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International Journal of Engineering Trends and Technology (IJETT) – Volume 21 Number 5 – March 2015
Gesture Controlled Metal Detecting Land
Rover
Mohini Gupta#1, R. Rohini*2, P.E.V.V Reddy#3, P. Bhanu Prakash*4, K.T.P.S Kumar#5
#
Student, Department of ECE, Lendi Institute of Engineering and Technology, Vizianagaram, India.
Abstract --- Gesture is a most natural, expressive way
of communication between Human and Computer in
real system. We naturally use various gestures to
express our own intension in everyday life. We have
proposed a method where the movements of robot are
controlled by hand gestures. We formulated the
relation between hand gestures and Accelerometer
and designed a new way of communicating robot with
hand gestures in different modes. Based on hand
gestures the output is generated by the Arduino
software. The corresponding outputs of Arduino are
given as input to Motor driver (L293D). This runs DC
Motor accordingly and robot moves. This robot can
be moved forward and backward directions using DC
Motors. Also takes sharp turnings towards left and
right directions. This project is designed to develop a
robot that can sense metals ahead of it on its path. On
detection it automatically starts beeping which alerts
the user to notify about it. Reduction of human
activities in dangerous environment is the main
objective of employing this robot.
Keywords: Arduino UNO, ADXL335 (accelerometer),
DC Motors, Motor driver, RF module, Metal
detector.
I. INTRODUCTION
Humans are anxiously working on finding new
ways of interacting with machines. However, a
major breakthrough was observed when gestures
were used for this interaction. A gesture is a form
of non-verbal communication in which visible
bodily actions communicate particular messages. It
comprises of sound, light variation or any type of
body movement. Land rovers are the vital part of
almost all the industries which performs various
different tasks such as welding, trimming, picking
and placing etc. Moreover the biggest advantage of
these arms is that it can work in hazardous areas
and also in the areas which cannot be accessed by
human. In this paper, the gesture based system
(using Accelerometer) has been incorporated to
control the land rover as well as its platform using
two, small and low-cost, 3-axis accelerometers.
The prime aim of the design is that the robot and
platform starts the movement as soon as the
operator makes a gesture or posture or any motion.
ISSN: 2231-5381
The Land rover is synchronized with the gestures
(hand postures) of the operator [3].
II. TECHNOLOGY USED
A. Gesture
Gestures are an important aspect of human
interaction, both interpersonally and in the context
of man interfaces. A gesture is a form of non verbal
communication in which visible bodily actions
communicate particular messages, either in place of
speech or together and in parallel with words.
Gestures include movement of the hands, face, or
other parts of the body. Military air marshals use
hand and body gestures to direct flight operations
aboard aircraft carriers. Hand gesture recognition
way to create a useful, highly adaptive interface
between machines and their users. Hand gesture
recognition technology would allow for the
operation of complex machines using only a series
of finger and hand movements, eliminating the
need for physical contact between operator and
machine.[2]
B. Arduino UNO
Arduino is an open source micro
controller board, electronics prototyping platform
based on flexible, easy to use hardware and
software. Arduino can sense the environment by
receiving input from a variety of sensors and can
affect its surroundings by controlling lights,
motors, and other actuators. The Microcontroller
on the board is programmed using the Arduino
projects can be stand alone or they communicate
with software running on a computer.
Fig.1 Arduino UNO
C.Accelerometer
An Accelerometer is a kind of sensor which gives
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International Journal of Engineering Trends and Technology (IJETT) – Volume 21 Number 5 – March 2015
an analog data while moving in X,Y,Z direction or
may be X,Y direction only depends on the type of
the sensor. It is a device that senses tilting position
which is parallel to the earth surface and normal to
the gravity.
433 MHZ
RECEIVER
MODULES
DECODER
MOTOR
DRIVER
L239D
HT12D
METAL DETECTOR
Fig.4 Receiver section
Fig.2 Accelerometer
D. Motordriver (L293D):
L293D contains two inbuilt H-bridge
driver circuits. In its common mode of operation,
two DC motors can be driven simultaneously, both
in forward and reverse direction. The motor
operations of two motors can be controlled by input
logic at pins 2 & 7 and 10 & 15. In a DC motor the
power supply directly connects to the field of the
motor and causes a precise voltage control which is
essential for applications which need control of
speed and torque. Because of various advantages
such as simplicity, ease of application, reliability
and favorable cost, DC drives have long been a
backbone of industrial applications. In comparison
with AC drive systems DC drives are less and are
normally cheaper for low horsepower ratings.[2]
III. DESIGN AND IMPLEMENTATION
Operating Land Rover in simple method by making
use of hand gestures for metal detection, we make
use of two sections namely,
Transmitter section
Receiver section
ACCELEROMETER
ADXL335
ATMEGA328
MICRO
CONTROLLER
ENCODER
HT12E
433 MHZ TRANSMITTER MODULE
Fig.3 Transmitter section
ISSN: 2231-5381
The transmitter section can be held in your palm or
on the other side. The receiver module is mounted
on the land rover. Now, switch-on the power
supplies in the transmitter as well as receiver
circuits. Attach the transmitter circuit to your hand
and move your hand forwards, backwards and
sideways. The robot will stop if you keep your
palm horizontal, parallel to the Earth’s surface.[11]
A. Arduino UNO:
The Arduino family consists of popular, low cost
development boards based on various ATMEL
Microcontrollers. The particular model used in this
class is the Duemilanove, which uses an
ATmega328P Microcontroller with a simplified
USB interface provided by an FT232 bridge. The
board incorporates 5v and 3.3v LDD regulators to
provide regulated voltage sources using either USB
bus power or an external power supply of 7-12v.
There is also indicator LED’s for power and serial
activity, as well as a single user LED on pin13.[2]
B.Serialcommunication of Arduino:
Serial means “one after another”. Serial
communication is when we transfer data one pin at
a time, one right the other. Information is passed
back and forth between the computer and Arduino
by, essentially, setting a pin high or low. Just like
we turn an LED on and off, we can also send data.
One side sets the pin and the other reads it. We
have to connect the Arduino board to the PC. Each
serial port on the PC is labeled COM1, COM2 etc.
The Arduino will be given a COM port number. [2]
C. L293D Driver circuit:
There are 4 input pins for this L293D, pin 2, 7 on
the left and pin 10, 15 on the right. Left input pins
will regulate motor connected across left side and
right input for motor on. The motors are rotated on
the basis of the inputs provided across LOGIC 0 or
LOGIC 1. In simple we need to provide Logic 0 or
1 across the input pins of motor. There are 16 pins
in which pin 1 and 16 is given to 5v supply. Pin
2,7,10 and 15 are given to inputs. Pin 3 and 6 for
motor 1 and pin 11 and 14 for motor 2. Pin 8, Vcc2
is given to 12v supply and pin 4, 5, 12, and 13 are
grounded.[2]
D. Encoder (HT12E) & Decoder (HT12D):
The 212 encodes are a series of CMOS LSIs for
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International Journal of Engineering Trends and Technology (IJETT) – Volume 21 Number 5 – March 2015
remote control system applications. These are
capable of encoding information that consists of N
address bits and 12 N data bits. Each address/data
input can be set to one of two logic states.
Programmed addresses/data are transmitted
together with header bits using an RF or infra-red
transmission medium upon receipt of a trigger
signal. The capability to select a TE Trigger on
HT12E or a data (DIN) trigger on HT12D decoder
further enhances the application flexibility of 212
series of encoders. The HT12D also provides a 38
kHz carrier for infra-red systems.
E. Metal Detector:
This is a simple metal detector constructed with
minimum components at low cost. This circuit is
used to detect small or slightly big size metallic
objects. When the detector coil is brought here to
the metallic object Red LED lights up and a sound
is heard from the Buzzer.
Fig.5 Metal Detector
IV.HARDWARE IMPLEMENTATION
Fig.6 Transmitter module mounted on hand
When 5v battery is connected to the Arduino board
the transmitter section is energized. Accelerometer
senses the tilting position of hand gestures and
sends the corresponding data to Atmega328 micro
controller where the analog data is converted to
digital data. Now the digital data is sent to HT12E
which is parallel to serial converter which is then
transmitted wirelessly by the use of 433 MHZ
transmitter module.
ISSN: 2231-5381
Fig.7 Metal detecting Land Rover
A Gesture Controlled Metal detecting land rover is
a kind of robot which can be controlled by your
hand gestures. You just need to wear a small
transmitting device in your hand which included
an accelerometer. This will transmit an appropriate
command to the rover. So, that it can do whatever
we want. The transmitting de vice included a ADC
for analog to digital conversion and an encoder
IC(HT12E) which is use to encode the four bit data
and then it will transmit by an RF Transmitter
module. At the receiving end an RF Receiver
module receives the encoded data and decodes it by
and decoder IC (HT12D). This data is then
processed by a microcontroller and finally our
motor driver to control the motors. A metal
detector circuit is mounted on the rover body and
its operation is carried out automatically on sensing
any metal underneath. As soon as the rover senses
presence of metal it generates an alarm sound. This
is to alert the operator of a possible metal ahead on
its path.
Advantage of land rover:
Detecting land mines
Detecting minerals present in ground
Detecting bombs.
In construction industry for locating steel
bars present in concrete.
In airports and building security to detect
weapons.
V. CONCLUSION
Our paper focuses on formulated design of metal
detection using hand gestures and accelerometer. A
3-axis accelerometer and hand gesture is selected to
be the input devices of this system. At receiver the
land rover consists of metal detector is used. This
approach using accelerometers is more intuitive
and easy to work, besides offering the possibility to
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International Journal of Engineering Trends and Technology (IJETT) – Volume 21 Number 5 – March 2015
control a rover by wireless means. Using this
system, a non expert robot programmer can control
a rover quickly and in a natural way.
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