lokeshpurulia
Published © CC BY-NC

Human Detection Robotics System Using Arduino Uno

This System design a mobile rescue robotic Vehicle system based on Arduino to help the people on time which are trapped in natural calamity

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Human Detection Robotics System Using Arduino Uno

Things used in this project

Hardware components

Arduino UNO
Arduino UNO
×1
Development Board, Motor Control Shield
Development Board, Motor Control Shield
×1
SG90 Micro-servo motor
SG90 Micro-servo motor
×1
DC Motor, 12 V
DC Motor, 12 V
×4
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1
DHT11 Temperature & Humidity Sensor (4 pins)
DHT11 Temperature & Humidity Sensor (4 pins)
×1
9V battery (generic)
9V battery (generic)
×1
Jumper wires (generic)
Jumper wires (generic)
×1
PIR Sensor, 7 m
PIR Sensor, 7 m
×1

Software apps and online services

Arduino IDE
Arduino IDE
Windows 10
Microsoft Windows 10
Control Center Android App

Hand tools and fabrication machines

Multitool, Screwdriver
Multitool, Screwdriver
Soldering iron (generic)
Soldering iron (generic)
Solder Flux, Soldering
Solder Flux, Soldering
Solder Wire, Lead Free
Solder Wire, Lead Free
Hot glue gun (generic)
Hot glue gun (generic)

Story

Read more

Schematics

BLOCK DIAGRAM -I

This Block Diagram shows the interfacing between the Sensors and the Arduino Board

Connection Diagram between the Sensors and the Arduino board

This Circuit Diagram shows the connection configurations between various Sensors with the Arduino Uno Board

Flow Chart Of the System

This Flow Chart shows how the system Works

Code

Human Detection.ino

Arduino
#include <NewPing.h> // 
#include <AFMotor.h> // You can download the code library below
#include <Servo.h> //
 
// Ultranic Pin Configuration
 
#define TRIG_PIN A0
#define ECHO_PIN A1
 
#define MAX_DISTANCE 400
#define MAX_SPEED 255
#define MAX_SPEED_OFFSET -8
 
#define COLL_DIST 20
#define TURN_DIST COLL_DIST+10
#define ACT_TIME 250
 int calibrationTime = 30;        

//the time when the sensor outputs a low impulse
long unsigned int lowIn;         

//the amount of milliseconds the sensor has to be low 
//before we assume all motion has stopped
long unsigned int pause = 5000;  

boolean lockLow = true;
boolean takeLowTime;  

int pirPin = A3;    //the digital pin connected to the PIR sensor's output
int ledPin = A2;
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE); 
 
AF_DCMotor motorR(1, MOTOR12_1KHZ); // Set motor #1, 1kHz PWM
AF_DCMotor motorL(4, MOTOR12_1KHZ); // Set motor #2, 1kHz PWM
 
Servo myservo;  // Set servo object to control a servo 
String motorSet = "";
 
int curDist = 0, pos, speedSet = 0;
//int pos;
//int speedSet = 0;
 
void setup() {
  Serial.begin(9600);
  pinMode(pirPin, INPUT);
  pinMode(ledPin, OUTPUT);
  digitalWrite(pirPin, LOW);

  //give the sensor some time to calibrate
  Serial.print("calibrating sensor ");
    for(int i = 0; i < calibrationTime; i++){
      Serial.print(".");
      delay(1000);
      }
    Serial.println(" done");
    Serial.println("SENSOR ACTIVE");
    delay(50);
  myservo.attach(9);  // Set to attach the servo on pin 9 
  myservo.write(90);  // Write 90 to face servo forward
  delay(2000);
 
  motorSet = "FORWARD";
  moveForward();
  
}
 
void loop() {
  
  checkPath();
  if(digitalRead(pirPin) == HIGH){
       digitalWrite(ledPin, HIGH);   //the led visualizes the sensors output pin state
       if(lockLow){  
         //makes sure we wait for a transition to LOW before any further output is made:
         lockLow = false;            
         Serial.println("---");
         Serial.print("motion detected at ");
         Serial.print(millis()/1000);
         Serial.println(" sec"); 
         delay(50);
         }         
         takeLowTime = true;
       }

     if(digitalRead(pirPin) == LOW){       
       digitalWrite(ledPin, LOW);  //the led visualizes the sensors output pin state

       if(takeLowTime){
        lowIn = millis();          //save the time of the transition from high to LOW
        takeLowTime = false;       //make sure this is only done at the start of a LOW phase
        }
       //if the sensor is low for more than the given pause, 
       //we assume that no more motion is going to happen
       if(!lockLow && millis() - lowIn > pause){  
           //makes sure this block of code is only executed again after 
           //a new motion sequence has been detected
           lockLow = true;                        
           Serial.print("motion ended at ");      //output
           Serial.print((millis() - pause)/1000);
           Serial.println(" sec");
           delay(50);
           }
       }
  
}
 
void checkPath() {
  
  int curLeft = 0; int curRight = 0; int curFront = 0;
  curDist = 0;
  
  checkForward();
  myservo.write(135);
  delay(100);
  for (pos = 135; pos >= 45; pos -= 45) {
    myservo.write(pos);
    delay(170);
    curDist = readPing();
    
    if (curDist < COLL_DIST) { checkCourse(); break; }
    if (curDist < TURN_DIST) { changePath(); } 
  
  }    
}  
 
int readPing() {
  int cm = 0;
  while (cm < 2) {int uS = sonar.ping(); cm = uS/US_ROUNDTRIP_CM;}
  return cm;
}
 
void checkForward() { 
  if (motorSet=="FORWARD") { motorR.run(FORWARD); motorL.run(FORWARD); } 
}    
void changePath() {
 
  if (pos < 90) { veerLeft(); } 
  if (pos > 90) { veerRight(); }
  
}
 
void veerRight() {
  motorR.run(BACKWARD);  motorL.run(FORWARD); 
  delay(ACT_TIME); 
  motorR.run(FORWARD);   motorL.run(FORWARD);
  motorSet = "FORWARD";
}
 
void veerLeft() {
  motorL.run(BACKWARD);  motorR.run(FORWARD); 
  delay(ACT_TIME); 
  motorL.run(FORWARD);   motorR.run(FORWARD);
  motorSet = "FORWARD";
}
 
void checkCourse() {
  moveBackward();
  delay(ACT_TIME);
  moveStop();
  setCourse();
}
 
void setCourse() {
  if (pos < 90) { turnRight(); } 
  if (pos > 90) { turnLeft(); }
}
 
void moveBackward() {
  motorSet = "BACKWARD";
  
  motorR.run(BACKWARD); // Turn right motor backward    
  motorL.run(BACKWARD);  // Turn left motor backward
  
  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)
  {
    motorL.setSpeed(speedSet);
    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
    delay(5);
  }
}  
 
void moveForward() {
  motorSet = "FORWARD";
  checkForward();
  for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)  {
    motorL.setSpeed(speedSet);
    motorR.setSpeed(speedSet+MAX_SPEED_OFFSET);
    delay(4);
  }
}
 
void moveStop() { motorR.run(RELEASE); motorL.run(RELEASE); }
 
void turnRight() {
  motorSet = "RIGHT";
  motorR.run(FORWARD);      // Turn right motor forward
  motorL.run(BACKWARD);     // Turn left motor backward
  delay(ACT_TIME);
  motorSet = "FORWARD";
  checkForward();
}  
 
void turnLeft() {
  motorSet = "LEFT";
  motorR.run(BACKWARD);     // Turn right motor backward
  motorL.run(FORWARD);      // Turn left motor forward
  delay(ACT_TIME);
  motorSet = "FORWARD";
  checkForward();
}  

Credits

lokeshpurulia

lokeshpurulia

2 projects • 9 followers

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