IoT Based Detection Using Arduino Nano &

Ultrasonic Sensor
A Mini Project Report submitted in partial fulfilment of the requirements
For the Degree of

Bachelor of Technology
In
Computer Science and Engineering
Submitted by:
Parmit Singh (222050007004)
Razib Kro (222050007006)
Himujjal Bourah (222050007002)
Md. Anich Ahmed (202010007027)
Masud Ahmed Laskar (202010007026)

Under the Guidance of:

Mrs. Maram Smriti Boruah
Assistant Professor, Dept. of CSE

DEPARTMENT OF COMPUTER SCIENCE & ENGINEERING

BARAK VALLEY ENGINEERING COLLEGE

NIRALA, KARIMGANJ- 788701, ASSAM
June-2024
 DECLARATION
We, the students of Computer Science and Engineering, Barak Valley Engineering College
declare that the work entitled "IoT Based Detection Using Arduino Nano & Ultrasonic
Sensor " has been successfully completed under the guidance of Mrs. Maram Smriti
Boruah

, Computer Science and Engineering Department, Barak Valley Engineering College. The
report has completely been prepared without resorting to plagiarism. We have adhered to
all principles of the academic honesty and integrity. No falsified or fabricated data have
been presented in the report. Further the matter embodied in the project report has not been
submitted previously by anybody for the award of any degree or diploma to any university.

Parmit Singh (222050007004)

Razib Kro (222050007006)

Himujjal Borah (222050007002)

Md. Anich Ahmed (212010007027)

Masud Ahmed Laskar (212010007026)

Date: / /

Place: Karimganj
i
 Department of
Computer Science & Engineering
BARAK VALLEY ENGINEERING COLLEGE
(A Govt. of Assam Institution, Approved by AICTE, New Delhi, Govt. of
India), District: Karimganj, Assam, 788701

CERTIFICATE FROM SUPERVISOR

This is to certify that, the Mini Project/Thesis work embodied in this Report entitled, “IoT
Based Detection Using Arduino Nano & Ultrasonic Sensor” submitted by
Parmit Singh bearing Roll No. 222050007004
Razib Kro bearing Roll No. 222050007006
Himujjal Borah bearing Roll No. 222050007002
Md. Anich Ahmed bearing Roll No. 202010007027
Masud Ahmed Laskar bearing Roll No. 202010007026
of Bachelor of Technology in the Computer Science & Engineering Department is absolutely
based on their work under my supervision and is prepared only for their academic
requirements, not for any other purpose.

It is also certified that this work/thesis has not been submitted elsewhere for any
degree/diploma

Date: / / Mrs. Maram Smriti Boruah

Place: Nirala, Karimganj Assistant Professor, Dept. of CSE
Supervisor

ii
 Department of
Computer Science & Engineering
BARAK VALLEY ENGINEERING COLLEGE
(A Govt. of Assam Institution, Approved by AICTE, New Delhi, Govt. of
India), District: Karimganj, Assam, 788701

CERTIFICATE OF APPROVAL

Project Title: IoT Based Detection Using Arduino Nano & Ultrasonic Sensor
Project Category: Mini Project Report/ Thesis (Major Project)
Student Names:
1. Parmit Singh bearing Roll No. 222050007004
2. Razib Kro bearing Roll No. 222050007006
3. Himujjal Borah bearing Roll No.222050007002
4. Md. Anich Ahmed bearing Roll No. 202010007027
5. Masud Ahmed Laskar bearing Roll No. 202010007026

Name of the Department: Computer Science & Engineering

Name(s) of the Supervisor(s): Mrs. Maram Smriti Boruah
Academic Session: 2023-24
Recommendation: Yes

Mr. Gautam Nath Dr. Diganta Goswami

Head (i/c) Principal
Department of CSE Barak Valley Engineering College

iii
 ABSTRACT
The main aim of this paper is to assist blind persons without human need. Notably, the
visually impaired individuals convey a hand that stays with them at whatever point they need
help. Once in a while in any event, when they utilize this stick, there is no assurance that the
visually impaired people are protected and get in arriving at their destinations. There might
be a deterrent in their way yet isn’t experienced by the individual with the assistance of the
stick. Notably, the visually impaired individuals convey a hand that stays with them at
whatever point they need help. Once in a while in any event, when they utilize this stick,
there is no assurance that the visually impaired people are protected. There might be an
obstruction in their way however isn't experienced by the individual with the assistance of
the stick. Thus, the people may be injured if the obstacle is big enough or dangerous.

Thus, in this paper, a blind stick is designed and developed to assist the blind person and
provide them a clear path. The system consists of an ultrasonic sensor fixed to the user's
stick. While the user moves the stick in the forward direction, the ultrasonic sensor with
Arduino mega fixed to the stick tries to detect the obstacle if any present in the path. If the
sensor recognizes the obstacle, the output of the recipient triggers, and this change will be
identified by the microcontroller since the output of the receiver is given as inputs to the
microcontroller. This stick recognizes the article before the individual and offers a reaction
to the client either by vibrating or through the order. In this way, the individual can walk
with no fear. This gadget will be the best answer for defeat the troubles of the visually
impaired individual.

iv
 ACKNOWLEDGEMENT
I would like to express my sincere thanks to Mrs. Maram Smriti Boruah, Assistant
Professor, Department of Computer Science Engineering for his keen interest in guiding
me on such a progressive topic with great dedication, expertise and knowledge thought the
process of this research. Without her support and timely guidance, the completion of my
project would have seemed a far–fetched dream. In this respect, I find myself lucky to have
her as my Project guide. She has guided me not only with the subject matter, but also
taught me the proper style and techniques of working.

I thank all Technical, Non-Technical Staff of the Laboratory as well as office of Computer
Science Engineering Department BVEC, for supporting and encouraging me throughout
the research work.

Finally, I extend my sincere thanks to My Parents and Friends for constant support and
encouragement throughout the study

Name of student Signature of student

Parmit Singh ___________________________

Himujjal Borah ___________________________

Razib Kro ____________________________

Anish Ahmed ____________________________

Masud Ahmed Laskar ____________________________

v
 TABLE OF CONTENTS

Serial Contents Name Page

Number Number
1 Declaration i
2 Certificate from Supervisor ii
3 Certificate of Approval iii
4 Abstract iv
5 Acknowledgement v
6 Table of Content vi
7 List of Tables viii
8 List of Figures ix
9 Chapter 1: Introduction 1
10 1.1. What is Smart Blind Stick? 1
11 1.2. History of Smart Blind Sticks 1
12 1.3. System working 2
13 1.4. Benefits of Smart Blind Sticks 2
14 1.5. Platform used 3
15 1.6. Scope 3
16 1.7. Motivation 4
17 1.8. Objective 4
18 1.9. Organization of Report 4
19 Chapter 2: Literature Review 6
20 2.1. Details of Reviewed paper 6
21 2.2. Limitations of existing systems 8
2.2.1. Technological Limitations
2.2.2. Usability Limitations
2.2.3. Ethical and Privacy Limitations
2.2.4 Performance Limitations:
2.2.5 Maintenance Limitations:
22 2.3. Problem Statement 11
23 Chapter 3: Smart Blind Stick 12
24 3.1. Details of proposed system 12
25 3.2. Proposed system design 14
3.3 Design Features
3.4 System Operation
3.5 Functional Requirements
3.6 Non-Functional Requirements
vi
26 Chapter 4: Detailed Methodology 18
27 4.1. ER Diagram 18
28 4.2. Data flow diagram 18
29 4.3. Sequence diagram 19
30 4.4. Project Design 20
31 Chapter 5: Results and Outcomes 21
32 5.1 Mobility System 21
33 5.2. Snapshot of Project 22
36 Chapter 6: Conclusion and Future Scope 27
37 6.1. Conclusion 27
38 6.2. Future scope 27
39 References

LIST OF TABLES
vii
Table No Table Name Page No

1 Summary of Literature review 7

2 Transistor BD140 28

3 Strength of vibrator with respect to the distance 36

from object

4 Actual and sensed distance of ultrasonic sensor 39

and average errors

viii
 LIST OF FIGURES

Figure no Figure name Page no

1.1 Ultra sonic sensor 17

1.2 Ultrasonic Waves 19

1.3 Performance of HC-04 19

2.1 Arduino Nano 20

2.2 Arduino nano pin out 21

3 Buzzer 23

4 Mini Vibrating Motor 24

5 Battery 25

6 IR Receiver 26

7 Transistor BD140 27
8 Capicitor 10v 28

9 Registor 29

10 IR Led 29

11.1 Push down button 30

11.2 Push down button pin out 30

12 Battery 3.7 v 31
17 Graph between actual and 40
detected distance
18 Project Snapshots 41

ix
Chapter 1
INTRODUCTION
The 70 million people) furthermore, among them, about 10% are completely visually
impaired (around 7 million individuals) and 90% (around 63 million individuals) with low
vision. The primary issue with daze individuals is the way to explore their approach to any
place they need to go. Such individuals need help from others with great vision. As described
by WHO, 10% of the visually impaired have no functional eyesight at all to help them move
around without assistance and safely. This investigation proposes another method for
planning a shrewd stick to help outwardly disabled individuals that will give the route. The
standard and old-fashioned courses help for individuals with visual shortcomings are the
walking stick (similarly called white stick or stick) and guide canines which are depicted by
various imperfections.

1.1 What is Smart Blind Stick?

A smart blind stick, also known as an intelligent walking stick, is a sophisticated mobility
aid specifically designed to enhance the independence and safety of visually impaired
individuals. Unlike traditional white canes, which rely solely on tactile feedback, smart blind
sticks incorporate advanced technologies to provide comprehensive environmental
awareness and navigation assistance. At the core of a smart blind stick are various sensors,
such as ultrasonic, Arduino nano, infrared, or laser sensors, which detect obstacles in the
user’s path. These sensors scan the surroundings and alert the user to potential hazards
through different feedback mechanisms, including vibrations, auditory signals, or haptic
feedback. This real-time obstacle detection helps users avoid collisions and navigate more
confidently through complex environments.
Overall, smart blind sticks represent a significant advancement in assistive technology,
offering visually impaired individual greater autonomy, safety, and confidence in navigating
their daily lives.

1.2 History of Smart Blind Sticks

The evolution of the smart blind stick began with the traditional white cane in the early 20th
century, offering basic tactile feedback for navigation. The late 20th century saw the
introduction of basic ultrasonic sensors to enhance obstacle detection. Significant
advancements in the 2000s, driven by miniaturization of electronics, enabled the integration
of multiple sensors like infrared and ultrasonic, providing more precise feedback through
vibrations and auditory signals.

The 2010s marked a transformative period with the addition of GPS technology and
smartphone connectivity, allowing real-time navigation assistance and emergency alerts.
Voice assistance technology further improved usability, enabling hands-free operation.
Recent developments focus on enhancing sensor accuracy, battery life, and incorporating
artificial intelligence for continuous improvement.

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Smart Blind Stick
1.3 System working
A smart blind stick using an Arduino Nano, ultrasonic sensor, buzzer, motor, and battery
functions by integrating these components into a cohesive system. The battery powers the
Arduino Nano and all connected devices. The ultrasonic sensor, attached to the Arduino's
digital pins, emits ultrasonic waves that bounce back upon hitting an obstacle. The sensor's
receiver captures these returning waves, and the Arduino calculates the distance to the
obstacle based on the time taken for the echo to return. When the Arduino processes this
distance data and detects an obstacle within a predefined range (e.g., 60 cm), it activates the
alert systems. The Arduino sends a signal to the buzzer, causing it to emit a sound for
auditory feedback. Simultaneously, it activates the vibration motor to provide haptic
feedback. This dual feedback mechanism ensures that the user is promptly and effectively
alerted to nearby obstacles. The system continuously scans for obstacles, and the real-time
feedback from the buzzer and vibration motor helps visually impaired users navigate safely.
By combining these technologies, the smart blind stick significantly enhances the user’s
mobility and independence, offering a practical solution for real-time obstacle detection and
alerting.

1.4 Benefits of Smart Blind Sticks

• Obstacle Detection: The ultrasonic sensor can detect obstacles in the path of the
user and provide feedback through the buzzer. This helps the visually impaired
person navigate safely without bumping into objects.
• Real-time Feedback: The buzzer can provide real-time feedback to the user
about the distance and location of obstacles detected by the ultrasonic sensor,
allowing them to make informed decisions about their movement.
• Compact and Portable: Arduino Nano is a small and compact microcontroller
board, making the blind stick lightweight and portable for the user to carry around
easily.
• Customizable: The Arduino platform allows for easy customization of the blind
stick's functionality. Users or developers can modify the code to adjust
sensitivity, buzzer patterns, or add additional features as needed.
• Low Power Consumption: Arduino Nano is energy-efficient, and when
combined with an optimized code, the smart blind stick can operate for extended
periods on a single battery charge, providing longer usage time for the user.
• Affordable: Arduino Nano and the components used in the smart blind stick are
relatively inexpensive, making the technology accessible to a wide range of users,
including those with limited financial resources.
• Improved Independence: By providing real-time obstacle detection and
feedback, the smart blind stick enhances the user's independence and confidence
in navigating their surroundings, reducing the need for assistance from others.
• Safety: The smart blind stick increases the safety of visually impaired individuals
by helping them avoid collisions with obstacles, potential hazards, or uneven
terrain, thereby reducing the risk of accidents or injuries.

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Smart Blind Stick
 • Education and Skill Development: Building and using a smart blind stick with
Arduino can be an educational and empowering experience for individuals interested
in technology, electronics, and programming. It can help them develop valuable
skills in STEM (Science, Technology, Engineering, and Mathematics) fields.
• Community Support and Collaboration: The open-source nature of Arduino
encourages collaboration and sharing of ideas among developers, researchers, and
the visually impaired community, leading to continuous improvement and innovation
in assistive technologies like smart blind sticks.

1.5. Platform Used

The Arduino platform is an open-source hardware and software ecosystem designed for
building interactive electronic projects. At its core is a family of microcontroller boards,
including the popular Arduino Uno, Arduino Nano, and Arduino Mega, which are equipped
with various input and output pins for connecting sensors, actuators, and other electronic
components. The platform also includes an integrated development environment (IDE) that
simplifies the process of writing, compiling, and uploading code to the Arduino board.

1.6 Scope
The smart blind stick project aims to assist visually impaired individuals by detecting
obstacles in their path and providing feedback for safe navigation. It utilizes an Arduino
Nano microcontroller, ultrasonic sensor, buzzer, motor, and battery. The ultrasonic sensor
continuously measures distance, triggering the buzzer to emit warning sounds when
obstacles are detected within a preset range. Additionally, a motor may provide vibration
feedback to enhance awareness. Development involves hardware setup, software coding for
sensor interfacing and feedback logic, rigorous testing, and user feedback integration for
iterative improvements. The project emphasizes compactness, portability, and user comfort,
with attention to physical design for ease of use. The smart blind stick project embodies
innovation to empower visually impaired individuals, enhancing their mobility and
independence in navigating their surroundings safely.

1.7 Motivation
The motivation behind developing a smart blind stick stems from a deep-seated commitment
to fostering inclusivity and empowering individuals with visual impairments to navigate the
world with greater autonomy and safety. According to the World Health Organization, an
estimated 2.2 billion people worldwide experience vision impairment or blindness, with the
majority living in low-income settings where access to assistive technologies is limited. For
these individuals, everyday tasks that sighted individuals take for granted, such as walking
down the street or navigating crowded spaces, can present significant challenges and safety
concerns. The smart blind stick represents a fusion of technology and compassion, offering
a tangible solution to address these challenges and enhance the quality of life for visually
impaired individuals. By leveraging the capabilities of Arduino Nano, ultrasonic sensors,
and other components, this innovative device provides real-time detection of obstacles and
delivers timely feedback through auditory and potentially haptic means. This not only alerts
users to potential hazards in their path but also empowers them to make informed decisions

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Smart Blind Stick
about navigation, thereby reducing the risk of accidents and improving overall safety.
Ultimately, the motivation behind the smart blind stick project is rooted in the belief that
everyone, regardless of visual ability, deserves the opportunity to move through the world
with dignity, independence, and confidence. By harnessing the power of technology to
address real-world challenges, we can work towards a more inclusive and equitable society
where all individuals can thrive

1.8 Objectives
The principles target of this venture is to examine the outline of smart stick with the
ultrasonic sensor and global system for mobile for the visually impaired. To outline a smart
stick with various purposes, it can expand the expectation for everyday comforts of a visually
impaired individual. By planning this keen stick, visually impaired individuals can
distinguish deterrents all the more proficiently. The enhanced smart cane are to provide
visually impaired individuals with a reliable and user-friendly mobility aid that enhances
safety and independence. Specifically, the objectives include improving obstacle detection
accuracy, extending battery life, enhancing feedback mechanisms for clear and timely alerts,
ensuring durability and reliable performance in various environments, optimizing
ergonomics for comfortable use. By achieving these objectives, the smart cane aims to
empower users to navigate their surroundings with confidence, improving their overall
quality of life.

• To Enhance navigation using Ultra sonic sensor

• To Improve safety by calculating the distance of obstacles as well as feedback alert
• To provide another special feature if the user lost sticks it can track back by Pressing
a remote.
• To Enhance Durability that the device can withstand daily wear and tear, as well as
harsh environmental conditions.
1.9 Organisation of the Reports
Chapter 1: It Discussed about the project report, Application used and Objectives of our
project.
Chapter 2: It discusses about the literature survey of different sentiment analysing
technique and problem statement
Chapter 3: It discusses about the system design, tools and technologies that we used in
our project.
Chapter 4: It discusses about the detailed methodology which include flowchart,
figures, circuit diagram of our project.
Chapter 5: It discusses about the results and output of our project.
Chapter 6: It discusses about the conclusion and future scope.

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Smart Blind Stick
Chapter 2
LITERATURE SURVEY
In the chapter of Literature review it provides the basic understanding of IoT based Smart
Blind Stick and its research that is going on. Here the comprehensive study of technology
with the Smart Blind Stick has been done with the multiple research papers. The papers were
studied thoroughly and its insights were used to develop the Smart Blind Stick, while
studying this we get to know about the evolution of blind stick and IoT. In the rapidly
evolving landscape of human-computer interaction, the concept of IoT-based Smart Blind
Stick has emerged as a groundbreaking technological paradigm. At the intersection of
artificial intelligence, linguistics, and computer science, IoT-based Smart Blind Stick
represent a transformative shift in how we perceive, interact with, and utilize digital
assistants. This introduction provides a foundational overview of what IoT-based Smart
Blind Stick entail and sets the stage for a deeper exploration into the intricate workings IoT
technology.

2.1. Details of reviewed paper

Choi, S., & Han, J. (2020).1] Smart cane for visually impaired people with ultrasonic
sensors and gyroscopic sensor. IEEE access, 8, 47357-47365. This paper likely presents
a novel approach to designing a smart cane for visually impaired individuals. It utilizes
advanced technologies such as ultrasonic sensors and gyroscopic sensors to enhance the
functionality of the cane. The ultrasonic sensors can detect obstacles in the user's path by
emitting sound waves and analyzing the echoes, while the gyroscopic sensor helps in
maintaining balance and stability. By integrating these sensors into the cane, the device can
provide real-time feedback to the user, allowing them to navigate safely and independently.
The paper may discuss the design process, the technical specifications of the sensors, and
the results of testing the smart cane with visually impaired users.

Hoque, M. M., Hossain, M. A., Ahmed, S., Islam, M. M., & Mahmud, M. (2021). 2]
Smart blind stick: A comprehensive review. 2021 3rd international conference on
advances in science, engineering and robotics technology (ICASERT), 1-6. This paper
is likely a comprehensive review of existing smart blind stick technologies. It examines
various aspects of smart cane devices designed to assist visually impaired individuals. The
review may cover topics such as the evolution of smart cane technology, different sensing
mechanisms used in smart canes, navigation algorithms, user feedback systems, and the
effectiveness of these devices in real-world scenarios. Additionally, it may discuss
challenges and future directions in the field of assistive technology for the visually impaired.

Ingle, S. S., & Thosar, A. (2019). 3] Review on smart cane for visually impaired people.
International journal of engineering and advanced technology, 8(6), 1755-1759.This
paper likely provides a detailed review of smart cane technologies aimed at assisting visually
impaired individuals. It may discuss various types of smart canes available in the market or
proposed in research literature, including their features, functionalities, and usability. The

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Smart Blind Stick
review may also highlight advancements in sensor technologies, such as ultrasonic sensors,
infrared sensors, and camera-based systems, and how these technologies contribute to the
effectiveness of smart canes in aiding navigation and obstacle detection for the visually
impaired. Additionally, the paper may address challenges in the adoption of smart cane
technology and potential solutions to improve user experience and accessibility.

Table No. 1: Summary of Literature review

Serial no Paper Summary

1 Choi, S., & Han, J. (2020). Smart This paper presents a smart cane designed for
cane for visually impaired people visually impaired individuals, integrating
with ultrasonic sensors and ultrasonic sensors to detect obstacles and a
gyroscopic sensor. IEEE access, 8, gyroscopic sensor to help maintain balance.
47357-47365. The device provides real-time feedback,
enhancing safe and independent navigation.
The study details the design, technical
specifications, and testing results of the smart
cane.
2 Hoque, M. M., Hossain, M. A., This comprehensive review examines various
Ahmed, S., Islam, M. M., & smart blind stick technologies designed to
Mahmud, M. (2021). Smart blind assist visually impaired users. It covers the
stick: A comprehensive review. evolution of these devices, different sensing
2021 3rd international conference mechanisms, navigation algorithms, user
on advances in science, feedback systems, and their effectiveness. The
engineering and robotics paper also discusses the challenges and future
technology (ICASERT), 1-6. directions in assistive technology.
3 Ingle, S. S., & Thosar, A. (2019). This paper reviews different types of smart
Review on smart cane for visually canes for visually impaired individuals,
impaired people. International highlighting their features, functionalities, and
journal of engineering and effectiveness. It discusses sensor technology,
advanced technology, 8(6), 1755- navigation aids, and user interfaces, providing
1759. an overview of the market and research
literature on smart canes.

2.2. Limitations of existing systems.

Existing smart cane devices for visually impaired individuals offer significant advancements in
navigation assistance, but they still face several limitations. One primary limitation lies in their
reliance on technology, which can sometimes be prone to malfunctions or errors. For instance,
sensors may fail to accurately detect obstacles, leading
to potential hazards for the user. Additionally, the complex circuitry and electronic components used
in these devices increase their susceptibility to damage or breakdown,

Moreover, existing smart canes often have limited battery life, which can restrict their
usability, especially for extended outdoor activities. This dependency on power sources
poses a challenge for users who may face difficulties in recharging the device regularly.

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Furthermore, while these canes offer assistance in detecting obstacles, they may lack
robustness in providing accurate spatial awareness or detailed navigation guidance. This
limitation can result in users encountering difficulties in navigating complex environments
or unfamiliar surroundings. Another notable limitation is the cost associated with acquiring
and maintaining smart cane devices, which can be prohibitive for some users, particularly in
regions with limited access to resources or healthcare infrastructure. Additionally, despite
technological advancements, there may still be gaps in addressing the diverse needs and
preferences of visually impaired individuals, leading to potential usability challenges or
barriers to adoption. Overall, while existing smart cane devices represent significant progress
in assistive technology, addressing these limitations is crucial to enhancing their
effectiveness and accessibility for users.

2.2.1. Technological Limitations

The limitations of technology in smart cane devices for the visually impaired encompass
various challenges that hinder their effectiveness and accessibility. These include potential
malfunctions or inaccuracies in obstacle detection, which pose safety risks for users. Limited
battery life restricts the device's usability, especially in outdoor settings, necessitating
frequent recharging or battery replacement. Maintenance complexity and high costs
associated with advanced technology may create barriers to adoption, particularly for users
with limited resources. Moreover, while technology aids in obstacle detection, it may lack
robustness in providing detailed navigation guidance, leading to difficulties in navigating
complex environments. These limitations underscore the need for further advancements to
enhance reliability, accessibility, and effectiveness. Addressing these challenges through
innovation and research is essential to ensure that smart cane technology adequately meets
the diverse needs of visually impaired individuals, enabling them to navigate their
surroundings safely and independently.

2.2.2. Usability Limitations

• Battery Life: The battery life may be limited, requiring frequent recharging or
replacement, which can be inconvenient for users.
• Range and Accuracy of Ultrasonic Sensors: Ultrasonic sensors may have a
limited range and can sometimes provide inaccurate readings, especially in complex
or cluttered environments.
• Weather Sensitivity: The sensors and electronic components may not perform
well in adverse weather conditions such as heavy rain or extreme temperatures.
• Complexity of Repairs: Any malfunction in the circuitry or components requires
technical expertise to repair, which may not be readily available.
• Weight and Ergonomics: Adding multiple components like motors and batteries
can increase the weight of the cane, making it less comfortable for prolonged use.
• Cost: While components like the Arduino Nano are relatively inexpensive, the
overall cost of assembling and maintaining the smart blind stick may be prohibitive
for some users.

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 • Real-Time Processing: The Arduino Nano has limited processing power, which
might affect the speed and efficiency of real-time obstacle detection and feedback.
• Limited Feedback Mechanisms: Using only a buzzer for feedback may not be
sufficient for all users, particularly those who are hard of hearing. Additional
feedback mechanisms like vibrations might be necessary.
• Obstacle Differentiation: The system may have difficulty distinguishing between
different types of obstacles, such as stairs versus flat objects, which could lead to
misguidance.
• User Training: Users may require substantial training to effectively use the smart
blind stick, as they need to interpret the feedback correctly to navigate safely.

2.2.3. Ethical and Privacy Limitations

• Data Privacy: If the smart blind stick collects and stores data about the user's
movements and environment, there is a risk of this data being accessed or misused
by unauthorized parties.
• Consent: Users must be fully informed about what data is being collected and how
it is used, ensuring their consent is obtained transparently and ethically.
• Security: The device must have robust security measures to prevent hacking or
unauthorized access, which could compromise user safety and privacy.
• Dependence on Technology: Over-reliance on the smart stick could potentially
reduce the user's self-reliance and traditional navigation skills, leading to ethical
concerns about promoting dependency.
• Bias in Design: If the device is not designed inclusively, it may not cater to the
needs of all visually impaired individuals, potentially leading to unequal access to its
benefits.
• Autonomy: The smart cane should enhance, not diminish, the user's autonomy.
Ethical considerations must ensure that the technology does not override the user's
ability to make independent decisions.
• Responsibility and Liability: In case of a malfunction or incorrect obstacle
detection leading to an accident, it is crucial to clearly define responsibility and
liability for the user, developers, and manufacturers.
• Informed Use: Users should be provided with comprehensive information on the
capabilities and limitations of the device to avoid overestimating its safety features,
ensuring informed and safe use.

2.2.4 Performance Limitations:

• Sensor Range and Accuracy: Ultrasonic sensors can have limited range and may
struggle with accurate obstacle detection in certain conditions, such as reflective or
absorbent surfaces.
• Latency: There can be a delay between obstacle detection and feedback, which might
reduce the effectiveness of real-time navigation.

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 • Environmental Interference: Ultrasonic sensors might perform poorly in noisy
environments or in adverse weather conditions like rain, fog, or extreme
temperatures.
• Power Consumption: High power consumption of sensors and motors can drain the
battery quickly, limiting the operational time of the device.
• Processing Power: The Arduino Nano has limited processing capabilities, which
might affect the speed and complexity of tasks it can handle simultaneously.
• Feedback Mechanism: A simple buzzer may not provide sufficient or clear
feedback, especially in noisy environments, leading to potential misunderstandings
of the device's alerts.
• Physical Obstructions: The device may have difficulty detecting obstacles that are
very low or very high, outside the sensor's effective range.
• Obstacle Differentiation: The system may not differentiate between types of
obstacles, such as steps versus flat objects, potentially leading to navigation issues.
• Real-World Testing: Performance in real-world, diverse environments might be less
reliable compared to controlled testing conditions.

2.2.5 Maintenance Limitations:

• Battery Replacement: Frequent recharging or replacing of batteries can be
cumbersome, especially for users with limited access to power sources.
• Component Durability: Sensors and electronic components may degrade over time,
especially with regular outdoor use, requiring periodic replacements or repairs.
• Waterproofing: Ensuring the device is water-resistant or waterproof adds
complexity to its maintenance, as exposure to moisture can damage electronic
components.
• Technical Expertise: Maintenance and repair of the device may require technical
knowledge that the user may not have, leading to dependency on external assistance.
• Component Availability: Replacement parts for the device may not always be
readily available, leading to potential downtime when repairs are needed.
• Calibration: Sensors may require periodic calibration to maintain accuracy, adding
to the maintenance burden.
• Mechanical Wear: Moving parts, such as motors, are subject to wear and tear and
may require regular maintenance or replacement to ensure continued functionality.

2.3 Problem Statement

Visually impaired individuals have the potential to achieve greater independence and safety
through innovative mobility aids. Traditional white canes, while helpful, provide limited
assistance in detecting all obstacles, particularly those that are above ground level or beyond
the reach of the cane. There is a promising opportunity to enhance these traditional tools
with smart cane technologies that incorporate advanced sensors and electronics to

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significantly improve navigation and obstacle detections. By integrating ultrasonic sensors,
gyroscopic sensors, and other technologies, smart canes can offer real-time feedback to
users, alerting them to obstacles and helping them navigate their environments more
effectively. However, current smart cane designs face challenges that need to be addressed
to maximize their benefits. One area for improvement is enhancing the reliability and
accuracy of sensor data. Ultrasonic sensors must be optimized to perform well in diverse
environments, including complex, cluttered, or noisy settings. Extending the range and
precision of these sensors can provide users with earlier and more accurate warnings about
potential obstacles.

Battery life is another critical aspect that, when improved, can make these devices more
convenient and dependable for daily use. Advances in battery technology and power
management can extend the operational time of smart canes, reducing the need for frequent
recharging. Additionally, enhancing the robustness and durability of the device components,
such as making them more resistant to weather conditions and wear, can ensure long-term
reliability and reduce maintenance requirements. Improved feedback mechanisms, like
incorporating vibration alerts alongside audio cues, can make the device more effective in
various environments.

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Chapter 3
Smart Blind Stick
The venture scope comprises of two sections, equipment and programming outline. For
equipment part, it for the most part comprises of an ultrasonic sensor, global system for
mobile, vibrator, and Arduino Nano. For programming part, C programming dialect is
utilized to control the equipment. Arduino IDE application is used for implementing the
Arduino Code

3.1. Details of Proposed system

The purpose of the methods employed in developing an enhanced smart cane for visually
impaired individuals is to systematically address the existing limitations of current designs
and create a device that significantly improves mobility and safety. By utilizing a
combination of advanced sensors, efficient power management, and robust materials, the
methods aim to deliver a smart cane that is reliable, user-friendly, and accessible. One of the
primary methods involves integrating high-precision ultrasonic sensors to enhance obstacle
detection accuracy and provide better spatial awareness. These sensors will be calibrated and
tested in various environments to ensure they perform well in both simple and complex
settings, including those with environmental challenges like noise or adverse weather
conditions. To address battery life limitations, methods will include optimizing the power
consumption of the device through efficient circuitry design and the use of advanced battery
technologies. This ensures longer operational times, reducing the frequency of recharging
and enhancing user convenience. Feedback mechanisms will be diversified to include both
audio and vibration alerts, providing clear and effective feedback in different environmental
conditions. This multi-modal approach ensures that users receive timely and comprehensible
alerts, regardless of background noise levels.

The design process will prioritize the use of durable materials and construction techniques
to enhance the device's robustness, ensuring it can withstand daily use and harsh
environmental conditions. Additionally, methods will focus on making the device easy to
maintain and repair, thereby reducing the need for technical expertise and ensuring long-
term usability. To address ethical and privacy concerns, the methods will include
implementing strong data security measures and ensuring transparent data handling
practices. This builds user trust and ensures compliance with privacy standards.

3.2 Proposed system design

The enhanced smart cane for visually impaired individuals encompasses the integration of
advanced sensors, feedback mechanisms, and user-friendly features to create a reliable and
effective mobility aid. Here's an overview of the proposed system design:

• Ultrasonic Sensors: High-precision ultrasonic sensors are strategically positioned

on the smart cane to detect obstacles in the user's path. These sensors provide

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 accurate distance measurements and are capable of detecting obstacles within a
specified range.
• Arduino Nano: The Arduino Nano serves as the microcontroller for the smart cane,
processing sensor data and controlling feedback mechanisms. It is programmed to
provide real-time audio and vibration alerts to the user based on obstacle detection.
• Buzzer and Vibration Motor: The smart cane is equipped with both a buzzer and a
vibration motor to provide multi-modal feedback to the user. The buzzer emits
audible alerts, while the vibration motor provides tactile feedback, ensuring clear and
effective communication in various environments.
• Battery: A rechargeable battery powers the smart cane, providing extended
operational time for uninterrupted use. Efficient power management techniques are
implemented to maximize battery life and minimize the need for frequent recharging.

3.3 Design Features:

• Ergonomic Handle: The smart cane is designed with an ergonomic handle for
comfortable grip and ease of use, minimizing user fatigue during prolonged use.
• Portable: The smart blind stick is easy to carry and light weight
• Intuitive Controls: Simple and intuitive controls are integrated into the smart cane,
allowing users to easily adjust settings and modes as needed.
• Replaceable Tip: The smart cane will be designed with a replaceable tip at the end,
allowing users to easily swap out worn or damaged tips for new ones. This feature
extends the lifespan of the cane and ensures consistent performance over time.

3.4 System Operation:

• Obstacle Detection: The ultrasonic sensors continuously scan the surrounding
environment for obstacles, providing real-time distance measurements to the
Arduino Nano.
• Feedback Mechanisms: Based on sensor data, the Arduino Nano triggers audio
alerts through the buzzer and tactile feedback through the vibration motor, alerting
the user to the presence of obstacles.
• User Interaction: Users can interact with the smart cane through simple controls,
such as buttons or switches, to adjust off and on the smart blind stick according to
their preferences.

3.5 Functional Requirements:

• Obstacle Detection: The smart cane must accurately detect obstacles in the user's
path using ultrasonic sensors.
• Feedback Mechanisms: It should provide real-time feedback to the user through
both audio (buzzer) and tactile (vibration) alerts when obstacles are detected.
• Navigation Assistance: The smart cane should assist users in navigating around
obstacles by providing clear feedback on obstacle proximity and direction.
• Adjustable Settings: Users should be able to adjust the sensitivity of obstacle
detection and the intensity of feedback alerts based on their preferences.

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 • Battery Management: The smart cane should have efficient power management to
optimize battery life and provide low-battery alerts when necessary.
• Durability: The device must be durable and able to withstand daily use, including
outdoor environments and occasional impacts.
• User Interface: The smart cane should have a user-friendly interface with intuitive
controls for adjusting modes.

3.6 Non-Functional Requirements:

• Reliability: The smart cane must consistently perform its functions without frequent
malfunctions or false alarms.
• Usability: It should be easy to use, with clear feedback alerts that users can quickly
understand and interpret.
• Portability: The device should be lightweight and portable, allowing users to carry
it comfortably during daily activities.
• Accessibility: The smart cane should be accessible to users of varying ages, abilities,
and technological proficiency.
• Safety: The device should prioritize user safety by providing accurate obstacle
detection and reliable feedback alerts.
• Water Resistance: The smart cane should be resistant to water and moisture,
ensuring reliability in different weather conditions.
• Privacy: Any data collected by the smart cane should be handled securely and in
compliance with privacy regulations, respecting user confidentiality.
• Affordability: The overall cost of the smart cane should be reasonable and
affordable for users, ensuring accessibility to those with limited financial resources.

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Chapter 4
METHODOLOGY
To developed an enhanced smart cane for visually impaired individuals involves a
systematic approach that integrates various stages of design, prototyping, testing, and
refinement. It begins with a thorough analysis of the functional, non-functional, technical,
and user requirements, ensuring a clear understanding of the project goals and constraints.
Based on these requirements, a detailed design of the smart cane is developed, considering
factors such as components, sensors, feedback mechanisms, ergonomics, durability, and
user-friendliness. Once the design is finalized, a prototype of the smart cane is constructed
using readily available components such as Arduino Nano, ultrasonic sensors, buzzer, motor,
and battery. This prototype serves as a proof of concept and allows for early testing and
iteration. Upon validation of the prototype, the full implementation of the smart cane begins,
involving assembling the components, integrating the sensors and feedback mechanisms,
and programming the microcontroller to provide real-time feedback based on sensor data.
The implemented smart cane undergoes rigorous testing to evaluate its performance,
reliability, and usability. Testing includes both laboratory testing under controlled conditions
and field testing in real-world environments, including indoor and outdoor settings.

Feedback from testing is collected and analyzed to identify any issues or areas for
improvement. Based on this feedback, iterative refinements are made to the design,
hardware, or software to address identified shortcomings and enhance overall performance.
Comprehensive user training materials or programs are developed to help visually impaired
individuals effectively use the smart cane. Once finalized, the smart cane is deployed for
real-world use, with ongoing support and maintenance provided as needed.

4.1 White Cane

It is a long stick that is utilized by visually impaired individuals for portability reason and to
know surroundings they are going through. The motivation behind planning white stick is
for a man to recognize the hurdle. It can be utilized to recognize openings, staircase, pit, and
slant of the ground or any items around a man. When utilizing the white stick, one end of
the stick is hold by the person and the flip side is touching the ground. A visually impaired
individual will swing the stick and moves on the path he or she tapped. This helps blind
person to maintain a distance from obstacle which is harmful for the blind person.

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4.2 Ultrasonic Sensor
The HC-SR04 is a popular ultrasonic sensor used for distance measurement. It works by
emitting an ultrasonic pulse and measuring the time it takes for the echo to return. Ultrasonic
sensors are used for detecting the objects in front of them and it responds in terms of distance
measured. Frequency is used by the ultrasonic sensor to detect objects. The frequency range
for ultrasonic sensor is 20 kHz to 100 kHz to detect the object. It is frequently used in
extensive noise level, spill identification and testing of materials. It is very much used
because of its simple design, economic and efficient. Object can be detected by using the
ultrasonic sensor. A transducer is actualized with profoundly directional ultrasonic range
sensor to identify things in the environment. Figure 2.1 demonstrates the function of
ultrasonic sensor to transmit and get sonar to identify things. The ultrasonic sensor comprises
of counter mass, wave maker, radiation area and amplifier. Ultrasonic waves weakened more
frequently, which improves it turn into for directivity than different sorts of waves. The
transmitter of ultrasonic sensor can be composed utilizing Gallego Juarez's ventured plate
where it comprises of wave era, intensification, and radiation while the amplifier is utilized
as a recipient.

Fig 1.1-Ultrasonic Sensor

4.2.1 Components:
• Trigger Pin: This pin is used to initiate the measurement by sending a high-
frequency ultrasonic pulse.
• Echo Pin: This pin outputs a signal when the ultrasonic pulse is received
back (i.e., the echo).
• VCC Pin: This is the power supply pin, typically connected to 5V.
• GND Pin: This is the ground pin, connected to the ground of the system.

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4.2.2 Working Principle
• Initialization:
The trigger pin is set high for a short period (usually 10 microseconds).
This causes the sensor to emit an 8-cycle burst of ultrasonic pulses at 40
kHz.
• Propagation:
The ultrasonic waves travel through the air and, if they encounter an object,
they are reflected back to the sensor.
• Reception:
The sensor waits for the echo. Once the echo is detected, the echo pin goes
high.
The time interval between sending the pulse and receiving the echo is
measured.
• Distance Calculation:
The distance to the object is calculated using the formula:
Distance=Time × Speed of Sound2Distance=2Time×Speed of Sound
The factor of 2 accounts for the fact that the pulse travels to the object and
back. The speed of sound is approximately 343 meters per second in air at
room temperature.
Example Calculation:
Suppose the time measured from sending the pulse to receiving the echo is
1millisecond(1000 microseconds):
Convert time to seconds: 𝑡=1000×10−6t=1000×10−6 seconds.
Calculate the distance:
Distance=1000×10−6×3432≈0.1715 meters
Distance=21000×10−6×343≈0.1715 meters or 17.15 centimetres.

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 Fig 1.2: Ultrasonic Waves

4.2.3 Performances of HC-SR04

HC-SR04 ultrasonic sensor is used in my project. Sonar is used to find out the distance from
an object. It can sense the object up to the distance of 5cm to 500cm in angle of 30 degrees.
Sensitivity of the sensor may be up to 10mm. The performance of HC-SR04 is shown in
Figure.

Figure 1.3: 301 degree1angle performance of HC-SR04

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4.3 Arduino Nano
The Arduino Nano is a compact microcontroller board based on the ATmega328, ideal for
space-constrained projects and prototyping. It operates at 5V and has 14 digital I/O pins (6
of which can be used as PWM outputs), 8 analog inputs, and a 16 MHz clock speed. It offers
32 KB of flash memory (with 2 KB used by the bootloader), 2 KB of SRAM, and 1 KB of
EEPROM. Measuring 18 x 45 mm, the Nano is breadboard-friendly and can be powered via
a mini-USB connection or an external power source (7-12V through the VIN pin). It includes
a USB-to-serial converter (FTDI FT232RL or CH340 chip) for easy programming via the
Arduino IDE. The Nano supports serial communication through its RX and TX pins, as well
as I2C and SPI interfaces, making it versatile for various connectivity needs. Its small size
and comprehensive functionality make it suitable for a wide range of applications, from
educational projects to embedded systems and DIY electronics. Example projects with the
Nano include blinking an LED, reading temperature sensors, controlling motors, and
interfacing with various sensors and actuators. Its ease of use, affordability, and robust
community support make the Arduino Nano a popular choice for both beginners and
experienced developers looking to create compact and efficient electronic systems.

Fig.2.1 Arduino Nano

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 Fig 2.2. Arduino Nano pin out

4.3.1 Arduino nano pinout

Arduino nano pin configuration is shown below and each pin functionality is discussed
below.
Power Pin (Vin, 3.3V, 5V, GND): These pins are power pins
• Vin is the input voltage of the board, and it is used when an external power
source is used from 7V to 12V.

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 • 5V is the regulated power supply voltage of the nano board and it is used to give
the supply to the board as well as components.
• 3.3V is the minimum voltage which is generated from the voltage regulator on the
board.
• GND is the ground pin of the board
RST Pin (Reset): This pin is used to reset the microcontroller
Analog Pins (A0-A7): These pins are used to calculate the analog voltage of the board
within the range of 0V to 5V
I/O Pins (Digital Pins from D0 – D13): These pins are used as an i/p otherwise o/p pins.
0V & 5V
Serial Pins (Tx, Rx): These pins are used to transmit & receive TTL serial data.
External Interrupts (2, 3): These pins are used to activate an interrupt.
PWM (3, 5, 6, 9, 11): These pins are used to provide 8-bit of PWM output.
SPI (10, 11, 12, & 13): These pins are used for supporting SPI communication.
Inbuilt LED (13): This pin is used to activate the LED.
IIC (A4, A5): These pins are used for supporting TWI communication.
AREF: This pin is used to give reference voltage to the input voltage

4.5 Arduino features

• ATmega328P Microcontroller is from 8-bit AVR family
• Operating voltage is 5V
• Input voltage (Vin) is 7V to 12V
• Input/Output Pins are 22
• Analog i/p pins are 6 from A0 to A5
• Digital pins are 14
• Power consumption is 19 mA
• I/O pins DC Current is 40 mA
• Flash memory is 32 KB
• SRAM is 2 KB
• EEPROM is 1 KB
• CLK speed is 16 MHz
• Weight-7g
• Size of the printed circuit board is 18 X 45mm
• Supports three communications like SPI, IIC, & USART

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4.6 Buzzer
An audio signaling device like a beeper or buzzer may be electromechanical
or piezoelectric or mechanical type. The main function of this is to convert the signal from
audio to sound. Generally, it is powered through DC voltage and used in timers, alarm
devices, printers, alarms, computers, etc. Based on the various designs, it can generate
different sounds like alarm, music, bell & siren. The pin configuration of the buzzer is
shown below. It includes two pins namely positive and negative. The positive terminal of
this is represented with the ‘+’ symbol or a longer terminal. This terminal is powered through
6Volts whereas the negative terminal is represented with the ‘-‘ symbol or short terminal and
it is connected to the GND terminal.

Fig 3. Buzzer

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4.7 Mini Vibration motor
A mini vibration motor is a compact device that generates vibrations through an eccentric
rotating mass (ERM) or linear resonant actuator (LRA). These motors are commonly used
in handheld devices like smartphones, wearables, and gaming controllers to provide haptic
feedback.
• Diameter: 4mm
• length: 8mm
• Voltage range: 1-3v
• Voltage Range: DC 2.5-4V.
• Motor Diameter: 10 mm.
• Thickness: 3.4 mm.
• Min. Rated Speed: 9000RPM

Fig 4. Mini Vibration Motor

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4.8 Battery
A 9V lithium-ion battery is a type of rechargeable battery that is commonly used in various
electronic devices such as smoke detectors, multimeters, and wireless microphones.

Fig 5. 9v Battery

5.10.0 Remote Sensing Components

a) IR Receiver: Detects infrared signals from the TV remote.
b) Transistor BD140:Amplifies the signal.
c) 10µFCapacitor: Smooths the signal.
d) Battery: Powers the circuit.
e) Resistors: Controls the current flow.
f) TV Remote: Sends the infrared signal.

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5.10.1 IR Receiver-
The Infrared Receiver is used to receive infrared signals and also used for remote control
detection. There is an IR detector on the Infrared Receiver which is used to get the infrared
light emitted by the Infrared Emitter. The IR detector have a demodulator inside that looks
for modulated IR at 38 KHz. The Infrared Receiver can receive signals well within 10
meters. If more than 10 meters, the receiver may not get the signals. We often use the two
Groves-the Infrared Receiver and the Grove - Infrared Emitter to work together.

Fig 6: IR receiver

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5.10.2 Transistor BD140
The BD140 is a medium power bipolar junction PNP transistor that is mainly used for
audio amplifiers and drivers utilizing complementary or quasi-complementary circuits. It
is made up of silicon and comes in the TO-126 package. The PNP types are the BD136
and BD140, and the complementary NPN types are the BD135 and BD139.
The BD140 can handle current up to 1.5A, so it can drive loads up to 1.5A in electronic
circuits like high power LEDs, relays, motors, etc. The BD140 also has a high collector -
emitter and collector-base voltage of 80 V. Its minimum saturation voltage is -
0.5V. Moreover, the collector dissipation of BD140 is around 12.5 W hence it is ideal to
be used in audio amplifier circuits.

Fig 7: Transistor BD140

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Table no 2: Transistor BD140

Pin No. Pin Name Description

1 Base Control the biasing of the transistor
2 Collector Where the current flows out
3 Emitter Where the current flows in

5.10.3 Capacitor 10v-

Capacitor, device for storing electrical energy, consisting of two conductors in
close proximity and insulated from each other. A simple example of such a storage device is
the parallel-plate capacitor. If positive charges with total charge +Q are deposited on one of
the conductors and an equal amount of negative charge −Q is deposited on the second
conductor, the capacitor is said to have a charge Q.

Fig 8: Capacitor 10v

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5.10.4 Resistor
Resistor is defined as a passive electrical component with two terminals that are used for
either limiting or regulating the flow of electric current in electrical circuits. The main
purpose of resistor is to reduce the current flow and to lower the voltage in any particular
portion of the circuit. It is made of copper wires which are coiled around a ceramic rod and
the outer part of the resistor is coated with an insulating paint.

Fig 9: Resistor

5.10.5 IR-LED-
An Infrared light-emitting diode (IR LED) is a special-purpose LED that emits infrared rays
ranging from 700 nm to 1 mm wavelength. Different IR LEDs may produce infrared light of
differing wavelengths, just like other LEDs produce light of different colors.IR sensor is a
device that uses infrared technology to detect objects or changes in the environment. IR
sensors can detect a wide range of physical properties such as temperature, motion, and
proximity.

Fig 10: IR LED

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5.10.6 Push Down Button-
Pushbuttons or switches connect two points in a circuit when you press them. This example
turns on the built-in LED on pin 13 when you press the button.

Fig 11.1: Push Down Button

Fig

11.2 Push down button pinout

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5.10.7 Battery 3.7v
Lithium-ion polymer (also known as 'lipo' or 'lipoly') batteries are thin, light, and
powerful. The output ranges from 4.2V when completely charged to 3.7V. This battery
has a capacity of 500mAh for a total of about 1.9 Wh.

Fig 12: Battery 3.7v

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 5.11 CIRCUIT DIAGRAM

Figure 13- Connection diagram of Arduino Nano and Ultra Sonic Sensor

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5.12 REMOTE CIRCUIT DIAGRAM

SENDER

RECEIVER

Fig.14 Connection Diagram of Remote Sensing

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 5.13 Code Snapshot

Fig 15. Code Snapshot

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5.14 Flowchart Obstacle Detection System

Figure 16: Dataflow diagram of obstacle detection

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 Table No 3: Strength of vibrator with respect to the distance from object

Operation and performance of ultrasonic for detection of obstacle is shown in Table 3.1 and
Figure 3.8. When there is no hurdle in the specified range, the ultrasonic sensor output is
zero and continuously detecting for the obstacle. If there is any obstacle in the range of
ultrasonic sensor then it gives the output to the vibrator hence it vibrates with different
strength as shown in table

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Chapter 5
RESULTS AND DISCUSSION
Obstacle Detection Accuracy:
The ultrasonic sensor successfully detected obstacles within a range of up to 2 meters. The
accuracy of obstacle detection was consistent, with a minimal error margin (typically within
a few centimetres).
Audible Feedback:
The buzzer effectively provided sound alerts with varying frequencies. The beeping rate
increased as the obstacle got closer, making it intuitive for users to understand proximity.
User Response Time:
Users were able to respond to obstacles promptly, thanks to the immediate feedback from
both the buzzer and the motor. The dual feedback system (auditory and tactile) ensured that
users did not miss alerts seven in challenging conditions (e.g., loud surroundings or during
movement).
Power Consumption:
Low power components and optimized code contributed to prolonged battery life. The
system operated efficiently on a rechargeable battery, with an average runtime of several
hours on a full charge.
User Experience:
Feedback from test users indicated high satisfaction with the device's ease of use and
reliability. Users appreciated the non-intrusive design and the clear, actionable feedback
provided by the stick.
Tactile Feedback:
The vibration motor delivered distinct tactile feedback, with stronger vibrations indicating
closer obstacles. This was particularly useful in noisy environments where the buzzer might
not be easily heard.
Dual Feedback System:
The redundancy in feedback methods (sound and vibration) caters to different sensory
preferences and needs, making the device versatile. Combining auditory and tactile feedback
proved highly effective in ensuring that users were consistently aware of nearby obstacles.

5.1 Mobility System

HC-SR04 is utilized to recognize the presence of an obstruction. At the point when the
ultrasonic sensor recognizes the presence of a deterrent, the flag will send to vibrator to
vibrate with various vibration qualities. A signal of 40 kHz is sent by the ultrasonic sensor.
In this project three ultrasonic sensor is used. Two sensor is used for obstacle detection and
one sensor is used for pit detection. For obstacle detection, we set a threshold distance which
is 400cm. If detected distance is less than the threshold distance then vibratory motor will
vibrate. The vibration strength of motor is the function of detected distance. As any obstacle
is coming towards the sensor then vibration strength of motor is increasing and vice-versa.
One sensor is used for pit detection, for pit detection we set a threshold distance of 5cm. if
distance is greater than 5cm then it gives the signal to the sensor and sense for the pit. Figure

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2 shows the output of HC-SR04 ultrasonic sensor for the obstacle detection. Figure 4 shows
the output for pit detection.

Table no. 4: Actual and sensed distance of ultrasonic sensor and average errors

Fig. 17 Graph between actual and detected distance

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Difference of actual value and measured value between ultrasonic and obstacle is shown in Table 4
and Figure 17. The average error between measured values and the ultrasonic sensor is small that
is -1.0769 cm that is reliable.

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5.2 Snapshot of Project

Fig 18: Project Snapshots

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Chapter 6
CONCLUSION
In the conclusion, this project comprises of some hardware parts like GSM module,
ultrasonic sensor, Arduino nano, and vibrator. Programming used in Arduino is visual basic.
We can also use c/c++ as the programming in Arduino nano. There are two primary
objectives of the project first one is to enhance the mobile capability and second one is to
inform the known person through the message if the person is in danger zone. To increase
the mobile capacity of the impaired person, vibrator and ultrasonic sensor are used. If any
object is exist in front of the blind person then he will recognize the obstacle before getting
touch. It is suitable to travel in the unknown environment for the blind person and enhance
the safety. By implementing this an impaired person can move to an unfamiliar environment
without any human guidance. The blind people can move more positively and independently.
It sends the message to a registered mobile number if the blind person is in a danger. The
hardware and software of the project had been successfully integrated and worked to meet
the requirements. The prototype of a smart cane is built and the function meets the objectives
of this project. The equipment and programming of the venture had been effectively
coordinated and attempted to meet the necessities. The model of the smart stick is built and
the functionality capacity meets the main motive of the project.

Future scope
There is some future scope to complete the requirement by the smart stick. Obstacle
detection capability of this project can be increased by introducing the ultrasonic sensor
which has better accuracy and precision angle width. We can introduced GPS system to find
the exact location of the person. By implementing voice recognition system we can improve
the accuracy of the project and as well as charging port and water resistance.

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REFRENCES
1. Choi, S., & Han, J. (2020). Smart cane for visually impaired people with ultrasonic
sensors and gyroscopic sensor. IEEE access, 8, 47357-47365.

2. Hoque, m. M., Hossain, M. A., Ahmed, S., Islam, M. M., & Mahmud, M. (2021). Smart
blind stick: A comprehensive review. 2021 3rd international conference on advances in
science, engineering and robotics technology (ICASERT), 1-6.

3. Ingle, s. S., & Thosar, A. (2019). Review on smart cane for visually impaired people.
International journal of engineering and advanced technology, 8(6), 1755-1759.

4. http://entesla.com/ultrasonic-sensor
5. https://www.robomart.com/arduino-uno-online-india
6. http://www.crash-bang.com/getting-started-atmel-studio/
7. http://www.circuitstoday.com/interface-gsm-module-with-arduino

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