness and other audio-related signals.
• Television :- In televisions, the pots are used to control brightness, colour & contrast of the picture.
• Motion Control :- Pots are also used as servomechanisms, the position feedback devices used to
create a closed-loop control.
• Transducers :- Due to the aspect of giving large output signals, pots find applications in designing
displacement transducers

27
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

3.7 BUZZER & LEDs

• Buzzer :-

A buzzer is a small yet efficient component to ad sound features to our project/system. It is very small and
compact 2-pin structure hence can be easily used on breadboard, Perf Board and even on PCB which
makes this a widely used component in most electronic applications. This Buzzer can be used by simply
powering it using DC power supply ranging from 4V to 9V. A simple 9V battery can also be used, but it
is recommended to use a regulated +5V or +6V DC supply

• LEDs :-

A light-emitting diode (LED) is a semiconductor light source that emits light when current flows through
it. Electrons in the semiconductor recombine with electron holes, releasing energy in the form of photons.
The color of the light (corresponding to the energy of the photons) is determined by the energy required
for electrons to cross the band gap of the semiconductor. White light is obtained by using multiple
semiconductors or a layer of light-emitting phosphor on the semiconductor device.

28
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

LIST OF SOFTWARES USED

4.1 ARDUINO IDE

The Arduino Integrated Development Environment (IDE) is an open-source software that allows users
to write and upload code to Arduino boards. It's recommended for users with poor or no internet
connection because it allows you to write code and upload it to an Arduino board without an internet
connection. It's written in Java and is compatible with Windows, macOS, and Linux operating systems.

The Arduino IDE has four main areas :-

• Toolbar :- Buttons for common functions and menus
• Message area :- Provides feedback while saving and exporting, and displays errors
• Text editor :- For writing code
• Text console :- Displays text output by the IDE, including error messages

The Arduino IDE also has some options, including :-

• Verify/Compile :- Checks for errors in the code while compiling
• Upload :- Configures the code to the specified board through the port
• Upload Using Programmer :- Overrides the Bootloader that is present on the board
• Export compiled Binary :- Exports the compiled binary

29
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

4.2 BLYNK APP

Blynk was designed for the Internet of Things. It can control hardware remotely, it can display sensor
data, it can store data, visualize it and do many other things.

There are three major components in the platform :-

• Blynk App :- allows to you create amazing interfaces for your projects using various widgets we
provide.
• Blynk Server :- responsible for all the communications between the smartphone and hardware. You
can use our Blynk Cloud or run your private Blynk server locally. It’s opensource, could easily
handle thousands of devices and can even be launched on a Raspberry Pi.
• Blynk Libraries :- for all the popular hardware platforms - enable communication with the server
and process all the incoming and outgoing commands.

Now imagine: every time you press a Button in the Blynk app, the message travels to space the Blynk
Cloud, where it magically finds its way to your hardware. It works the same in the opposite direction and
everything happens in a blynk of an eye.

30
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

LOGIC & OPERATIONS

5.1 THEORY

The intelligent blind stick is a sophisticated aid designed to improve navigation and safety for visually
impaired individuals. The stick integrates several electronic components, each serving a specific function
to enhance user interaction with their environment. Below is an explanation of how these components
work together based on basic theoretical principles:

1. ESP32 Microcontroller :-
• Function :- Acts as the central processing unit of the stick, controlling operations, processing data
from sensors, and managing communications (Wi-Fi and Bluetooth).
• Theory :- The ESP32 is a powerful, low-cost system-on-a-chip microcontroller that supports a wide
range of functions including digital signal processing and wireless communication. It executes
software that integrates inputs from various sensors to provide coherent outputs like alerts.

2. MPU6050 (Gyroscope and Accelerometer) :-

• Function :- Monitors the orientation and acceleration of the stick, which helps in detecting the angle
at which the stick is held and the motion it is undergoing.
• Theory :- The MPU6050 combines a 3-axis gyroscope and a 3-axis accelerometer on a single chip.
It detects changes in rotational attributes and linear movement, providing data that can be used to
determine tilt, shake, rotation, and sudden accelerations or decelerations.

31
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

3. Neo 6M GPS Module :-

• Function :- Provides geographical location data to help navigate and track movement across
different environments.
• Theory :- The GPS module receives signals from satellites to calculate the device's precise
location coordinates on Earth. This location data is processed by the ESP32 to assist with
navigation to predetermined locations or to log travel routes.

4. Buzzer :-
• Function :- Acts as an auditory feedback mechanism to alert the user about obstacles, specific
landmarks, or other navigational cues.
• Theory :- The buzzer is controlled by the ESP32, which activates it based on certain triggers from
the ultrasonic sensors or other programmed alerts. It works by converting electrical signals into
sound, providing an intuitive alert mechanism that is easily perceived in noisy environments.

5. Ultrasonic Sensors :-
• Function :- Detects obstacles in the path of the user by using echolocation.
• Theory :- Ultrasonic sensors emit high-frequency sound waves that reflect off objects and return
to the sensor. The time it takes for the echo to return is used to calculate the distance to the object.
Typically, multiple sensors are used to cover different angles and distances, offering a
comprehensive obstacle detection system around the user.

6. LED Lights :-
• Function :- Provide visual feedback and alerts, which can be useful in low-light conditions for
users who have partial vision and for alerting bystanders.
• Theory :- LEDs (Light Emitting Diodes) are efficient light sources that can be toggled by the
ESP32 in response to specific sensor inputs or conditions. They can be programmed to flash under
certain conditions, signaling specific alerts or environmental conditions.

32
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Integration and Operation :-

In operation, the intelligent blind stick utilizes the ESP32 to continuously read inputs from the GPS
module, MPU6050, and ultrasonic sensors. Based on these inputs, the stick can determine the user's
location, detect nearby obstacles, and sense the stick’s orientation and movement. If an obstacle is detected
within a predefined distance, the microcontroller processes this information and triggers the buzzer and/or
LED lights to alert the user. Similarly, GPS data can be used to provide directional guidance through
connected headphones or a smartphone app.

Through such integration, the intelligent blind stick offers a reliable, real-time navigation tool that helps
visually impaired users understand their surroundings better and move through them safely and
independently.

33
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

5.2 CIRCUIT DIAGRAM OF THE SYSTEM

VARIABLE VOLTAGE REGULATOR CKT. :-

34
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

INTELEGENCE BLIND STICK MAIN CKT. :-

Simulation Link :- https://wokwi.com/projects/382990688178453505

35
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

5.3 FLOW CHART OF THE SYSTEM

S1 :- distance of the object from Sensor1

S2 :- distance of the object from Sensor2
S3 :- distance of the object from Sensor3

36
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

5.4 WORKING PRINCIPLE

Creating an intelligent blind stick involves integrating various sensors and modules with an ESP32
microcontroller to enhance the mobility and navigation capabilities for visually impaired users. Here's
how the various components work together in this setup :-

1. ESP32 Microcontroller :-
The ESP32 is the central unit controlling all other modules. It processes inputs from sensors, calculates
data, and manages outputs such as audio signals or haptic feedback. Its WiFi/Bluetooth capabilities
can also be used for remote monitoring or GPS tracking applications.

2. Ultrasonic Sensors :-
These sensors are used to detect obstacles. By emitting ultrasonic waves, they measure the distance to
an object based on the time it takes for the echo to return. The ESP32 processes this information to
determine the proximity of obstacles and can alert the user via sounds or vibrations.

3. Neo 6M GPS Module :-

The GPS module provides location data to the stick. This can help track the user’s location in real-
time, useful for emergency situations or navigation aids. The ESP32 uses this data to provide location-
specific information to the user if needed.

4. MPU6050 (Accelerometer + Gyroscope) :-

This module helps in determining the orientation and movement of the stick. It can detect tilts, shakes,
and general motion. This is particularly useful for gestures or specific movement-based commands
(like shaking the stick to receive a location update via audio).

5. LM317T Voltage Regulator :-

This component ensures that all parts of the circuit receive a stable and specific voltage, which is
crucial for maintaining the integrity and performance of sensitive electronics like the GPS and
microcontroller.

37
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

6. Potentiometer :-
Used for adjusting settings manually, such as the volume of the audio feedback or the sensitivity of
the sensors, according to the user's preference.

7. 3.7V Batteries :-
These provide the power supply for the whole system. The choice of 3.7V batteries is common for
portable

projects due to their balance of capacity and voltage, suitable for small electronic components.

8. Buzzer :-
Acts as an audio output device. The buzzer can provide different tones or patterns of sound as feedback
based on different sensor inputs. For instance, a closer obstacle might trigger a more urgent sound.

9. Switch, DC Socket :-
These are for power management—turning the device on or off and enabling charging or direct power
supply through the DC socket.

10. Resistors, Capacitors :-

These passive components help in smoothing out voltage fluctuations and managing current flow
within the circuit, ensuring the stability and longevity of the electronic components.

11. Connectors and Wiring :-

Essential for interconnecting all the components in a structured and organized manner, allowing
signals and power to be routed correctly throughout the device.

12. LEDs :-
LEDs can provide visual feedback such as power status or alerts. They can be particularly useful in a
training scenario where an instructor might need visual confirmation of what the user is experiencing.

38
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Working Principle :-

• When the stick is powered on, all modules start to function under the control of the ESP32.
• Ultrasonic sensors continuously scan the surroundings; the data collected is processed by the
ESP32 to detect obstacles.
• The GPS module provides geographic coordinates that can be used to guide the user or log their
paths.
• The MPU6050 detects stick movements, aiding in more nuanced feedback or control based on the
gestures.
• Outputs like the buzzer, LEDs, and perhaps vibration motors provide feedback based on sensor
inputs and settings adjusted by potentiometers.

By combining these technologies, the intelligent blind stick becomes a powerful aid for the visually
impaired, helping them navigate their environment more safely and effectively.

39
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

RESULTS & DISCUSSIONS

6.1 RESULTS

GPS MODULE WORKING :-

MPU6050 (ACCELEROMETER + GYROSCOPE) WORKING :-

40
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

ULTRASONIC SENSOR WORKING :-

41
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

6.2 DISCUSSION

Based on the theory, Visual impaired person or also known as vision impairment or vision loss, is a
decreased ability to see to a degree that causes problems not fixable by usual means, such as glasses Some
also include those who have a decreased ability to see because they do not have access to glasses or contact
lenses. Visual impairment is often defined as a best corrected visual acuity of worse than either 20/40 or
20/60. The term blindness is used for complete or nearly complete vision loss. Visual impairment may
cause people difficulties with normal daily activities such as driving, reading, socializing, and walking.
The most common causes of visual impairment globally are uncorrected refractive errors (43%), cataracts
(33%), and glaucoma (2%). Refractive errors include near sightedness, far-sightedness, presbyopia, and
astigmatism. Cataracts are the most common cause of blindness. Other disorders that may cause visual
problems include age-related macular degeneration, diabetic retinopathy, corneal clouding, childhood
blindness, and a number of infections. Visual impairment can also be caused by problems in the brain due
to stroke, premature birth, or trauma among others. These cases are known as cortical visual impairment.
Screening for vision problems in children may improve future vision and educational achievement.
Screening adults without symptoms is of uncertain benefit. Diagnosis is by an eye exam.
The World Health Organization (WHO) estimates that 80% of visual impairment is either preventable or
curable with treatment. This includes cataracts, the infections river blindness and trachoma, glaucoma,
diabetic retinopathy, uncorrected refractive errors, and some cases of childhood blindness. Many people
with significant visual impairment benefit from vision rehabilitation, changes in their environment, and
assistive devices.
As of 2015 there were 940 million people with some degree of vision loss. 246 million had low vision and
39 million were blind. The majority of people with poor vision are in the developing world and are over
the age of 50 years. Rates of visual impairment have decreased since the 1990s. Visual impairments have
considerable economic costs both directly due to the cost of treatment and indirectly due to decreased
ability to work.
The solution for visually impaired person to walking is by using ‘White Cane’. A white cane is a device
used by many people who are blind or visually impaired. A white cane primarily allows its user to scan
their surroundings for obstacles or orientation marks, but is also helpful for onlookers in identifying the
42
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

user as blind or visually impaired and taking appropriate care. The latter is the reason for the cane's white
color, which in many jurisdictions is mandatory.
While the white cane is commonly accepted as a "symbol of blindness", different countries still have
different rules concerning what constitutes a "cane for the blind". In the United Kingdom and also in
Malaysia, the white cane indicates that the individual has a visual impairment but normal hearing; with
red bands added, it indicates that the user is deafblind.
Based on our research, many visually impaired person suffer from serious visual impairments preventing
them from travelling independently. They need to use a wide range of tools and techniques to help them
in their mobility. One of these techniques is orientation and mobility specialist who helps the visually
impaired and blind people and trains them to move on their own independently and safely depending on
their other remaining senses.
Nowadays, as a parent or guardian, we don’t want our children or our care’s get into trouble when walking
at public or somewhere else. Vision loss has a significant impact on their lives for those who experience
it as well as on their families, their friends, and society. The complete loss or the deterioration of existing
eyesight can feel frightening and overwhelming, leaving those affected to wonder about their ability to
maintain their independence, pay for needed medical care, retain employment, and provide for themselves
and their families. It’s a high risk to live in a lifetime.
So we create a product that can help the visually impaired person to walk at the public independently. The
Intelligent Blind Stick function is to help the visually impaired person walk more easier and more
independent. Intelligent Blind Stick also can help this blind people to navigate routes and detect an
obstacle that surely can make their life routines easier. The user just need to use the blind the normal blind
stick , the different is , blind people can detect a obstacle faster and easily . Besides that , guardian or
parent also can locate the location of the stick user using Global Positioning System (GPS) and can
measure acceleration, orientation displacement of the stick using MPU6050 (Gyroscope and
Accelerometer). To assist in tracking the location, this Intelligent Blind Stick utilizes GPS to determine
the location and send it via SMS to locate the location of the user Intelligent Blind Stick.

43
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

FUTURE SCOPES & CONCLUSION

7.1 FUTURE SCOPES

The intelligent blind stick equipped with advanced technologies such as the ESP32 microcontroller,
MPU6050 sensor, GPS module, buzzer, ultrasonic sensors, and LED lights has already transformed
navigational assistance for the visually impaired. However, the potential for future enhancements and new
applications is vast. Here are some areas where future developments might occur :-

1. Integration of Advanced Sensing Technologies :-

• LIDAR Sensors :- Integration of Light Detection and Ranging (LIDAR) sensors could provide
more precise and detailed information about the environment, including better distance accuracy
and the ability to map environments in 3D.
• Infrared Sensors :- For better detection of transparent or highly reflective obstacles, which
ultrasonic sensors might miss.

2. Machine Learning and AI Enhancements :-

• Obstacle Recognition :- Advanced machine learning algorithms could enable the stick to not only
detect obstacles but also identify them, informing users about specific objects in their path.
• Predictive Analytics :- AI could predict potential hazards based on usual travel routes and past
interactions, improving safety and navigation.
• Personalized Navigation :- Machine learning could tailor navigational aids based on the user’s
habits, preferences, and abilities, enhancing the user experience.

44
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

3. Improved User Interface and Interaction :-

• Voice Control and Feedback :- Integration of voice recognition for controls and more natural,
conversational feedback would make the device more user-friendly and accessible.
• Haptic Feedback :- In addition to auditory and visual feedback, incorporating haptic feedback
(such as vibrations) could provide another layer of discreet and effective communication.

4. Connectivity and Smart Integration :-

• IoT Integration :- Enhancing the stick's connectivity capabilities to interface seamlessly with other
smart devices and infrastructure (like traffic signals and public transport systems) could further
assist in navigation.
• Remote Assistance :- By connecting the stick to a cloud-based service, real-time assistance from a
human operator could be provided, offering help in complex or emergency situations.

5. Enhanced GPS and Indoor Navigation :-

• Advanced GPS Features :- Incorporating more precise and multipath resistant GPS technologies
could improve outdoor navigation accuracy.
• Indoor Navigation Systems :- Utilizing Bluetooth beacons or Wi-Fi signals, the stick could provide
indoor navigation assistance, which is a challenge for current GPS-based systems.

6. Energy Efficiency and Sustainability :-

• Solar Charging :- Incorporating small solar panels could help in charging the device, reducing
battery dependency and enhancing sustainability.
• Long-lasting Battery Technologies :- Research into more efficient battery technologies could help
in extending the operational time of the device between charges.

45
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

7. Modular Design :-
• Customization :- Allowing users to add or remove modules based on specific needs (e.g., removing
the GPS module in a familiar area to save power) could make the device more versatile and
adaptable.

8. Robustness and Portability :-

• Material Innovations :- Using advanced materials could enhance the durability and reduce the
weight of the stick, making it more comfortable for long-term use.

These advancements can significantly broaden the capabilities of intelligent blind sticks, making them not
only tools for basic navigation but comprehensive, interactive systems that actively enhance the mobility
and quality of life for the visually impaired. With ongoing research and development, these future
enhancements could become realities, furthering the potential of assistive technologies.

46
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

7.2 CONCLUSION

The microcontroller-based intelligent blind man stick represents a significant advancement in assistive
technology for individuals with visual impairments. By integrating sensors, microcontrollers, and intelligent
algorithms, this device enhances the user's mobility and safety. The stick is equipped with obstacle detection
sensors, enabling it to identify and alert the user about obstacles in their path.
In conclusion, the intelligent blind man stick showcases the potential of technology to address real-world
challenges and improve the quality of life for visually impaired individuals. Its ability to detect and respond
to the surrounding environment demonstrates the power of innovation in creating inclusive solutions.

Key Conclusions :-
• Multi-Sensor Integration :- The combination of ultrasonic sensors for obstacle detection, the MPU6050
for motion and orientation tracking, and the GPS for precise location mapping provides a robust
framework for understanding the user's environment in real time.
• Interactive Feedback Systems :- With auditory feedback through a buzzer and visual cues via LED
lights, the stick actively communicates with the user about their immediate surroundings, helping to
avoid obstacles, navigate effectively, and alert them to important navigational cues.
• Smart Connectivity :- The ESP32’s ability to connect via Wi-Fi and Bluetooth facilitates additional
functionalities such as remote monitoring, data sharing with other devices, and the use of navigation
apps, further enhancing the user experience and safety.
• Customizability and Future Potential :- The open design of the ESP32 allows for future enhancements
and customization of the stick's functionality to meet diverse user needs and incorporate emerging
technologies.
• Empowering Users :- By providing more detailed and accurate information about their surroundings
and effectively communicating this information, the intelligent blind stick empowers visually impaired
users with greater confidence and independence in their daily activities.

47
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

A.1 PROJECT PICS

48
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

49
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

A.2 ARDUINO CODE

//Intelligent Blind man's Stick - with GPS (NEO-6M) & Gyroscope(MPU6050) assistance synchronized
with Blynk- IoT------//

// Ultrasonic sensors declarations

const int TRIG_PIN1 = 5;
const int ECHO_PIN1 = 18;
const int TRIG_PIN2 = 33;
const int ECHO_PIN2 = 32;
const int TRIG_PIN3 = 2;
const int ECHO_PIN3 = 4;

const int LED_PIN = 26;

const int BUZZER_PIN = 25;

//define sound speed in cm/uS

//define SOUND_SPEED 0.034
// Blynk synchronization
#define BLYNK_TEMPLATE_ID "TMPL3Q862KRXu"
#define BLYNK_TEMPLATE_NAME "GPS DATA"
#define BLYNK_AUTH_TOKEN "vZRcekL-b9lqLEkKIoGxalBaGHbv-HNZ"

#define BLYNK_PRINT Serial

#include <WiFi.h>
#include <WiFiClient.h>
#include <BlynkSimpleEsp32.h>
#include <TinyGPS++.h>
50
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

#define GPS_BAUDRATE 9600 // The default baudrate of NEO-6M is 9600

BlynkTimer timer;
Adafruit_MPU6050 mpu; //accelerometer object creation
TinyGPSPlus gps; // the TinyGPS++ object
float lati, longi, speed;
int sats, alti;
String loc;
// Your WiFi credentials.
// Set password to "" for open networks.
char auth[] = BLYNK_AUTH_TOKEN;
char ssid[] = "Bg_2.5";
char pass[] = "ultimate1234";

// required for conditioning the gyroscope...

int check( float []);
int m=0;
float temp[6];

void setup() {
Serial.begin(9600);
//Blynk and GPS setup
Serial2.begin(GPS_BAUDRATE);

51
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Blynk.begin(auth, ssid, pass);

Serial.println(F("ESP32 - GPS module"));

//timer.setInterval(5000L, checkGPS); // every 5s check if GPS is connected, only really needs to be done
once
//Ultrasonic sensor setup
pinMode(TRIG_PIN1, OUTPUT);
pinMode(ECHO_PIN1, INPUT);
pinMode(TRIG_PIN2, OUTPUT);
pinMode(ECHO_PIN2, INPUT);
pinMode(TRIG_PIN3, OUTPUT);
pinMode(ECHO_PIN3, INPUT);
pinMode(LED_PIN, OUTPUT);
pinMode(BUZZER_PIN, OUTPUT);
digitalWrite (LED_PIN, 1);
digitalWrite (BUZZER_PIN, 1);
// Gyroscope sensor setup
Serial.println("Adafruit MPU6050 test!");
// Try to initialize MPU 6050!
if (!mpu.begin()) {
Serial.println("Failed to find MPU6050 chip");
while (1) {
delay(10);
}
}
Serial.println("MPU6050 Found!");
// ACCELEROMETER PROPERTIES
mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
mpu.setGyroRange(MPU6050_RANGE_500_DEG);
52
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

mpu.setFilterBandwidth(MPU6050_BAND_5_HZ);

void checkGPS()
{
if (gps.charsProcessed() < 10)
{
Serial.println(F("No GPS detected: check wiring."));
Blynk.virtualWrite(V5, "GPS ERROR"); // Value Display widget on V3 if GPS not detected
}
}

void loop()
{

// Blynk server and GPS module code----

int hour, min, sec;

int pq;
String date_time;
int siren;
float X1,Y1,Z1, X2,Y2,Z2;
float arr[6];

//MPU6050 SENSOR RUNNING CODE----

53
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

sensors_event_t a, g, temp;
mpu.getEvent(&a, &g, &temp);
/* PRINT ACCELARATION VALUES */
X1= a.acceleration.x;
Y1= a.acceleration.y;
Z1= a.acceleration.z;
Serial.print("Acceleration X: ");
Serial.print(X1);
Serial.print(", Y: ");
Serial.print(Y1);
Serial.print(", Z: ");
Serial.print(Z1);
Serial.println(" m/s^2");

// ROTATION VALUES PRINT

X2 =g.gyro.x;
Y2 = g.gyro.y;
Z2= g.gyro.z;

Serial.print("Rotation X: ");
Serial.print(X2);
Serial.print(", Y: ");
Serial.print(Y2);
Serial.print(", Z: ");
Serial.print(Z2);
Serial.println(" rad/s");

54
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

//CONDITIONING FUNCTION CHECK()

arr[0]= X1;
arr[1]= Y1;
arr[2]= Z1;
arr[3]= X2;
arr[4]= Y2;
arr[5]= Z2;

siren = check(arr);
Serial.print(": OUTPUT : ");
Serial.println(siren);
if(siren>0)
Blynk.virtualWrite(V3, HIGH);
else
Blynk.virtualWrite(V3, LOW);

//GPS MODULE CODE....//

if (Serial2.available() > 0) {
if (gps.encode(Serial2.read())) {

if (gps.location.isValid()) {

sats = gps.satellites.value(); //get number of satellites

lati= gps.location.lat(); // latitude
longi= gps.location.lng(); // Longitude
loc ="https://maps.google.com/maps/place/"+ String(lati,5)+", "+ String(longi,5); //form a google map
URL

55
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Serial.println(loc);

}
else {
Serial.println(F("- location: INVALID"));
}

Serial.print(F("- speed: "));

if (gps.speed.isValid()) {
speed= 0.277778* gps.speed.kmph();
Serial.print(speed);
Serial.println(F("m/sec"));
} else {
Serial.println(F("INVALID"));
}
Serial.print(F("- altitude: "));
if (gps.altitude.isValid())
{
alti = gps.altitude.meters();
Serial.println(alti);
// altitude checking..

Serial.print(F("- GPS date&time: "));

if (gps.date.isValid() && gps.time.isValid()) {

56
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

hour =gps.time.hour();
min = gps.time.minute();
sec= gps.time.second();
// code for conversation of time to local IST
min = min+30; // local IST 5:30 extra
if (min> 59)
{
min= min-60;
hour = hour+1;
}
hour = hour+5; //local IST
if (hour> 23 )
hour = hour-24;
//checking for AM/PM
if (hour< 12) // AM
{
date_time = String(gps.date.day())+"/"+ String(gps.date.month())+"/"+String(gps.date.year())+" : "+
String(hour)+"."+ String (min)+"."+String(gps.time.second())+"AM " ;
}
else
date_time = String(gps.date.day())+"/"+ String(gps.date.month())+"/"+String(gps.date.year())+" : "+
String(hour)+"."+ String (min)+"."+String(gps.time.second())+"PM " ;

Serial.println(date_time);

} else {
Serial.println(F("INVALID"));
}
57
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Serial.println();
Blynk.virtualWrite(V1, String(lati, 4));
Blynk.virtualWrite(V2, String(longi, 4));
//Blynk.virtualWrite(V3, sats);
Blynk.virtualWrite(V4, speed);
Blynk.virtualWrite(V5, loc);

}
}

// if (millis() > 5000 && gps.charsProcessed() < 10)

// Serial.println(F("No GPS data received: check wiring"));

Blynk.run();
timer.run();

// Ultrasonic sensor running code------

long duration1, duration2, duration3;

long distance1, distance2, distance3;

// Sensor 1
digitalWrite(TRIG_PIN1, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN1, HIGH);
58
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

delayMicroseconds(10);
digitalWrite(TRIG_PIN1, LOW);
duration1 = pulseIn(ECHO_PIN1, HIGH);
distance1 = duration1 * 0.034 / 2;

// Sensor 2
digitalWrite(TRIG_PIN2, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN2, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN2, LOW);
duration2 = pulseIn(ECHO_PIN2, HIGH);
distance2 = duration2 * 0.034 / 2;

// Sensor 3
digitalWrite(TRIG_PIN3, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN3, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN3, LOW);
duration3 = pulseIn(ECHO_PIN3, HIGH);
distance3 = duration3 * 0.034 / 2;

/*Serial.print("Distance 1 : ");
Serial.print(distance1);
Serial.print(" cm\tDistance 2 : ");
Serial.print(distance2);
Serial.print(" cm\tDistance 3 : ");
Serial.print(distance3);
59
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Serial.println(" cm");
*/
// Map the distance to buzzer frequency
//int frequency = map(averageDistance, 5, 100, 500, 2000);
//frequency = constrain(frequency, 200, 2000);

// Check distances and activate buzzer if an obstacle is too close

if (distance1 <20 || distance2 <20 || distance3 <20)
{
// tone(BUZZER_PIN, frequency);
digitalWrite (BUZZER_PIN, 0);
delay(50);
digitalWrite (BUZZER_PIN,1);
digitalWrite(LED_PIN, 0);
delay(50);
digitalWrite (LED_PIN, 1);

else if ((distance1>= 20 && distance1<40)||(distance2>=20 && distance2 <40)|| (distance3 >= 20 &&
distance3 <40))
{
// tone(BUZZER_PIN, frequency);
digitalWrite (BUZZER_PIN, 0);
delay(100);
digitalWrite (BUZZER_PIN,1);
digitalWrite(LED_PIN, 0);
delay(100);
digitalWrite (LED_PIN, 1);
60
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

}
else if ((distance1>= 40 && distance1<70)||(distance2>=40 && distance2 <70)|| (distance3 >= 60 &&
distance3 <70))
{
digitalWrite (BUZZER_PIN, 0);
delay(500);
digitalWrite(BUZZER_PIN, 1);
digitalWrite (LED_PIN, 1);
}
else
digitalWrite(BUZZER_PIN, 1);
digitalWrite (LED_PIN, 1);
delay(500);
}

int check (float arr[])

{
if (m== 0)
{
for (int i =0; i<6; i++)
temp[i] = arr[i];
m=m+1;
return(0);

}
else
{

61
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

if (abs(arr[0]-temp[0])>8 || abs(arr[1]-temp[1])>8 || abs(arr[2]-temp[2])>8 )

{
if (abs(arr[3]-temp[3])>1.2 || abs(arr[4]-temp[4])>1.2 || abs(arr[5]-temp[5])>1.2)
{
for (int i =0; i<6; i++)
temp[i] = arr[i];
return (1);
}
return (0);

}
else
return (0);

62
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

REFERENCES

[1]. Nowak, Michal, et al. "Characteristics of refractive errors in a population of adults in the central region
of Poland." International journal of environmental research and public health 15.1 (2018): 90.
[2]. G. Gayathri, M. Vishnupriya, R. Nandhini and M. Banupriya “Smart Walking Stick for Visually
Impaired.” International Journal of Engineering and
[3]. R. Radhika, P.G. Pai, S. Rakshitha and R. Srinath “Implementation of Smart Stick for Obstacle
Detection and Navigation.” International Journal of Latest Research in Engineering and Technology,
vol. 2, number 5, pp. 45-50, 2016.
[4]. M.H. Mahmud, R. Saha and S. Islam “Smart Walking Stick – An Electronic Approach to Assist
Visually Disabled Persons.” International Journal of Scientific and Engineering Research, vol. 4,
number 10, pp. 111- 114, 2013.
[5]. A. Jose, G. George, M.R. Nair, M. J. Shilpa and M. B. Mathai “Voice Enabled Smart Walking Stick
for Visually Impaired.” International Journal of Advanced Research in Electrical, Electronics and
Instrumentation Engineering, vol. 5, pp. 80-85, 2016.
[6]. R. Sheth, S. Rajandekar, S. Laddha and R. Chaudhari “Smart White Cane – An Elegant and Economic
Walking Aid.” American Journal of Engineering Research. Vol. 3, number 10, pp. 84-89, 2014.
[7]. C.S. Kher, Y.A. Dabhade, S.K Kadam., S.D. Dhamdhere and A.V. Deshpande “An Intelligent
Walking Stick for the Blind.” International Journal of Engineering Research and General Science, vol.
3, number 1, pp. 1057- 1062, 2015.
[8]. B.G. Roopashree, B.S. Patil and B.R. Shruthi “Smart Electronic Stick for Visually Impaired.”
International Journal of Innovative Research in Science, Engineering and Technology, vol. 4, number
7, pp. 6389-6395, 2015.
[9]. O. O. Olakanmi, “A Multidimensional Walking Aid for Visually Impaired Using Ultrasonic Sensors
Network with Voice Guidance", International Journal of Intelligent Systems and Applications (IJISA),
vol. 6, number 8, pp. 53-59, 2014. DOI: 10.5815/ijisa.2014.08.06

[10]. E. J. Chukwunazo and G. M. Onengiye “Design and Implementation of Microcontroller Based

63
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Mobility Aid for Visually Impaired People.” International Journal of Science and Research. Vol. 5,
issue 6, pp. 680- 686, 2015.
[11]. G. Prasanthi and P. Tejaswitha “Sensor Assisted Stick for the Blind People.” Transactions on
Engineering and Sciences, vol. 3, number 1, pp. 12-16, 2015.
[12]. "Development of an Intelligent Guide-Stick for the Blind" Sung Jae Kang, et al, Proceeding of the
IEEE international Conference on Robotics & Automation, 2001

[13]. Amit Kumar Thakur, Rajesh Sing. Anita Gehlot, “Smart Blind Stick For Obstacle Detection and
Navigation System”, Journal of Emerging Technologies and Innovative Research (JETIR) Vol. 5,
October 2018 https://www.jetir.org
[14]. Oberoi. (2019). Blind engineer builds ‗ Smart‘ cane with Google Maps, bluetooth, and a sensory
device.
[15]. I. Satam, N.A. A. Mokhaled, and A. H. Ahmed. ―Design and implement smart blind stick,‖ Journal
of Advanced Research in Dynamical & Control Systems, vol. 11, no. 8, pp. 42-47, 2019.
[16]. S. A. N. Kudva, Shreedhar, N. K. Pratik and V. Poornesh, ―Smart blind stick, ‖ International
Journal Latest Trends Engineering Technology, vol. 9, no. 3, pp. 273–275, 2018.
[17]. W. Motwakil, I. Ahmed and E. M. Hussein, ―Design and implementation of eye stick for blind
people,‖ International Journal of Engineering, Applied and Management Sciences Paradigms, vol. 45,
no. 01, pp. 83– 87, 2017.
[18]. Pranmya Ratnaparkhi, “IoT based Band for Blind Peoples using ESP32 with GPS”, International
Research Journal of Engineering and Technology (IRJET), Volume: 08, Jan 2021 www.irjet.net
[19]. Astitva Awasthi, Gagan Sharma, Babeet, Shreya Agrawal, “Ultrasonic Blind Stick with GPS and
GSM Tracking” International Journal for Research in Applied Science & Engineering Technology
(IJRASET) Volume 10 Issue I Jan 2022 www.ijraset.com

[20]. F, A. NADA, M. A and S. MASHALI, ―Effective fast response smart stick for blind people,‖ in
64
 Department of Electrical Engineering
RCC INSTITUTE OF INFORMATION TECHNOLOGY
CANAL SOUTH ROAD, BELIAGHATA, KOLKATA – 700015, WEST BENGAL

Proc. International Conference on Advances in Bioinformatics and Environmental Engineering -

ICABEE 2015At, pp. 5– 11, 2018.
[21]. Anwar, ―A smart stick for assisting blind people,‖ Journal of Computer Engineering, vol. 19, no.
3, pp. 86– 90, 2017

[22]. M. H. A.Wahab, A. A. Talib, H. A. Kadir, A. Johari, N. Ahmad, R. Sidek and A. Abdul Mutalib,
―Smart cane: Assistive cane for visually-impaired people, ‖ International Journal of Computer
Science, vol. 8, no. 4, pp. 21–27, 2011.
[23]. https://www.researchgate.net/publication/272080365_The_Prevalence_and_Causes_of_Visual
Impairment_and_Blindness_Among_Older_Adults_in_the_City_of_Lodz_Poland
[24]. https://pdfs.semanticscholar.org/8919/29ae290dcacc84f0b0002ea101eac63c11e2.pdf
[25]. http://www.mecs-press.net/ijisa/ijisa-v6-n8/v6n8-6.html

65
THANK
YOU