WAL ROBOT

A MINOR PROJECT REPORT

Submitted to

JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD (T.S)

In partial fulfillment of the requirements For the award of the degree of

BACHELOR OF TECHNOLOGY
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
BY
B.PHANINDHRA KUMAR (20C35A0212)
N.BHAGYA LAXMI (20C35A0251)
B.VAMSHI (20C35A0207)
V.RAJESH (20C35A0268)
Under the Esteemed guidance of
Mr. S.Sridhar , Associate Professor, EEE Dept.
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
BALAJI INSTITUTE OF TECHNOLOGY AND SCIENCE
(Affiliated to JNTU, Hyderabad & Approved by AICTE, New Delhi)
Accredited by NAAC & ISO 9001:2015
NARSAMPET, WARANGAL-506331
2020-2023
 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
BALAJI INSTITUTE OF TECHNOLOGY AND SCIENCE
(Affiliated to JNTU, Hyderabad & Approved by AICTE, New Delhi)
Accredited by NAAC & ISO 9001:2015
NARSAMPET, WARANGAL-506331
2020-2023

CERTIFICATE

This is to certify that the Project Report entitled ”WAL ROBOT” is a bonafied record carried out by
B.Phanindhra kumar (20C35A0212),N.Bhagya laxmi (20C35A0251),B.Vamshi (20C35A0207),V.Rajesh
(20C35A0268).of final year in electrical and electronics engineering during the academic year (2018-19) in
the partial fulfillment of the requirements for the award from state board of technical education and
training, Hyderabad T.S.

Mr.S.SRIDHAR Dr.S.MALLIKARJUN REDDY

(Asst.Professor, EEE Dept.) (Professor)
Guide Head of Department

EXTERNAL EXAMINER
 ACKNOWLEDGEMENT

It gives me immense pleasure to acknowledgement the perennial inspiration of Prof. V.S.

HARIHARAN, Principal, BalajiInstitute of Technology and Science and Prof.
Dr.S.MALLIKARJUN REDDY, Head of the Department of Electrical and Electronics
Engineering for the kind of cooperation and encouragement in bringing out this task.
This rightfully belonged to him to facilitate the completion of this academic task.
We express my gratitude to my guide Mr.S.SRIDHAR Assistant professor, of Electrical
and Electronics Engineering, for the unflagging zeal with which her guided us in carrying out
the project work am deeply indebted for his invaluable guidance, constant encouragement,
constructive criticism and inspiring suggestions throughout the course of my project work.
We express my gratitude to the entire faculty and the staff members of EEE department
forth cordial co-operation throughout the fulfillment of this work.

B.PHANINDHRA KUMAR (20C35A0212)

N.BHAGYA LAXMI (20C35A0251)
B.VAMSHI (20C35A0207)
V.RAJESH (20C35A0268)
 DECLARATION

I hereby declare that the work presented in this project titled “WAL ROBOT” submitted
towards completion of minor-project in seventh Semester of B.Tech (EEE) at the BALAJI
INSTITUTE OF TECHNOLOGY AND SCIENCE, NARSAMPET, Warangal . It is an authentic
record of my original work pursued under the guidance of Mr.Singam Sridhar , Associate
Professor, EEE Dept..

I have not submitted the matter embodied in this project for the award of any other degree.

B.PHANINDHRA KUMAR (20C35A0212)

N.BHAGYA LAXMI (20C35A0251)
B.VAMSHI (20C35A0207)
V.RAJESH (20C35A0268)

Date:
Place: Warangal
---------------------------------------------------------------------------------------------------------------------
------------

CERTIFICTE

This is to certify that the above declaration made by the candidate is correct to the best of my
knowledge and belief

Place: BITS,Narsampe Mr.S.SRIDHAR

Date; ( Assistant.Professor )
 CONTENTS
ABSTRACT i
CHAPTER-1 INTRODUCTION 1

CHAPTER-2 LITERATURE REVIEW 3

CHAPTER-3 HISTORY 5

CHAPTER-4 PRINCIPLE AND OPERATION 7

CHAPTER-5 ENERGY INVOLVES 8

CHAPTER-6 EXPERMENTAL WORK 11

6.1 ARDUINO UNO 11

6.2 HC05 BLUETOOTH MODULE 12

6.3 BO MOTOR DRIVER 12

6.4 L293M MOTOT DRIVER IC 13

6.5 WHEELS 14

6.6 ZERO PCB 14

6.7 CASE 15

6.8 SCREWS 15

6.9 WIRES 16

6.10 FLOW CHART 17

CHAPTER-7 ANALYSIS 18

CHAPTER-8 ADVANTAGES AND DISADVANTAGES 19

&APPLICATIONS

CHAPTER-9 BREAD BOARD LAYOUT OF BLUETOOTH CONTROL 20

CAR

CHAPTER-10 CIRCUIT DIAGRAM 21

CHAPTER-11 SOURCE CODE 22

CHAPTER-12 ARDUINO BLUETOOTH CONTROL 24

CHAPTER-13 CONCLUSION 25

CHAPTER-14 REFERENCES 25

LIST OF TABLES AND FIGURES

List of tables

Table.1. Components used

List of figures

Fig.1. Toy grade RC

car

Fig.2. Nitro power

models

Fig.3. Rc car

Fig.4. Bluetooth controller

Fig.5. Electrical Energy

Fig.6. Mechanical

Energy
Fig.7. Energy

conversion

Fig.8. HC05 Bluetooth module

Fig.9. BO Motor 60 rpm

Fig.10. L293D Motor driver

Fig.11. Wheels

Fig.12. Zero PCB

Fig.13.Case

Fig.14. Screws

Fig.15. Wires

Fig.16. flow chart

Fig.17. Bread board layout of Bluetooth control car

Fig.18. circuit diagram

Fig.19. Bluetooth control app

Fig.20.output result
 CHAPTER-1
INTRODUCTION

Smartphone has quite changed the traditional ways of human to machine interaction. Smartphone is
now a vital part of a person’s life. Android is a software platform for mobile device that includes an
operating system, middleware and key applications. Android is a safe and secure operating system. All of
its essential tools are combined in software called SDK which stands for Software Development Kit. We
know that all manual operations have been replaced by automated mechanical operations. Our main
objective of writing this paper is to control the robot by sensing the temperature of the environment using
Bluetooth app and view the direction of the car using mobile camera and also find the location of the
robot. Bluetooth is used for its various advantages over other wireless technologies. Hardware technology
utilized in smart phones has also greatly improved. Hence, we can say that Android smartphones will
serve a great benefit for industrial, commercial and other general-purpose applications.
The DC motors are widely used for providing variable speed drive system in industrial applications
resembling automation, electrical traction, military instrumentality, fixed disk drives, thanks to their high
potency, noise-free operation, compactness, dependability and low maintenance and cost. Many
connection technologies are used nowadays such as GSM, GPRS, Wi-Fi, WLANs and Bluetooth. Every
technique has its own distinctive characteristics and applications. Among these wireless connections,
Bluetooth and Wi-Fi technology is usually enforced.
The system hardware consists of a controller equipped with Bluetooth communication module. It’ll be
connected to the motors and other alternative components of robotic car. When the robot app is turned on
and is connected with the current system via Bluetooth, one will operate the car by giving wireless
commands from the app using the functions already programmed in the app. The vehicle will move all
four told directions: left, right, front and back.
For forward movement, movement of both the motors will be in the same direction and for backward
motion; movement of the motors will be in opposite direction. For left and right movements, either of the
motors will rotate and to stop both the motors will stop. Instructions are given to the motors through the
mobile app by the user.
 CHAPTER-2

LITERATURE REVIEW

Various researches have been made by different researchers in developing this project. However,
they serve a different application and have different technologies implemented. Some of those
papers are mentioned below stating their technology and application. Jorge Kazacos Winter [2]
has developed android controlled robot automation. Main aim of his project was the transfer of
information wirelessly between a smartphone and the robot and developing the robot and its
communication system underneath a low price and open source philosophy. He used 3D design
technique to style the structure of the robot with the facilitation of parametrical modeling
software. The style, when fed to the 3D printer can print the parts of the robot in a layered
manner one by one and can then use these parts to assemble the robot simply. He has used
Arduino micro-controller and Wi-Fi technology in this robot.

M.Selvam [4] in his paper has projected design to develop a robotic system which has a wireless
camera attached to it for surveillance. Bluetooth was implemented in his project for providing
connection between robot and smartphone. Wireless night vision camera was used for providing
remote surveillance. The video which is recorded by camera is then transmitted to TV unit
through Radio Frequency signal. He used 8051 micro controller for the robotic unit.

Vito M Guardi [1] has evolved the method of Bluetooth technology by developing an android
app for a robot which is driven by a microcontroller. The central idea of his work is to show that
one android app can be operated using totally different electronic devices. Vito M Guardi has
invented a communication protocol for android smartphone and robotic platform over a
Bluetooth.

Ranjith Kumar Goud and B.Santhosh Kumar [3] have invented a pick and drop robot. They
wanted it to be used for diffusing a bomb remotely with safety. For the robotic arm, they used a
pair of motors and another pair as the wheels of the robot for controlling the movement.
Connectivity is established using Bluetooth. The micro-controller used is LPC2148. They had
also attached a wireless camera for remote surveillance. They have worked on this project
mainly for industrial and military applications.
Xiao Lu, Wenjun Liu, Haixia Wang, Qia Sun [8] have published a paper based on a project in
which the smartphone is capable of IFLYTEK voice as well as handwritten input. The design is
therefore robust, suitable, and practical for use and it also ensures the reliability of the full
system. For connectivity between the smartphone and robot, wifi is used. Use of wifi makes it
easy and absolutely convenient for controlling the robot so that it can act according to the
commands.

Arpit Sharma, Reetesh Verma, Saurabh Gupta, Sukhdeep Kaur Bhatia [9] have configured an
android smartphone which can control a robot via Bluetooth technology. The phone uses motion
sensors and records the gestures sent via an android mobile phone. It also has an inbuilt
accelerometer and Bluetooth module for controlling the movements of a robot.

Conventional Wireless Robotics:

A robot is a mechanical or virtual artificial agent; usually an electro-mechanical machine that is
guided by a computer program or electronic circuitry in conventional robotics, the controlling
and operation of robots is usually done by using RF [Radio Frequency] circuits.
 . EXISTING SYSTEM
Before they are using the remote device to be control by the robotic car. Remote controller car is a
separate device to handle the car using the wired and wireless connection. Camera device are used to
Fixing in the car and viewing in the system. It can use the various monitoring system in the car. It can be
used also the various alerting system. Robot can used to create different kinds of purpose.

PROPOSED SYSTEM
A Robotic car is controlled by using Android mobile phone. It is needs to touch button in android phone
to control the car in forward, backward, left and right directions. So android phone is used as transmitting
the device components are Arduino, DC motors, Motor Driver L298N, Battery and Bluetooth module
HC-05. The Bluetooth module are placed in car is used as receiver. Bluetooth module have two different
modes one is master mode and second one is slave mode. The car has two dc
motors at each of its front and rear side. Front side motor is used for giving direction to car means turning
left or right side. And rear side motor is used for driving the car in forward and backward direction used
to handle the mobile application. AirDroid application is used to connect the mobile camera device to
view in PC device of the car motions
 CHAPTER-6

EXPERMENTAL WORK

S.NO COMPONENTS QUANTITY

1 Arduino UNO 1
2 HC05 Bluetooth module 1
3 BO motor 60 rpm 4
4 L293D motor driver IC 1
5 Wheels 2
6 Zero PCB 1
7 case 1
8 Screws 8
9 Wires 15

6.1 .ARDUINO UNO

The hardware used for the thesis is Arduino Uno R3. Arduino Uno is a microcontroller based on
ATmega328 (Arduino Uno R3 2012). It uses 5V of power to operate .The recommended input voltage is
7-12 V and the limits is 6-20 V. It consists of 14 digital input/output of which 6 provide PWM output and
6 analog input pins. It comes with a USB connector, a power jack, an ICSP (In-Circuit Serial
Programming) header and a reset button. The hardware is the latest to the ArduinoUno hierarchy and
comes with various modifications to its predecessors. It has a flash memory of 32 KB (ATmega328) of
which 0.5 KB used by boot loader. SRAM is of 2 KB and EEPROM of 1 KB. The clock speed has been
set to 16 MHz. (Arduino Uno R3)
Arduino Software

The board can be programmed from the Arduino software, which is available for different platforms such
as Windows, Mac OSX and Linux. It is open source software, which is designed using a Java
environment and is also based on processing and avrgcc

Arduino Software

The software allows users to write their code in C and upload to the board. The boot loader allows the
uploading without the need of external hardware programmer. Thus the software is very easy to use and
efficient. (Arduino Software)
HC05 BLUETOOTH MODULE

Bluetooth is a technology developed to eradicate the need of wires to communicate among

different devices. Bluetooth is a wireless technology which has been a major innovation in world
of technology as it has made the communication robust, easy, and low cost and energy. Most of
the devices today have adopted this technology, thus resulting in various innovations daily.
(Bluetooth 2012) This technology stands out among the top in front of other wireless technology
because it accedes the developers both link layer and application layer definitions allowing the
support of both data and voice communications. It is a technology operating at industrial,
scientific and medical (ISM) unlicensed band of 2.4 to 2.485 GHz. It uses spread spectrum,
frequency hopping and full duplex signal at a nominal rate of 1600 hops/sec. Bluetooth can
operate at the range between 10 to 100 m. (Bluetooth ).

 It is used for many applications like wireless headset, game controllers, wireless
mouse, wireless keyboard and many more consumer applications.
 It has range up to <100m which depends upon transmitter and receiver, atmosphere,
geographic & urban conditions. 
 It is IEEE 802.15.1 standardized protocol, through which one can build wireless
Personal Area Network (PAN). It uses frequency-hopping spread spectrum (FHSS)
radio technology to send data over air.
 It uses serial communication to communicate with devices. It communicates with
microcontroller using serial port (USART).
Bluetooth Module

Schematic Diagram
BO MOTORS

BO MOTOR

DC motor (BO) Battery Operation. Dc motor converts electrical energy into mechanical energy.
Why DC gear motor used in robot Motor control circuit. DC MOTOR concept is where gears
reduce the speed of the vehicle but increase its torque is known as gear reduction. In DC motor
is assembled with multiple gear setup. Speed of motor is counted in terms of rotations of the soft
per minute is called RPM. RPM means Revolution Per Minute. The setup assemble helps to
increasing the torque and reduce the motor speed. All micro-controller based Robots this type of
DC motor can be used.
WHEELS

WHEELS

A wheel is a disc- or circle-shaped mechanical device. Its main purpose is to allow things
to roll; in other words, the wheel spins, and object on the wheels moves more easily along the
ground. It is a simple machine. Most land vehicles roll on wheels. Wheels are often used in
pairs, connected by a rod of wood or metal known as an axle. Many machines have wheels
with teeth, known as gears.

Zero PCB

Fig.12. Zero PCB

 General purpose PCB's are widely used to embed circuits randomly for running of
hardware.

 Its layer is coated with copper and allows proper soldering without any short circuit
 L298N MOTOR DRIVER

L293D Motor driver

A H bridge is an electronic circuit that allows a voltage to be applied across a load in

any direction. H-bridge circuits are frequently used in robotics and many other applications to
allow DC motors to run forward  & backward. These motor control circuits are mostly used in
different converters like DC-DC, DC-AC, AC-AC converters and many other types of power
electronic converters. In specific, a bipolar stepper motor is always driven by a motor controller
having two H-bridges

A H-bridge is fabricated with four switches like S1, S2, S3 and S4. When the S1 and S4 switches
are closed, then a +ve voltage will be applied across the motor. By opening the switches S1 and
S4 and closing the switches S2 and S3, this voltage is inverted, allowing invert operation of the
motor.
Generally, the H-bridge motor driver circuit is used to reverse the direction of the motor and also
to break the motor. When the motor comes to a sudden stop, as the terminals of the motor are
shorted. Or let the motor run free to a stop, when the motor is detached from the circuit. The
table below gives the different operations with the four switches corresponding to the above
circuit.
 Sehematic Diagram

SCREWS

Fig.14. Screws

A screw is a mechanism that converts rotational motion to linear motion, and a torque (rotational force)
to a linear force. It is one of the six classical simple machines. The most common form consists of a
cylindrical shaft with helical grooves or ridges called threads around the outside
 Wires

Fig.15. Wires

 A wire is a single, usually cylindrical, flexible strand or rod of metal.

 Wires are used to bear mechanical loads or electricity and telecommunications signals.

 Wire is commonly formed by drawing the metal through a hole in a die or draw plate.

 Although usually circular in cross-section, wire can be made in square, hexagonal,

flattened rectangular, or other cross-sections, either for decorative purposes.

 Two or more wires may be wrapped concentrically, separated by insulation, to form

coaxial cable.