National Academy of Science and Technology

DHANGADHI ENGINEERING COLLEGE

Affiliated to Pokhara University
Uttar Behadi-04, Dhangadhi, Kailali, Province 07

A Project Report
On
“METAL DETECTOR ROBOT”

Submitted in partial fulfillment for the requirements for the Award of Degree of

BACHELOR OF ENGINEERING
IN
COMPUTER ENGINEERING SUBMITTED BY

Keshab Joshi (18070137)

Nirajan Bhandari (18070146)
Rohit Bhatta (18070155)
Shishir Joshi THE GUIDANCE
UNDER (18070159) OF
Er. Ganesh Datt Joshi
Lecturer
Dept. Of Computer Engineering, DEC

SUBMITTED TO
Department of Computer Engineering,
Dhangadhi Engineering College

2021
 ACKNOWLEDGEMENT
Any achievement, be it scholastic or otherwise does not depend solely on the individual efforts
but on the guidance, encouragement and cooperation of intellectuals, elders and friends. We
would like to take this opportunity to thank them all.

First of all, we would like to thank the DEC for providing us with all the necessary requirements
for our project.

We are grateful to acknowledge the guidance and encouragement that has been given to us by
Er. Ganesh Datt Joshi, Lecturer, Department of Computer Engineering, DEC, Dhangadhi,
who has rendered a valuable assistance and guidance.

We also extend our thanks to the entire faculty of the Department of Computer Engineering,
DEC, Dhangadhi, who have encouraged us throughout the course of the project. Last, but not the
least, we would like to thank our family and friends for their inputs to improve the project.

Team Member University Roll NO:

Keshab Joshi (18070137)

Nirajan Bhandari (18070146)
Rohit Bhatta (18070155)
Shishir Joshi (18070159)
 DECLARATION
We Keshab Joshi, Nirajan Bhandari, Rohit Bhatt & Shishir Joshi, students of Computer
Engineering, Semester 6th, Dhangadhi Engineering College affiliated to Pokhara University,
hereby declare that the work undertaken in this Minor project entitled “METAL DETECTOR
ROBOT” is the outcome of our own effort and are correct to the best of our knowledge. This
work has been accomplished by obeying the engineering ethics; and it contains neither materials
published earlier or written by another person/people nor materials which has been accepted for
the award of any other degree or diploma of the university or other institution, except where due
acknowledgement has been made in the document.

…………………………… ……………………………..

Keshab Joshi Nirajan Bhandari

Date: Date:

……………………………… .….………………………....

Rohit Bhatta Shishir Joshi

Date: Date:
 CERTIFICATE

This is to certify that the project report entitled “METAL DETECTOR ROBOT "is a report of
the work carried out by „MDR Group‟ under the guidance and supervision of Er. Ganesh Datt
Joshi for the partial fulfillment of degree of bachelor of Computer Engineering by Pokhara
University.

To the best of our knowledge and belief, this work embodies the work of candidates themselves,
has duly been completed, fulfills the requirement of the ordinance relating to the Bachelor degree
of the university and is up to the standard in respect of content, presentation and language for
being referred to the examiner.

Er. Ganesh Datt Joshi Er. Ravi Khadka

Lecturer, BE Comp. Department HOD, BE Comp. Department

NAST NAST

Dhangadhi, Kailali Dhangadhi, Kailali

………… …………

Signature Signature

………………………...

Signature of External
 ABSTRACT

This paper presents a new type of robot that uses a metal detector sensor to detect metallic object
passing over the metal detector. The robotic vehicle is controlled using android application for
metal detection operation controlled with the help of Bluetooth technology. This project can be
widely used because of its simplicity and ability to modify to meet changes of needs. Based on
experimental studies, it was found that the mobile controlled robot can move in any direction as
per the desired instruction and the beeper in the metal detector circuit beeps whenever it
encounters any metallic object.

Keywords: Arduino UNO, Bluetooth Module HC-05, Metal Detector, Motor Driver, Android
Application
 TABLE OF CONTENTS
S.N. Contents Page No:

1. INTRODUCTION

1.1 Overview of Metal Detector Robot…………………………………….. 1

1.2 Project Objectives……………………………………………………… 1
1.3 Project Background……………………………………………………... 2

2. SYSTEM ANALYSIS
2.1 Existing System………………………………………………………… 2
2.2 Problems with Existing System………………………………………… 2
2.3 Developed System……………………………………………………… 2
2.4 System Requirement Specification……………………………………... 3
2.4.1 Hardware Requirements ………………………………………… 3
2.4.2 Software Requirements……………………………………………. 6

3. SYSTEM DESIGN
3.1 Block Diagram………………………………………………………….. 7
3.2 Circuit Diagram………………………………………………………… 8
3.3 Hardware Interface……………………………………………………... 8
3.3.1 Robotic Vehicle Circuit …………………………………………... 9
3.3.2 Metal Detector…………………………………………………….. 9
3.3.3 Control Units………………………………………………………. 11
3.4 Software Interface………………………………………………………. 11
3.4.1 Algorithm………………………………………………………….. 12
3.4.2 Android Application…….………………………………………… 12
3.5 Flowchart……………………………………………………………….. 13

4. FEASIBILITY STUDY
4.1 Economic Feasibility…………………………………………………… 14
4.2 Technical Feasibility……………………………………………………. 14
4.3 Schedule Feasibility…………………………………………………...... 15

5. TESTING…………………………………………………………............ 16

6. ADVANTAGES OF DEVELOPED SYSTEM………………….. 17

CONCLUSION
REFERENCE
 LIST OF FIGURES
S.N. Figures Page No:

1 Arduino Uno………………………………………………………………... 3

2 Bluetooth Module HC-05…………………………………………………... 3

3 DC Gear Motors…………………………………………………………….. 4

4 Wheels………………………………………………………………………. 4

5 9V Battery…………………………………………………………………... 5

6 Jumper Wire………………………………………………………………… 5

7 L298N Motors Drivers Shield……………………………………………… 5

8 Block Diagram……………………………………………………………… 7

9 Circuit Diagram…………………………………………………………….. 8

10 Robotic Vehicle Circuit Diagram…………………………………………... 9

11 Metal Detector……………………………………………………………… 11

12 Flowchart……………………………………………………………………. 13
 LIST OF TABLES
S.N. Tables Page No:

1 Economic Feasibility……………………………………………………….. 14

2 Schedule Feasibility………………………………………………………… 15
1. INTRODUCTION

1.1. Overview of Metal Detector Robot

In today’s modern environment, almost everybody uses smartphones, which are a
part of their day-today life. This project was about robotic movement control
through smartphones. Many researchers have developed such robotic movement
control system using smartphones. Here, we aim to make a robot and to connect
the metal detector circuit to it. Here, a dedicated application has been created to
control robotic hardware, which controls the movement of the robot. The
embedded hardware has been developed on ATmega328P microcontroller and
controlled by an Android smartphone. This controller receives the commands
from the Android phone, takes the data and controls the motors of the robot by the
motor driver L293D. The robot can able to move forward, backward, left and
right movements. The Smartphone is been interfaced to the device by using
Bluetooth. A Bluetooth device HC-05 module was used with Arduino UNO to
receive commands from the smartphone. A metal detector circuit was connected
to the robot to detect the metal. A beep sound was made when it detected the
metal

1.2. Project Objectives

Every project must have some objectives that lead to the development of the project. Our
project also has some objectives that must be fulfilled by the project.
• To design the car that can be controlled by smartphone that can detect a
landmine buried inside the ground.
• To support the locals who are living in the war zone.
• To increase the application of robotics and automation.
• To transmit data using wireless media.
• To reduce the casualties done by the post war landmines
• To improve the life of people with help of technology.

1.3. Project Background

As we all know that the modern world is changing so drastically to machine level
functioning. So, we need to develop such programs which will function as a

1
 machine but also, they could understand the instruction given by the user with
some of the automation capabilities like Metal Detection. In order to develop such
a system, we made a Metal Detector Robot as our project for better understanding
of the modernized world and to understand the machine language at a deeper
level.

2. SYSTEM ANALYSIS
2.1. Existing System
The current systems on robots are based on, line following, edge averting, gesture
controlled. These types of robots are not efficient since they don’t use Bluetooth
commands, making it not possible for physically handicapped people to operate.
The commands are at once transmitted to the server directly by the means of a
wired network. The car is built primarily on a platform based on a
microcontroller. Some of the fields that can likewise be equally enhanced are the
effect of the mouth-microphone range on the robotic, the overall performance of
the robot and the effect of noise on the translation of speech to textual content.

2.2. Problems with the Existing System

Since they don’t use any wireless communication technology so that it becomes
difficult to transfer signal command faster. They are not efficient and don’t have
any more features to operate errorless.

2.3. Developed System

In the developed model, the movements of the vehicle are controlled using Bluetooth
commands from the user, which are already registered within the microcontroller. We are
using a Bluetooth module for wireless communication between the controller and the
system. The commands are encoded then relayed over an RF (Radio Frequency) channel
and before reception they are decoded by the Bluetooth Module. As a microcontroller we
have used an Arduino UNO board. The Metal Detection sensors are most suitable for

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Metal detection which is usually attached in front of the system. The commands are
transmitted through Bluetooth in real time which is easy to connect.

2.4. System Requirement Specifications

2.4.1. Hardware Requirements

1. Arduino Uno

Fig: 1 Arduino Uno

In our project, we use Arduino UNO as a microcontroller. It helps to
store the code that we had coded using Arduino IDE software. It helps
to receive the commands from Bluetooth module HC-05 and transfer
commands to L298D Motor Driver. Then, DC Gear motor starts to
work according to the command.

2. Bluetooth Module HC-05

Fig: 2 Bluetooth Module HC-05

We also used a Bluetooth module to connect the robot and the mobile
application wirelessly. In respect to establishing the network we take
the following steps. Open Bluetooth terminal app. From the menu, tap

3
 on “Connect a device”. You will see a pop-up of “Paired devices”, tap
on “HC-05”, after a second you will get a toast notifying “Connected to
HC-05”. After connecting to the device, we can give commands to the
car through the Bluetooth Terminal app.

3. DC Gear Motors

Fig: 3 DC Gear Motors

After getting power from the 9V battery all of the DC gear motors (4
motors) start to operate. DC gear motor starts to operate according to
instructions given by the user. The main function of Dc gear motor is to
rotate the wheels to desired direction.

4. Wheels

Fig: 4 Wheels
Wheels are used to move the car (body) from one terminal to another
terminal. Also helps to move left or right according to the command
provided.

5. 9V Battery

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 Fig: 5 9V Battery

The 9V battery is used to supply power to Bluetooth module HC-05,

Arduino UNO, L298N Motor Driver and DC Gear motor.

6. Jumper Wire

Fig: 6 Jumper Wire

In our developed system, we use many types of jumper wires to
connect Arduino UNO, Bluetooth module HC-05, battery, L298N
motor driver and DC gear motor. Specially, we use male to male and
male to female jumpers.

7. L298N Motor Driver Shield

Fig: 7 L298N Motor Driver Shield

It is difficult to give power to each DC gear motor separately.
Therefore, we used the L298N motor driver shield to supply power to

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 each DC gear motor using a single battery. It is also used to receive
instruction from Arduino UNO and helps to move the DC gear motor to
the desired direction of the user.

2.4.2. Software Requirements

In this section, algorithms used in making the android application and metal
detection, have been briefly explained. Here, we utilized the advantages of an
Android smartphone. The software components have been described with
more details.

2.4.2.1. Arduino IDE

Arduino IDE is a cross-platform application that is written in functions
from C and C++. Arduino IDE is open-source software that is mainly
used for writing and compiling the code into an Arduino module. In
our project, we used it to write a program to control the motors taking
voice commands coming through a wireless media (Bluetooth module
in our case).

2.4.2.2. Mobile Application

We are using the mobile application to take our voice command.
The received voice command is processed using Google assistant.
Here Google assistant converts that voice into text format which is
then transmitted to the Arduino using the Bluetooth module.

2.4.2.3. Program
We designed the program in such a way that it could take the
command that is coming through the Bluetooth module and give the
control signals to the L298N motor driver to control the motors. In

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 addition, we also embedded the portion of the code which can detect
the metal using the Metal Detector Sensor.

3. SYSTEM DESIGN
The project is designed to control a metal detector robotic vehicle using an android
application. Bluetooth device is interfaced to the control unit for sensing the signals that
are transmitted by the android application. This data is conveyed to the control unit,
which moves the robot.
An ATmega328P microcontroller is used in this project as a control device. Remote
operation is achieved by any smartphone with Android OS, upon a GUI (Graphical User
Interface) based touch screen operation. We used the HC-05 module to pair the Android
application to the robot. The motors are interfaced to the control unit through motor
driver L293D IC. An extra metal detector circuit is connected to the robot to detect the
metal efficiently.

3.1. Block Diagram

Fig: 8 Block Diagram

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 Here, when power is supplied through battery all the components get power. The
code was already embedded into Arduino Uno. When command is given by
author through mobile App then command is transferred to BT HC-05 which
further transfer command to Arduino Uno. Finally, it is transferred to L298n
Motor Driver and DC Gear Motor rotates according to command. If the vehicle
goes above from a landmine it detects the landmine with the help of metal
detector.

3.2. Circuit Diagram

Fig: 9 Circuit Diagram

3.3. Hardware Interface

Hardware design consists of the Bluetooth controlled robot and the metal detector
circuit. In this work, we utilized the components to build a configurability robot to
reach our goal. The circuit for Bluetooth controlled metal detector robotic car is
shown in Figure 2. The Motor driver is connected to Arduino to run the car.
Motor driver’s input pins 2,7,10 and 15 are connected to Arduino digital pin
numbers 12, 11, 10 and 9 respectively. Here we have used two DC motors to
drive a car in which one motor is connected at t h e output pin of motor driver- 3
and 6; and another motor is connected to pins- 11 and 14. A 9V battery is also
used to power the motor driver for driving motors. The Rx pin of the Bluetooth

8
 module is connected to a voltage divider. From the voltage divider, one end is
connected to the TX pin of the Arduino and the other end is connected to the
ground (GND) pin of the Arduino. Then the TX pin of the module is connected to
RX Pin of the Arduino.

3.3.1. ROBOTIC VEHICLE CIRCUIT

The robotic vehicle consists of Arduino UNO, Bluetooth Module HC-05,
Metal Detector, Motor Driver and two DC Motors. The Vcc and ground pin of
Bluetooth module is connected to 3.3V and ground of Arduino. A 9V battery
is also used for power the circuit at Arduino Vin pin.

Fig: 10 Robotic Vehicle Circuit Using Arduino Uno

3.3.2. Metal detector

In this work, we mainly depend on a metal detector, because we need to
decide the object is metallic or non-metallic. A metal detector device detects
the presence of metal nearby. It takes advantage of the electric and magnetic
properties of metals (Eddy currents) to detect metals.

9
The circuit for the metal detector circuit is shown in Figure 11, whose
working is as follows.

Here the circuit is divided into three parts, an astable Multivibrator, an LC

circuit, and a comparator circuit. In the first stage i.e., the astable
Multivibrator circuit (using NE 555 IC), by giving a supply to the circuit it
produces a frequency (say f1) and this frequency is fixed by adjusting the
variable resistor R1 and R2 which are of the value 2K and 25K respectively. It
produces a square wave at the output pin (i.e. pin 3) of the IC and is adjusted
to give a frequency of 0.7 MHz

In the second stage is the LC circuit. The inductance (L) here is a copper coil.
When a metal is kept near to the coil, the electromagnetic field in the coil is
disturbed which produces a frequency (say f2). The frequencies f1 and f2
meet at a junction. If frequency f1 is greater or lesser then f2, it produces a
voltage V, the voltage flows through the diodes. The negative voltage flows
through diode D1, which is in reverse bias that is connected to the ground and
it gets neutralize here. Whereas, the positive voltage flows through diode D2
which is in forward bias. The capacitor C5 reduces the ripples in the voltage.
Whenever the voltage flows through diode D3, if there is any negative
voltage, it will be blocked by the diode and only positive voltage is allowed to
pass which then flows to the NPN transistor. The transistor will be switched
ON and a positive voltage will flow through diode D4; and then a positive
voltage will flow to the pin 2 of the op amp in the comparator circuit, which
is in inverting mode. Here a variable resistor is connected to pin 3 of the op-
amp, which sets the reference voltage of the comparator circuit. Here the
voltage at pin 2 will be lower than the reference voltage at pin 3, so the output
at pin 6 (output pin) will be high and a voltage from the op-amp will flow to
diode D5 and then to the buzzer and the buzzer will beep.

1
 However, when there is no metal near the coil, frequency f1 will be equal to
f2, the voltage produced at the junction will be zero, and hence there will be
no voltage flowing across the circuit. The input at pin 2 will be more than the
reference voltage, so the output will be low, therefore the buzzer will not
beep.

Fig: 11 Metal Detector Circuit

3.3.3. CONTROL UNITS (Arduino UNO, ATmega328P

Microcontroller)
The Arduino Uno is the main hardware control unit, which is a
microcontroller board and is based on the ATmega328P. It has 14 digital
input/output pins, 6 analog inputs, a 16 MHz quartz crystal, a USB
connection, a power jack, an ICSP header and a reset button [3]. It contains
everything that is needed to support the microcontroller; simply it needs to be
connected to a computer with a USB cable or power it with an AC-to-DC
adapter or battery, to get started.

3.4. Software Interface

In this section, algorithms used in making the android application and metal

1
 detection, have been briefly explained. Here, we utilized the advantages of an
Android smartphone. The software components have been described with more
details.
3.4.1. Algorithm
The general algorithm has the main steps to accomplish the general tasks,
which are “start”, “stop” and “detection of metal”. The program will begin
with the “start” step where the Bluetooth module HC-05 connected to Arduino
Uno will pair with the android application. The robot moves as per the
instruction, given by the Android Application. During this step, the robot
moves and the metal detector checks if the object is a metallic object or not
through passing it over the metal detector. In case, if a metallic object is
countered by the metal detector, a beep sound will be produced by the beeper
and the movement of the robot can be stopped. Otherwise, the robot will
travel until it finds any metallic object, or else the movement robot can be
stopped.
3.4.2. ANDROID APPLICATION
The software that is required for the operation of the vehicle can be found in
the play store and can be easily downloaded. The software will help to control
the movement of the vehicle which will help to detect the presence of
metal/landmines from a distance.

1
3.5. Flowchart

Start

Bluetooth Control App

Data Transfer
Bluetooth

Particular Value Transfer

Arduino for System

Checking Signal Transfer

Forward Backward Left Right

Data Transfer
L298N Motor Driver

Metal? False

True
Buzzer

End

Fig: 12 Flowchart

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4. FEASIBILITY STUDY
A feasibility study is an analysis that takes all a project's relevant factors into account
including economics, technical and scheduling considerations to ascertain the likelihood
of completing the project successfully.

4.1. Economic Feasibility

Economic analysis is the most frequently used method for evaluating the
effectiveness of the candidate system.

S.N. Elements Price(NPR)

1. Arduino Uno 850

2. L298n motor driver 400

3. Dc gear motor 640

4. Bluetooth module hc-05 640

5. Wheels 320

6. Battery 600

7. Metal Detector 200

8. Double tape 60

9. Jumper wires 100

10. Connecting wires 50

Total 5600

Table 1: Economic Feasibility

4.2. Technical Feasibility

This assessment focuses on the technical resources available to the organization.
It helps organizations determine whether the technical resources meet capacity

1
 and whether the technical team can convert the ideas into working systems.
Technical feasibility also involves evaluation of the hardware, software, and other
technical requirements of the proposed system. As an exaggerated example, an
organization would not want to try to put Star Trek’s transporters in their building
currently; this project is not technically feasible.

4.3. Schedule Feasibility

Our project includes the following schedule task:

Months
Tasks
Nov Dec Jan Feb Mar Apr

Problem Identification

Requirement Analysis

System Design and Specification

Coding and Verification

Testing

Implementation and Management Plan

Maintenance and Documentation

Table 2: Schedule Feasibility

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5. TESTING
Testing is a very important aspect for the success of any system. For the testing of our
project, we tested every module and components while building and after the completion
as well. We also took the technical reviews of every team member and our guide. While
testing the system we faced many problems and solved them as well. Testing is basically
done for the following purpose.
 To uncover error in the function and logic
 To verify that the project under review meet its requirements
 To ensure that the project has been represented according to the predefined
standards.
 To achieve project that is developed in a uniform manner and
 To make our project more manageable.

The test plan for the project starts from unit testing and so on after that the units are
integrated and tested then the validation test is done to ensure that the project, we have
developed is properly implemented i.e., the robot cover a distance and also checks for
another command. After that the system testing is done to get the final result for which
we are working on the project i.e., Metal Detector robot.

6. Advantages of the Developed System

 Reduces the casualties done by the post war landmines.
 Increases the application of robotics and automation.
 Metal Detectors Robots play an important part in ensuring people are safe
by detecting concealed weapons such as guns, knives and Land Mines
 They are also useful in detecting foil wrapped drugs and precious metals
associated with Jewellery or antiques theft.
 Great and a very wide scope of future expansion.
 Widely used in Security Purposes.

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7. FUTURE ENHANCEMENT
 Special Security purpose automatic buggy for military use.
 To support the locals who are living in the war zone.
 Automatic vehicles for general use
 Can be easily modified and enhanced according to needs in near future.
 Further improvements involve addition of features like a gas sensor, connecting
robotic arms for pick and place purposes etc.

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CONCLUSION
This project presents a metal detecting robot using Bluetooth communication with Bluetooth
module HC-05. The robot is moved in a particular direction with the help of Bluetooth
technology, controlled by our mobile. Experimental work has been carried out successfully. The
result shows that higher efficiency is achieved using the embedded system. This proposed
method is verified to be highly beneficial for many purposes. The metal detector worked at a
constant speed without any problem. In this project, we also achieved wireless communication
between the robot and the Android application.

The developed system is able to enter the world of Artificial Intelligence as it is the smart robot
controlled through voice commands with the support of Metal Detection. We have predicted that
it would be substantially more productive than the conventional old, conceptualized vehicles.
What's more, in the wake of examining all the achievability tests it is by all accounts impeccable.
REFERENCES
 https://www.ieee.org/
 https://www.linkedin.com/
 https://youtu.be/zIVAV-a5Rks
 http://www.quora.com
 http://www.slideshare.net