CHAPTER 1

INTRODUCTION

1.1INTRODUCTION

In today’s digital era, more devices are built with Wi-Fi capabilities. Also, various sensor
scan now be embedded in most of the devices. All this is due to the boom in the internet
connection and the fact that with each day, the internet speed is improving and its cost is
declining. This has leads to a concept of internet of things or Internet of things. The
Internet of Things is the network of physical devices, vehicles, home appliances and other
items embedded with electronics, software, sensors, actuators, and connectivity with
enable the objects to connect and exchange data. So clearly, the “things” referred to in
“Internet of Things”, are nothing but devices, vehicles that have sensors and software
embedded in them. These things are connected to each other via internet and hence its
name. Internet of things is a network of physical objects or people called “things” that are
embedded with software, electronics, network, and sensors that allows these objects to
collect and exchange data. The goal of IoT is to extend to internet connectivity from
standard devices like computer, mobile, tablet to relatively dumb devices like a toaster.
IoT makes virtually everything “smart,” by improving aspects of our life with the power
of data collection, AI algorithm, and networks. The thing in IoT can also be a person with
a diabetes monitor implant, an animal with tracking devices, etc. This IoT tutorial for
beginners covers all the Basics of IoT. Internet of things is a network of physical objects
or people called “things” that are embedded with software, electronics, network, and
sensors that allows these objects to collect and exchange data. The goal of IoT is to
extend to internet connectivity from standard devices like computer, mobile, tablet to
relatively dumb devices like a toaster.
IoT makes virtually everything “smart,” by improving aspects of our life with the power
of data collection, AI algorithm, and networks. The thing in IoT can also be a person with
a diabetes monitor implant, an animal with tracking devices, etc.

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1.2 HISTORY OF INTERNET OF THINGS:
The growing technology and access to the internet have brought the internet of things into
the limelight since 2015-16. However, this concept is not new. In fact, it dates back to the
70s when the concept of interconnected things was called “embedded internet” or
“pervasive computing”. It was in 1999, the term “Internet of Things” was coined by
Kevin Ashton, while working in supply chain optimization at Procter & Gamble. In order
to garner attention from his employees on the then trending topic of RFID technology and
internet, he presented the whole idea as “Internet of things” and that was the first time
when this term was used. Eventually over the years with the growth of the internet and
embedded technology, Internet of things became popular among the masses. New
technologies paved way for a wide range of applications where Internet of things could
be used fruitfully.

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 Figure 1.1 Evolution of Internet of Things

Today, there are six common types of IoT technology to use:

RFID: Uses radio waves to transmit small information across a small distance. This tech
has enabled the creation of self-checkouts, smart mirrors, inventory tracking, and more.
This type of IoT tech has been transformational to manufacturing and retail. 

Wi-Fi: Mainly works with in-home devices that can also be connected to a power outlet.
These include smart cameras and other gadgets like appliances. Though spotty Wi-Fi
coverage in public doesn’t make this an ideal commercial solution for many industries,
smart cars with on-board Wi-Fi are in the works for Wi-Fi 6.

Cellular: 5G is expected to lead to more use of cellular networks in IoT mobile devices
like those found in vehicles. Cellular networks are also most powerful for real-time data
delivery like healthcare data, industrial automation, public safety surveillance, and driver
assistance systems. 

Bluetooth: This tech was expressly created to allow devices to talk to one another.
Today, many devices that connect with smartphones use Bluetooth, like watches, medical
devices like glucose meters, and door locks. As Bluetooth Mesh becomes more common,
in-store promotions and location-based marketing and content delivery are also being
powered by Bluetooth.

Mesh Networks: Mesh networks connect sensors that are evenly distributed over an area
like a farm field, factory, or private home. Smart lighting, HVAC controls, security, and
other remote monitoring solutions that take in a lot of data are supported by mesh
networks. 

LPWAN: Low-Power Wide Area Network (LPWAN) is the newest innovation in IoT

tech. These sensors can be spread out across a much larger area than a mesh network, but
also collect less data. Environmental monitoring, occupancy monitoring, and
consumables monitoring are some off the applications of LPWAN currently being
explored and licensed.These IoT examples make it clear just how wide-reaching this

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technology is, from personal use to business applications. Whether you want personalized
coupons while shopping or to improve operations at a factory, IoT can help make it
happen.

1.3 APPLICATIONS OF INTERNET OF THINGS:

The scope of Internet of things is quite extensive with technology expanding with each
growing year. The major applications of Internet of things are:

1.SMARTHOMES:

Smart home technology or home automation aims at providing security, comfort,

convenience and energy efficiency to homeowners. Here multiple devices are inter
connected. For example, with closed circuit camera at your home premises that is
connected to your mobile device via internet, you can see all that is happening in and
around the house when your area way simply on your mobile screen.

2.SMARTCITIES:

Application of Internet of things in Smart cities simulates the economic growth as well
as improves the lifestyle of a society. Internet of things can be applied for smart
surveillance, water distribution and management, automated transportation in smart cities
for a better future.

3.AUTOMATION SECTOR:
The automation technology strives for the betterment of the internal functions of a car,
and hence came up with the idea of implementing Internet of things. What’s better than a
car which uses sensors and internet connectivity to optimize its own operations while
keeping the passengers inside the car comfortable? These cars are referred to as
“Connected Cars”.

4.INDUSTRIAL SECTOR:
Internet of things for industries holds a lot of potential for quality control and
sustainability. The sensors collect the data from the machines and send it over the
internet. These data are more reliable and consistent than humans communicating the
data.
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5.HEALTH SECTOR:
The use of wearables or sensors are connected to patients, allows doctors to monitor a
patient condition outside the hospital and in real time. Through continuously monitoring
certain metrics and automatic alerts on their vital signs, the internet of things helps to
improve the care for patient’s prevention of lethal events in high risk patients.
1.4 ADVANTAGES OF INTERNET OF THINGS:
1.BETTER MACHINE TO MACHINE COMMUNICATION:
Since Internet of things encourages communication among connected devices, it helps in
maintaining transparency with better efficiency and quality.
2.AUTOMATION OF DEVICES:
Internet of things connects the physical devices together so that the control is purely
digital and through wireless network. This means lesser human intervention and hence
faster implementation of work.
3.INSTANT ACCESS TO DATA:
Information is available on the go, since everything is recorded and has a back-up. This
makes decision making simple and fast.
4.COST SAVINGS:
Implementing Internet of things in various fields such as industries helps in optimum
utilization of resources by keeping the devices under surveillance. This helps in saving
both energy and cost. This is one of the important advantage of implementing Internet of
things.

1.5 DISADVANTAGES OF INTERNET OF THINGS:

1.COMPATIBILY:
Unavailability of standard of compatibility of tagging and monitoring equipment, is one
of the disadvantages of Internet of things at is most likely to overcome in future. Once the
manufacturing companies of the devices all over agree to a standard of compatibility like
Bluetooth, USB this issue can be solved.
2.COMPLEXITY:

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The vast and diverse nature of Internet of things makes its functioning complex. This
becomes an issue when there is a failure in any one of the connected devices or any
software program of a particular network. The whole system will get affected by it.

3.LESSER JOB OPPURTUNITIES:

Since everything is automated, the demand for unskilled workers reduces. Also,
companies
will prefer skilled professionals who can handle the complexities and challenges of
Internet
of things.
4.INVASION TO PRIVACY:
Internet of things leads to connecting more and more everyday appliances together
through internet. This means more information is readily available for the potential
hackers and unauthorized users. All in all, Internet of things is becoming an imperative
part of the society be it at our home, work place, industries, roads, irrigation. thanks to the
growing technological developments.

1.6 EMBEDDED SYSTEMS

An embedded system is a special-purpose computer system designed to perform one or a
few dedicated functions, sometimes with real-time computing constraints. It is usually
embedded as part of a complete device including hardware and mechanical parts. In
contrast, a general-purpose computer, such as a personal computer, can do many different
tasks depending on programming. Embedded systems have become very important today
as they control many of the common devices we use. Physically embedded systems range
from portable devices such as digital watches andMP3 players, to large stationary
installations like traffic lights, factory controllers, or the systems controlling nuclear
power plants. Complexity varies from low, with a single microcontroller chip, to very

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high with multiple units, peripherals and networks mounted inside a large chassis or
enclosure. In general, "embedded system" is not an exactly defined term, as many
systems have some element of programmability. For example, Hand-held computers
share some elements with embedded systems such as the operating systems and
microprocessors which power them but are not truly embedded systems, because they
allow different applications to be loads and peripherals to be connected. An embedded
system is some combination of computer hardware and software, either fixed in
capability or programmable, that is specifically designed for a particular kind of
application device. Industrial machines, automobiles, medical equipment, cameras,
household appliances, airplanes, vending machines, and toys (as well as the more
obvious cellular phone and PDA) are among the myriad possible hosts of an embedded
system. Embedded systems that are programmable are provided with a programming
interface, and embedded systems programming is a specialized occupation

1.6.1 CHARACTERISTICS OF EMBEDDED SYSTEM

• Speed(bytes/sec): Should be high speed

• Power(watts) : Low power dissipation

• Size and weight: As far as possible small in size and low weight

• Accuracy(%error): Must be very accurate

• Adaptability: High adaptability and accessibility

• Reliability: Must be reliable over a long period of time

1.6.2 APPLICATIONS OF EMBEDDED SYSTEM

We are living in the Embedded World. You are surrounded with many embedded
products and your daily life largely depends on the proper functioning of these gadgets.
Television, Radio, CD player of your living room, Washing Machine or Microwave Oven
in your kitchen, Card readers, Access Controllers, Palm devices of your work space
enable you to do many of your tasks very effectively. Apart from all these, many

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controllers embedded in your car take care of car operations between the bumpers and
most of the times you tend to ignore these controllers.

 Robotics: industrial robots, machine tools, Robocop soccer robots

 Automotive: cars, trucks, trains
 Aviation: airplanes, helicopters
 Home and Building Automation
 Aerospace: rockets, satellites
 Energy systems: windmills, nuclear plants
 Medical systems: prostheses, revalidation machines

1.7 MICRO CONTROLLER VERSUS MICROPROCESSOR

What is the difference between a Microprocessor and Microcontroller? By
microprocessor is meant the general purpose Microprocessors such as Intel's X86 family
(8086, 80286, 80386, 80486, and the Pentium) or Motorola's 680X0 family (68000,
68010,68020, 68030, 68040, etc.). These microprocessors contain no RAM, no ROM,
and no I/O ports on the chip itself. For this reason, they are commonly referred to as
general-purpose Microprocessors. A system designer using a general-purpose
microprocessor such as the Pentium or the68040 must add RAM, ROM, I/O ports, and
timers externally to make them functional. Although the addition of external RAM,
ROM, and I/O ports makes these systems bulkier and much more expensive, they have
the advantage of versatility such that the designer can decide on the amount of RAM,
ROM and I/O ports needed to fit the task at hand. This is not the case with
Microcontrollers. A Microcontroller has a CPU (a microprocessor) in addition to a fixed
amount of RAM, ROM, I/O ports, and a timer all on a single chip. In other words, the
processor, the RAM, ROM, I/O ports and the timer are all embedded together on one
chip; therefore, the designer cannot add any external memory, I/O ports, or timer to it.
The fixed amount of on-chip ROM, RAM, and number of I/O ports in Microcontrollers
makes them ideal for many applications in which cost and space are critical. In many
applications, for example a TV remote control, there is no need for the computing power

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of a 486 or even an 8086 microprocessor. These applications most often require some I/O
operations to read signals and turn on and off certain bits.

1.7.1 MICRO CONTROLLERS FOR EMBEDDED SYSTEMS

In the Literature discussing microprocessors, we often see the term Embedded System.
Microprocessors and Microcontrollers are widely used in embedded system products. An
embedded system product uses a microprocessor (or Microcontroller) to do one task only.
A printer is an example of embedded system since the processor inside it perform some
task only; namely getting the data and printing it. Contrast this with a Pentium based PC.
A PC can be used for any number of applications such as word processor, print-server,
bank teller terminal, Videogame, network server, or Internet terminal. Software for a
variety of applications can be loaded and run. Of course the reason a pc can perform
myriad tasks is that it has RAM memory and an operating system that loads the
application software into RAM memory and lets the CPU run it. In this robot as the fire
sensor senses the fire, it senses the signal to microcontroller. In an Embedded system,
there is only one application software that is typically burned into ROM. An x86 PC
contains or is connected to various embedded products such as keyboard, printer, modem,
disk controller, sound card, CD-ROM drives, mouse, and so on. Each one of these
peripherals has a Microcontroller inside it that performs only one task.

1.8 PROBLEM STATEMENT

In Today’s era, walking with traditional blind stick or a trained dog doesn’t fulfill the
requirements of the blind person while travelling from one place to another place. It is
unable to detect obstacles and sense the objects in the way along, All these systems are
completely dependent on hardware components. However these systems are becoming
inefficient for blind people to proceed during their better navigation.

1.9 EXISTING SYSTEM

A white cane is developed which can communicate with the blind person through buzzer
beep and vibration signals. Ultrasonic sensors are majorly used for detecting the barriers.

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Thus, the Obstacles are detected by these ultrasonic sensors and the person is alerted by
the vibrational signals or the buzzer alarm.

DISADVANTAGES OF EXISTING SYSTEM

There are some of the disadvantages in the existing system as follows:

1. The existing system is unable to detect all types of obstacles in the surroundings
during their navigation.
2. The system is completely depends on hardware components which becomes too
complex during real time implementation.
3. This system is unable to give voice notification for the user.

1.10 PROPOSED SYSTEM

In this proposed system, the system helps the person by giving the direction to the person.
The LCD which is connected to the Arduino board, it displays the distance in which the
obstacle is located from the person. Since, the system is using Bluetooth module, there is
no involvement of internet. This system gives a voice message or notification, which
gives a better feel to the user during their mobility. Unlike the existing systems, the user
does not need any dependency from others.
ADVANTAGES OF PROPOSED SYSTEM:
Our proposed system has some of the advantages as follows:
1. The person uses the device without any dependency.
2. The person can also know the obstacle distance.
3. The system operates the voice notification sound based on the distance closeness
with the obstacle.

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 CHAPTER 2
LITERATURE SURVE
2.1 LITERATURE SURVEY
Literature survey is the most important step in software development process. Before
developing the tool it is necessary to determine the time factor, economy and company
strength. Once these things are satisfied , then next steps are to determine which
operating system and language can be used for developing the tool. Once the
programmers start building the tool, the programmers need lot of external support. This
support can be obtained from senior programmers, from book or websites. Before
building the system the above consideration are taken into account for developing the
proposed system.

[1] SMART WALKING STICK – AN ELECTRONIC APPROACH TO ASSIST

VISUALLY DISABLED PERSONS-2013
Authors : Mohammad Hazzaz, Rana Saha, Sayemul Islam
 As it has been noted earlier the implanted smart walking stick scheme corresponds of
several sub systems. These sub systems fundamentally sensor based. The integral
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 scheme is designed with a circuitry fundament on a PIC microcontroller (PIC16F90) .
This microcontroller operates the whole scheme by functioning and linking the sub
systems in good order.
 A PIC16F90 Microcontroller reads these sensors and drives a buzzer, a LED and a
motor with PWM . Vibratory module comprised with a micro pager motor which
outputs is assured by PWM to obtain different vibratory patterns. An output is
designated by a buzzer alarm.
 The output signals are operated by PWM to hold distinct sound form as well as it
indicates the scheme’s status.
 It is easily fully automated, easy maintenance, very comfortable to use. As this
system is developed with PIC micro controller. It cannot interface a better power
device directly.

[2] IMPLEMENTATION OF SMART STICK FOR OBSTACLE DETECTION

AND NAVIGATION – 2016
Authors : Radhika, Payal, Rakshitha, Rampur Srinath
 A smart stick is built for visually impaired people that help to detect obstacles with
the use of infrared , ultrasonic and GPS module, water sensors. The pair of
ultrasonic sensor to detect the obstacles in front of blind from ground level height to
head level height. Infrared sensors to detect upward and downward stairs. Water
sensor is for detecting water puddles.
 The sensors collect the real-time data and send it to the microcontroller for
processing.
 After processing, the micro controller invokes the right speech warning message.
 This system facilitates the blind person to make calls and tracing at the time of
emergency using GPS module.
 As this system is embedded with too many sensors, it is very complex in structure
and extravagant.

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[3] SMART BLIND STICK FOR OBSTACLE DETECTION AND NAVIGATION
SYSTEM-2018
Authors : Amith kumar Thakur, Rajesh Singh, Anitha Gehlot
 The main aim of this initiative is to enable the blind navigate with confidence and to
be Alert if their walking route becomes obstructed with other things, objects, people
or related odds.
 In the circuit, a buzzer is attached as a warning signal, whose beep frequency changes
depending on the distance of the target. The smaller the obstacle gap, the more
frequent the buzzer is. We can say that the length of the beep is inversely proportional
to the size. The ultrasonic sensor is the main feature of the device.
 This system offers low cost, reliable, light weight, low power and efficient navigation
with fast response times.
 The system completely depends on hardware components.

[4] OBSTACLE AVOIDANCE USING STEREO-VISION AND DEPTH MAPS

FOR VISUAL AID DEVICES-2020

Authors : Vaibhav Bansal, Krithika Balasubramanian, P Natarajan

 In this system, the image processing and micro controller (Arduino) – Based Visual
aid model for blind people is discussed. The system consists of both stereo vision and
sensors.
 The calculation of the long distanced obstacles through stereo-vision and short
distanced using the ultrasonic sensors, a precise awareness of the Obstacles, is
obtained for real-time surroundings. The internal architecture is connected to the
Arduino module, Which is connected to the other sensors like Wifi module, GSM
module, LDR sensor, Voice module, buzzer, GPS module.
 When the system is turned on, farther distanced obstacles are detected using the
stereo-vision, connected to the Arduino module present on the walking stick and
ultrasonic will detect shorter distance obstacles. In case of obstacle is found, the

13
 buzzer will start to buzz and user can also send notifications to the registered mobile
using a press button.
 This system overcomes the problem of finding holes and descending stairs and uses
mono-scopic vision. It includes CCD which uses high energy power consumption,
smearing effects due to over exposure compared to CMOS.

Publication Title Overview Positive Limitations

/ Aspects
Year
IJSR/2013 Smart Walking In this system, It is fully As this system
Stick-An the integral automated, easy is designed
electronic system is maintenance, with PIC
approach to assist designed with a very comfortable microcontroller,
visually disabled circuiting to use. it cannot
persons fundament on interface a
PIC better power
microcontroller- device directly
PIC16F90 and a
ping sonar
sensor,GH-311
ultrasonic
sensor
14
IJLRET/2016 Implementation of This system is This system As this system
smart stick for embedded with facilitates the is embedded
obstacle detection ultrasonic blind person to with too many
and navigation sensors, IR make calls and sensors, it is
sensors, GPS tracing at the very complex
and GPS time of in structure and
modules. emergency using extravagant.
GPS module
JETIR/2018 Smart blind stick This system is It offers low- This system
for obstacle embedded with cost, reliable, completely
detection and ultrasonic light weight, low depends on
navigation system sensors, water power and hardware
sensors, buzzer, efficient components.
IR sensors, navigation with
node MCU, fast response
includes an times
international
system for
locating
individual via
the GPS system
SN Applied Obstacle The system is This system It includes
sciences/2020 avoidance using used CCD overcomes the CCD which
stereo-vision and cameras for problem of uses high
depth maps for capturing the finding holes and energy power
visual aid devices obstacle descending stairs consumption,
images. and uses mono- smearing
scopic vision effects due to
over exposure
compared to
15
 CMOS

CHAPTER- 3

3.1 BLOCK DIAGRAM

Power supply

IR Sensor
GSM Module
Arduino UNO

Ultrasonic Bluetooth mo
sensor module bile

Figure 3.1 Block Diagram

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The above figure is the block diagram of our project. The components like Node MCU,
IR sensor, Ultrasonic sensor, power supply and Bluetooth modules, GSM modules are
used. The Node MCU has an in-built GSM module, which is connected to the user’s
mobile. The infrared sensor and ultrasonic sensors are connected to the pins on the node
micro-controller unit.

IR sensor keeps on checking for obstacle presence. Ultrasonic sensor grasps the signals
those are sent by IR Sensor and calculates the distance of the obstacle from the smart
stick. Through the GSM module, the results are generated by using the signals sent by
ultrasonic sensor and GSM module sends the information about the obstacle. Code runs
in the Arduino board. Then the user can get the alert by voice- notification.

3.2 PROJECT DESCRIPTION

"The smart obstacle detection stick for blind" is used to detect the obstacles that are ahead
of the blind person using it. As we all know, it is really hard for blind people to know
what's ahead of them. So, this approach is how we can help them through this smart
obstacle detection stick. To detect the obstacle, we are using ultrasonic sensor, which
detects the object that is in the given distance to that sensor. We are also using an IR
sensor which is always in touch with the ground, and upon missing the touch with the
ground it detects the obstacle. We connect these sensors to the Node Microcontroller unit,
which has in-built GSM module. We use a server by using Arduino voice controller app,
which is connected to the stick through the Bluetooth on your mobile. We can charge the
stick using a power bank or an adapter. The led on the stick glows for identification. The
notifications are sent to the mobile whenever the obstacle is detected. The notifications
states "obstacle detected in-front of you" and "move in other direction ". Notifications
sound can be set according to the sound you wish and that is available on your device.
Thus, we can be able to avoid the tripping and minor accidents that blind people face in
every-day life.

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18
 CHAPTER – 4

HARDWARE IMPLEMENTATION
4.1 MICROCONTROLLER

4.1.1 INTRODUCTION

Microcontroller as the name suggests, a small controller. They are like single chip
computers that are often embedded into other systems to function as
processing/controlling unit. They are also used in auto mobiles, washing machines, micro
waves ovens, toys…. Where automation is needed. Microcontroller can be described as
computer embedded on small circuit board. To describe the function of a microcontroller
more precisely, it is a single chip that can perform various calculations and tasks and
send/receive signals from other devices via the available pins.

4.1.2 NODE MICROCONTROLLER UNIT(ATMega328P)

ATMEGA328P is high performance, low power controller from Microchip.

ATMEGA328P is an 8-bit microcontroller based on AVR RISC architecture. It is the
most popular of all AVR controllers as it is used in ARDUINO boards.

On the other hand, Arduino provides us with software consisting of a development

environment  that implements the Arduino programming language, the tools to transfer
the firmware to the microcontroller and the bootloader executed on the board. The main
feature of the software and the programming language is its simplicity and ease of use.

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 Figure 4.1 : Microcontroller

Starting clockwise from the top center:

 Analog Reference pin (orange)

 Digital Ground (light green)
 Digital Pins 2-13 (green)
 Digital Pins 0-1/Serial In/Out - TX/RX (dark green) - These pins cannot be used
for digital i/o (digitalRead and digitalWrite) if you are also using serial
communication (e.g. Serial.begin).
 Reset Button - S1 (dark blue)
 In-circuit Serial Programmer (blue-green)
 Analog In Pins 0-5 (light blue)
 Power and Ground Pins (power: orange, grounds: light orange)
 External Power Supply In (9-12VDC) - X1 (pink)

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 Toggles External Power and USB Power (place jumper on two pins closest to
desired supply) - SV1 (purple)
 USB (used for uploading sketches to the board and for serial communication
between the board and the computer; can be used to power the board) (yellow)

Microcontroller:
ATmega328P (used on most recent boards)

 Digital I/O Pins: 14 (of which 6 provide PWM output)

 Analog Input Pins: 6 (DIP) or 8 (SMD)
 DC Current per I/O Pin: 40 mA
 Flash Memory: 32 KB
 SRAM: 2 KB
 EEPROM: 1 KB

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4.1.3 MAIN MICRO CONTROLLER

Arduino UNO

Figure 4.2: Arduino UNO

The Arduino UNO is open-source microcontroller,  ATmega328P microcontroller and

developed by Arduino.cc and initially released in 2010. The board is equipped with sets
digital and analog input/output (I/O) pins that may be interfaced to various expansion
boards (shields) and other circuits. The board has 14 digital I/O pins (six capable
of PWM output), 6 analog I/O pins, and is programmable with the Arduino
IDE (Integrated Development Environment), via a type B USB cable. It can be powered
by the USB cable or by an external 9-volt battery, though it accepts voltages between 7
and 20 volts. It is similar to the Arduino Nano and Leonardo. The hardware reference
design is distributed under a Creative Commons Attribution Share-Alike 2.5 license and
is available on the Arduino website. Layout and production files for some versions of the
hardware are also available.

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Digital Pins
In addition to the specific functions listed below, the digital pins on an Arduino board
can be used for general purpose input and output via the pinMode(), digitalRead(),
and digitalWrite() commands. Each pin has an internal pull-up resistor which can be
turned on and off using digitalWrite() (w/ a value of HIGH or LOW, respectively) when
the pin is configured as an input. The maximum current per pin is 40 mA.

 Serial : 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial
data. On the Arduino Diecimila, these pins are connected to the corresponding
pins of the FTDI USB-to-TTL Serial chip. On the Arduino BT, they are
connected to the corresponding pins of the WT11 Bluetooth® module. On the
Arduino Mini and LilyPad Arduino, they are intended for use with an external
TTL serial module (e.g. the Mini-USB Adapter).
 External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt
on a low value, a rising or falling edge, or a change in value. See
the attachInterupt()  function for details.
 PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with
the analogWrite( ) function. On boards with an ATmega8, PWM output is
available only on pins 9, 10, and 11.

 BT Reset: 7. (Arduino BT-only) Connected to the reset line of the Bluetooth®

module.
 SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI
communication, which, although provided by the underlying hardware, is not
currently included in the Arduino language.
 LED: 13. On the Diecimila and LilyPad, there is a built-in LED connected to
digital pin 13. When the pin is HIGH value, the LED is on, when the pin is LOW,
it's off.

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 Analog Pins

In addition to the specific functions listed below, the analog input pins support 10-bit
analog-to-digital conversion (ADC) using the analogRead() function. Most of the
analog inputs can also be used as digital pins: analog input 0 as digital pin 14 through
analog input 5 as digital pin 19. Analog inputs 6 and 7 (present on the Mini and BT)
cannot be used as digital pins.

 I2C: 4 (SDA) and 5 (SCL). Support I2C (TWI) communication using

the Wire library.

Power pins

 VIN (sometimes labelled "9V"). The input voltage to the Arduino board when it's
using an external power source (as opposed to 5 volts from the USB connection or
other regulated power source). You can supply voltage through this pin, or, if
supplying voltage via the power jack, access it through this pin. Note that
different boards accept different input voltages ranges, please see the
documentation for your board. Also note that the LilyPad has no VIN pin and
accepts only a regulated input.
 5V. The regulated power supply used to power the microcontroller and other
components on the board. This can come either from VIN via an on-board
regulator, or be supplied by USB or another regulated 5V supply.
 3V3. (Diecimila-only) A 3.3 volt supply generated by the on-board FTDI chip.
 GND. Ground pins.

Other Pins

 AREF. Reference voltage for the analog inputs. Used with analogReference()

 Reset. (Diecimila-only) Bring this line LOW to reset the microcontroller.
Typically used to add a reset button to shields which block the one on the board.

4.1.4 Memory of Arduino UNO

24
  Flash Memory: 13KB (used to store a number of instructions in code form)
 SRAM of 2 KB
 1 KB EPROM
4.1.5 Arduino UNO Applications

1. Weighting Machines
2. Traffic Light count down timer
3. Parking lot counter
4. Embedded Systems
5. Home Automation
6. Industrial Automation
7. Medical Instrument
8. Emergency Light for Railways

4.1.6 Arduino UNO Real time applications

It is used to control the home activities with the control system such as

1. Motion sensors
2. Temperature sensors
3. Outlet control
4. Blower control
5. Garage door control
6. Airflow control
7. Sprinkler control
8. Bill of materials

4.1.7 Features of Arduino UNO Board

The features of Arduino UNO ATmega328 includes the following:

 The operating voltage 5V

 The recommended input voltage will range from 7V to 12V
 The input voltage ranges from 6V to 20V
 Digital input/output pins 14
25
  Analog input/output pins are 6V
 DC Current for each input/output pin is 40 mA
 DC Current for 3.3V Pin is 50 mA
 Flash Memory is 32 KB
 SRAM is 2 KB
 EEPROM is 1 KB
 CLK Speed is 16 MHz

4.2 ULTRASONIC SENSOR

Figure 4.3: Ultrasonic sensor

SCOPE:

Examines the human or the object migration, indoor uses, outside security, room balcony
security, automobile security, automatic ATM monitoring photograph, warehouse
monitoring photograph, high pressure, high temperature and so on the area security
caution and so on.

PRODUCT CHARACTERISTIC:
26
 High sensitivity,
 Can bear high/low temperature, anti-humanity, anti-quival.

DESCRIPTION

 Use voltage DC6-12V

 Quiescent current. Is smaller than 2mA
 Level output: high 5V
 Level output: low 0V – OUT+
 Induction angle: it is not bigger than 15 degrees
 Induction distance: 2 millimeter – 3 meter

GH311T

 Supply – DC6-12V
 Operation current 1.2-2.5 Ma
 Frequency – 40 kHz
 Readable range :( about 3-12 meter)

4.3 INFRARED SENSOR

27
 Figure 4.4: IR Sensor

The cheapest way to remotely control a device within a visible range is via Infra-Red
light. Almost all audio and video equipment can be controlled this way nowadays. Due to
this wide spread use the required components are quite cheap, thus making it ideal for us
to use IR control for our own projects. Infra-Red actually is normal light with a particular
color. We humans can't see this color because its wave length of 950nm is below the
visible spectrum. That's one of the reasons why IR is chosen for remote control purposes,
we want to use it but we're not interested in seeing it. Another reason is because IR
LED’s are quite easy to make, and therefore can be very cheap. Wireless communication,
as the term implies, allows information to be exchanged between two devices without the
use of wire or cable. In all such cases, information is being transmitted and received using
electromagnetic energy, also referred to as electromagnetic radiation. IR Sensoris a
distance measuring sensor unit, composed of an integrated combination of PSD (position
sensitive detector) , IRED (infrared emitting diode) and signal processing circuit. The
variety of the reflectivity of the object, the environmental temperature and the operating
duration are not influenced easily to the distance detection because of adopting the
triangulation method. This device outputs the voltage corresponding to the detection 21
distance. So this sensor can also be used as a proximity sensor.

28
PIN DESCRIPTION:

1. VCC 3.3 to 5Vdc supply input

2. GND Ground input
3. Out The output that goes low when an obstacle is in range
4. Power LED Illuminates when power is applied
5. Obstacle LED Illuminates when an obstacle is detected
6. IR Emitter Infrared emitter LED
7. IR Receiver The infrared receiver that receives signal transmitted
by Infrared emitter

Hardware Connections:

1. Vcc to 5V of Arduino
2. GND to GND of Arduino
3. OUT to any digital pin of Arduino

4.4 BLUETOOH MODULE

29
 Figure 4.5 : Bluetooth module

Bluetooth is a one of the great example for wireless connectivity. It is used in many
fields. Bluetooth consumes very small amount of energy. Do you know about
Smartphone controlled robot or car. Commonly one of these two wireless technology
is used in Smartphone controlled robot. One is WIFI and other is Bluetooth. And
another commonly used wireless technology for controlling Robot car is RF. Which
is the same remote and receiver used in drones. Here we are going to interface a
Bluetooth Module (HC-05) with Arduino Uno. And describe each line of code. Then
we control the built-in LED of Arduino Uno from smartphone via Bluetooth.

HC-05 is a Bluetooth module which can communicate in two way. Which means, It
is full-duplex. We can use it with most micro controllers. Because it operates Serial
Port Protocol (SSP). The module communicate with the help of USART (Universal
Synchronous/Asynchronous Receiver/Transmitter ) at the baud rate of 9600. and it
also support other baud rate. So we can interface this module with any
microcontroller which supports USART. The HC-05 can operate in two modes. One
is Data mode and other is AT command mode. When the enable pin is "LOW" the
HC-05 is in Data Mode. If that pin set as "HIGH" the module is in AT command
mode. Here we operate this module in Data Mode.

30
 Technical Specifications
1. Operating Voltage: 4V to 6V (Typically +5V)
2. Operating Current: 30mA
3. Range: <100m
4. Works with Serial communication (USART) and TTL compatible
5. Can be easily interfaced with Laptop or Mobile phones with Bluetooth

Bluetooth module pins:

1. Rx Pin - Tx Pin of Arduino UNO
2. Tx Pin - Rx pin of Arduino UNO

4.5 POWER SUPPLY

Figure 4.6 : Power supply of Arduino UNO

Operating Current

31
As opposed to voltage, which is “forced”, current is the draw a circuit can place on a
power source e.g. the power supply will supply different amperage depending on the load
placed on it by the connected device. Therefore, essentially the greater the current output
of the adaptor, the better. The minimum requirement is 250mA which should just about
run an Arduino with some measure of stability. However, if you want to power any
external devices (Servo’s, LED’s, USB devices etc.) then 0.5A to 2A will enable a
greater range of use. A charger with a higher current rating will ensure you enough juice
to make each component of the circuit function correctly.

Operating Current

As opposed to voltage, which is “forced”, current is the draw a circuit can place on a
power source e.g. the power supply will supply different amperage depending on the load
placed on it by the connected device. Therefore, essentially the greater the current output
of the adaptor, the better. The minimum requirement is 250mA which should just about
run an Arduino with some measure of stability. However, if you want to power any
external devices (Servo’s, LED’s, USB devices etc.) then 0.5A to 2A will enable a
greater range of use. A charger with a higher current rating will ensure you enough juice
to make each component of the circuit function correctly.

The Arduino can also be powered via the USB port on the front of the unit (known as
back-powering in the Pi world!). USB powering should only be attempted using a stable
5V supply. It should also be noted that there is a current limit on the USB ports of
500mA, so any current draw greater than this might cause instability.Supplying a voltage
to the USB ports essentially dumps that voltage directly to the 5V rail on the Arduino
(directly powering the 5V pin). Care should be taken when powering in this manner, as
supplying voltage to the USB ports bypasses the 5V regulators, which can damage your
board if an incorrect voltage is applied!Additionally, the Arduino features a resettable
polyfuse on the USB ports, with an overcurrent protection of 500mA. This somewhat
limits the applications that can be utilised when powering via USB. If anything draws a
significant amount of current (or multiple devices draw greater than 500mA combined),
32
the on board polyfuses will likely trip, breaking the connection until the load is removed.
This would likely result in the unit repeatedly resetting, or other strange behaviour!

If the Arduino detects that there is a barrel source and USB source supplying voltage at
the same time, the Arduino automatically switches to the barrel source as long as it
supplies a sufficient voltage (over 6.6V). Therefore, as long as a barrel supply is
connected (and of sufficient voltage) the user does not need to worry about the applied
USB voltage. 

Figure 4.7 : Power pins of Bluetooth

The power pins are as follows:

 Vin. Vin can be utilized as a voltage input (instead of using the barrel adaptor or
USB). The voltage should within the 9V – 12V, and it is regulated internally by
the board to 5V. Vin can also be used as a voltage output, copying the voltage
supplied via the barrel adaptor or USB.
 5V. This pin outputs a regulated 5V from the regulator on the board. This pin can
be supplied with power either from the barrel adaptor, the USB connector, or the
Vin pin of the board. You can supply voltage via the 5V pin, however this
bypasses the regulator, and can damage your board. Maximum current draw is
0.8A.
33
 3V3. A 3.3V output supply generated by the on-board regulator. This pin can be
supplied with power either from the barrel adaptor, the USB connector, or the Vin
pin of the board. Maximum current draw is 150mA.
 GND. Ground pins.

34
 Figure 4.8 : Smart obstacle detection stick

This is our proposed system, it is a device for the visually impaired to guide the user to
respective destination and avoiding to collide with the obstacles. Obstacle detection is

35
one of the major concerns for a fully or a partially blind person Presented here is a smart
stick using Node MCU. Bluetooth will work up to the range of 10m. Distance is
measured up to the range of 30cm. We placed ultrasonic sensor at the bottom of the stick.
IR Sensor is placed at anywhere of the stick. As the obstacle is detected, the distance is
displayed on LCD in centimeters, meters. Voice notification is generated by stating “
obstacle is detected in-front of you, please take a turn, obstacle is detected within range of
centimeters” . Here, all the echo pins are responsible for input signals for signals
passing.

36
 CHAPTER - 5

SOFTWARE IMPLEMENTATION

5.1ARDUINO IDE

The software used by the Arduino is Arduino IDE. Arduino IDE is a cross platform
application written in Java, and is derived from the IDE for the Processing programming
language and the Wiring project. It is designed to introduce programming to artists and
other newcomer sun familiar with software development. It includes a code editor with
features such as syntax highlighting, brace matching, and automatic indentation, and is
also capable of compiling and uploading programs to the board with a single click. There
is typically no need to edit make files or run programs on command. Although building
on command-line is possible if required with some third-party tools such also. The
Arduino IDE comes with a C/C++ library called "Wiring" (from the project of the same
name), which makes many common input/output operations much easier. Arduino
programs are written in C/C++, although users only need define two functions to make a
program

37
38
`

Figure 5.1 : Screenshots of sample code

39
#include <LiquidCrystal.h>#define trigger 2
#define echo 3

#define ir 4

#define buzzer 7

int ir_value;

LiquidCrystal lcd(13,12,11,10,7,8 );

float time=0,distance=0;

void setup()

Serial.begin(9600);

Serial.print("Hello");

delay(500);

Serial.print("this is smart blind stick");

lcd.begin(16,2);

pinMode(trigger,OUTPUT);

pinMode(echo,INPUT);

lcd.print(" Ultra sonic");

lcd.setCursor(0,1);

lcd.print("Distance Meter");

pinMode(buzzer,OUTPUT);

delay(2000);

lcd.clear();

40
}

void loop()

int ir_value=digitalRead(ir);

lcd.clear();

digitalWrite(trigger,LOW);

delayMicroseconds(2);

digitalWrite(trigger,HIGH);

delayMicroseconds(10);

digitalWrite(trigger,LOW);

delayMicroseconds(2);

time=pulseIn(echo,HIGH);

distance=time*340/20000;

lcd.clear();

/*Serial.print("Distance:");

Serial.print(distance);

Serial.print("cm..");*/

lcd.print("Distance:");

lcd.print(distance);

lcd.print("cm");

lcd.setCursor(0,1);

lcd.print("Distance:");

lcd.print(distance/100);

41
lcd.print("m");

//delay(1000);

if(distance<30)

Serial.print("Obstracle near:");

Serial.print(distance);

Serial.print("centimeters");

delay(1000);

if(distance<10)

digitalWrite(buzzer,HIGH);

delay(500);

digitalWrite(buzzer,LOW);

delay(500);

delay(3000);

if(ir_value==LOW)

Serial.print("Object detected infront of you");

delay(2000);

Serial.print("move in other direction");

delay(3000);

42
Fortheabovecodetoworkcorrectlythevibrationsensorshouldbeconnectedtopin The above
code would not be seen by a standard C++ compiler as a valid program, so when the user
32 clicks the "Upload to I/O board" button in the IDE, a copy of the code is written to a
temporary file with an extra include header at the top and a very simple main() function
at the bottom, to make it a valid C++ program. The output can also be viewed on the
serial monitor in the IDE. The Arduino IDE uses the GNU tool chain and AVRLibc to
compile programs, and uses argued to upload programs to the board. For educational
purposes there is third party graphical development environment called Mini bloc
available under a different open source license. GSM module is installed in Arduino code

43
 Bluetooth
module

Ground

Tx Rx Vcc

Figure 5.2 : circuit diagram of smart obstacle detection stick for blind

Connections Description:

IR SENSOR:

1. Out pin of IR Sensor is connected to Ground 4 pin of Arduino UNO

2. VCC pin of IR Sensor is connected to Positive terminal
3. GND pin of IR Sensor is connected to Negative terminal

ULTRASONIC SENSOR:

1. Trigger pin of ultrasonic sensor is connected to second pin of Arduino UNO

2. ECHO pin of ultrasonic sensor is connected to third pin of Arduino UNO
3. VCC pin of ultrasonic sensor is connected to Positive terminal
4. GND pin of ultrasonic sensor is connected to Negative terminal

BLUETOOTH MODULE:

1. RXD pin of Bluetooth module is connected to TXD pin of Arduino UNO

2. TXD pin of Bluetooth module is connected to RXD pin of Arduino UNO
44
3. VCC pin of Bluetooth module is connected to Positive terminal
4. GND pin of Bluetooth module is connected to Negative terminal

45
 CHAPTER - 6

UML DIAGRAMS

UML stands for Unified Modelling Language. UML is a standardized general purpose
modelling language in the field of object -oriented software engineering. The standard is
managed, and was created by, the Object Management Group .

The goal is for UML to become a common language for creating models of object-
oriented computer software. In its current form UML is compared of two major-
components:

A meta-model and a notation. In the future, some form of method or process may also be
added to : are associated with , UML.

The UML is a very important part of developing object-oriented software and the
development process. The UML uses mostly graphical notations to express the design of
software projects.

The UML represents a collection of best engineering practices and that have proven
successful in the modelling of large and complex systems.

GOALS: The primary goals in the design of UML are as follows:

1. Provide users a ready-to-use, expressive visual modelling language. So that, they

can develop and exchange meaningful models.
2. Provide extendibility and specialization mechanisms to extend the core concepts.
3. Be independent of particular programming languages and development process.
4. Provide a formal basis for understanding the modelling language.
5. Encourage the growth of OO tools market.
6. Support higher level development concepts such as collaborations, frame works,
patterns and components.
7. Integrate best practices .

46
6.1. Data Flow Diagram

1.The DFD is also called as bubble chart. It is a simple graphical formalism that can be
used to represent a system in terms of input data to the system, various processing carried
out on this data and the output data is generated by this system

2.The data flow diagram (DED) is one of the most important modeling tools. It is used to
model the system components. These components are the system process, the data used
by the process, an external entity that interacts with the system and the information flows
in the system

3.DED shows how the information moves through the system and how it is modified by a
series of transformations. It is a graphical technique that depicts information and the
transformations that are applied as data moves from input to output.

4.DFD is known as bubble chart.

5.A DFD may be used to represent a system at any level of abstraction .DFD may be
partitioned into levels that represent increasing information flow and functional detail.

Figure 6.1 Data flow diagram

47
  Bluetooth is gets connected by the user’s family members by using Arduino voice
control app for servers.
 IR Sensors checks whether the obstacle is present or not on the ground through
the signals.
 If any obstacle is detected by IR sensor, then Ultrasonic sensors gets into the work
by calculating the distance (comparing with the threshold value that is 30cm)
using the formula distance = time * 340 / 20000
 Then source code runs on the Arduino Board.
 The result is send to the in-built function GSM module and LCD.
 GSM module gives voice notifications as per the code which we have written in
code. For example: Obstacle is detected in-front of you, please take a turn.
 LCD displays the distance measurement in centimeters and meters in which the
blind person can notify the distance by voice message.

6. 2.Sequence Diagram

A sequence diagram in Unified Modelling Language(UML) is a kind of interaction

diagram that shows how processes operate with one another and in what order.

It is a construct of a Message Sequence Chart.

Sequence diagrams are sometimes called event diagrams, event scenarios, and timing
diagrams.

48
 Figure 6.2 : Sequence Diagram

 Sequence of our project starts with the user itself by the connection of Bluetooth.
 It flows from IR Sensor to Ultrasonic sensor.
 Then the next sequence is from Ultrasonic sensor to GSM module.
 Next, it flows from GSM module to Bluetooth module by using Arduino voice
control app.
 Finally, the user get notified by using built-in function speaker from the user’s
mobile.

6.3.Use - Case Diagram

A Use-Case diagram in the Unified Modelling Language (UML) is a type of behavioural
diagram defined by and created from a Use-Case analysis. Its purpose is to present a
graphical over-view of the functionality provided by a system in terms of actors, their
goals ( represented as use-cases ), and any dependencies between those Use-Cases . The
main purpose of a Use-Case diagram is to show what system functions are performed for
which actor. Roles of the actors in the system can be depicted.

49
 Figure 6.3 : Use-Case diagram

Here, the Bluetooth connection is done the user side (Blind person)

Obstacle Testing, Distance Measurement, Sending Signals to GSM, GSM Module

Responds, Generate Response, Result are done by the device side of view. The Actors
involved in this Use-Case diagram are user and device.

50
6.4 Timing Diagram

The module works on the natural phenomenon of ECHO of sound. A pulse is sent for
about 10us to trigger the module. After which the module automatically sends 8 cycles of
40 KHz ultrasound signal and checks its echo. The signal after striking with an obstacle
returns back and is captured by the receiver. Thus the distance of the obstacle from the
sensor is simply calculated by the formula given as

            Distance= time * 340 / 20000;

Here we have divided the product of speed and time by 2 because the time is the total
time it took to reach the obstacle and return back. Thus the time to reach obstacle is just
half the total time taken

51
 CHAPTER – 7

ADVANTAGES AND DISADVANTAGES OF THE SYSTEM

7.1 ADVANTAGES OF PROPOSED SYSTEM:

 Our system provides obstacle detection with voice support.
 It is simple to use.
 Low-cost
 Auto-detection.
 The sensors used in this system provides
 Accuracy
 Resolution

7.2 DISADVANTAGES OF PROPOSED SYSTEM

Smart stick detects obstacles in front of the blind. These solutions still have many
disadvantages

 They cannot detect obstructions that are hidden but dangerous for the blind such
as downward stairs, holes
 They cannot detect obstacles in the presence of water.

52
 CHAPTER - 8

RESULTS

Figure 8.1 : screenshot of bluetooth connection

53
The above screenshot describes the connection of Bluetooth module to the mobile. It only
displays if the stick got connected perfectly. Once the bluetooth HC-05 got displayed on
the mobile screen, tap on it, then the voice notification generates to the user as saying
“Bluetooth conneted”.

Figure 8.2 : screenshot of device connection

The above screenshot describes the scenario after the connetion establishment. Open the
Arduino Voice Control App for better working, if any obstacle is detected by the IR
Sensor, all the inner procedure will iterates in the working side. Then a voice notification
will generates saying “obstacle is detected infront of you, please take a turn, and it also
gives the distance upto where the obstacle is pointed out.
54
55
 CHAPTER- 9

TESTING

Test case 1:

In our project, we have given the distance up to a meter, and because of that every
obstacle within that radius was detected and it was unnecessary.

Due to that, constant notifications were generated, it had become difficult to move each
step.

So, we have reduced the distance to 30cm which is very sufficient while travelling using
our smart obstacle detection stick for blind.

Test case 2:

Before, sensors were placed at a different locations and due to which the obstacles were
not detected properly, so we changed the location of IR sensor and Ultrasonic sensor to
the edge of the stick.

Now, it works efficiently.

Test case 3:

We have tested the efficiency and reliability of our smart obstacle stick for blind using
Trial and Error method and its accuracy is up to the mark.

Test case 4:

Before, we only tried using the adapter for charging our stick, but now we have even
made our project support power bank also, which improved it's performance.

56
 CHAPTER- 10

CONCLUSION

The smart stick for the blind as the name suggests is a device for the visually impaired to
guide the user to respective destination and avoiding to collide with the obstacles. It uses
ultrasonic sensor to detect the depth below or the obstacles in between. The technologies
behind blind sticks are upgrading day by day. And our model ensures one thing that is
making the task of moving of a blind person easy and comfortable. The stick is also very
light and handy to carry. And the components or parts that we used in the stick are also
easily available and less in cost. The stick can detect the obstacles up-to the range of
30cm around the user’s surroundings. Bluetooth connection is enabled over a range of
10m.

57
 CHAPTER- 11

FUTURE SCOPE AND ENHANCEMENTS

Some of the techniques in which this device can be modified are given below:

 Arduino can be replaced by upgraded Microcontroller or chip.

 It can be further enhanced by using VLSI technology to design the PCB unit. This
can make the system even more compact. More sensors can be used for further
application like water sensors.
 It can be future enhanced by Image processing can be used for knowing about the
volume of obstacles and object patterns.
 GPS tracker can be used for more accurate location.
 Android application can be developed.
 High range ultrasonic sensor can be used
 We can integrate the Arduino UNO with the Image processing techniques and
Machine Learning concepts to identify the obstacle names using boundary points
of the image captured.

58
 CHAPTER- 12

REFERENCES

1.Smart Walking Stick – An electronic approach to assist visually disabled persons,

IJSER, VOL 4, PP.111-114, 2013 by M. MAHMUD, RANA SANA, S. ISLAM

2. Implementation of smart stick for obstacle detection and navigation, IJLRET,

2016, by R. RADHIKA, P.G.SAI, S. RAKSHITHA, R. SRINATH.

3.Smart blind stick for obstacle detection and navigation system, by AMITH
THAKUR, RAJESH SINGH, October 2018

4.Obstacle avoidance using stereo vision and depth maps for visual aid devices by
VAIBHAV BANSAL, KRITHIKA, P. NATRAJAN – 2020

5. “Smart Electronic Stick for Visually Impaired .” International Journal of Innovative

Research in Science, Engineering and Technology, vol. 4, number 7, pp. 6389-6395, 2015 by B.G.
ROOPASHREE, B.S. PATIL and B.R. SHRUTHI

6. “Sensor Assisted Stick for the Blind People .” Transactions on Engineering and Sciences,
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7. “ Obstacle detection and warning system for visually impaired people based on
electrode matrix and mobile Kinect”. By VAN-NAM HOANG, THANH-HUONG
NGUYEN, NICOLAS, VUILLERME published in the year 2016.

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%20open%20sour ce,prototyping%20board%20designs%20are%20available.&text=The
%20firmware%20is% 20based%20on,as%20lua%2Dcjson%20and%20SPIFFS.

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60