Volume 7, Issue 12, December – 2022 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Land Mine Detection Robot using BLE-3.0

Voice Controlled, using Joystick and
Gyroscopic sensor
Sanjay S Tippannavar
Department of Electronics and Communication Engineering
JSS Science and Technology University Mysuru,
India

Abstract:- Robotics is expanding quickly in the modern I. INTRODUCTION

world and is already participating in many facets of our
everyday life. Engineers have chosen to work in this Robots may be employed to execute tasks in dangerous
sector to create or construct robots that will improve places and to control the unsettling instability levels present
human existence since robotics is a part of the there. Robots are progressively becoming indispensable for
communication of technological growth. In today's regular topic applications, such as military applications and
technological environment, there are several forms of Urban Hunt and Salvage. Robots are being used to carry out
mobile robots. There are humanoid robots, water-based a range of chores in a number of new tiny robotic
robots, wheels robots, tracks robots, and more. In this applications. Generally speaking, robots are still used for
study, a four-wheeled remote control robot vehicle is hazardous human-risking tasks, such as control automaton,
created to detect metal. The system is put into use with spy robot, salvage robot, therapeutic operation, and so on.
the help of the Arduino platform, an android app, and a To look for metal artefacts buried in the earth, robots
metal detector winding. With the help of an Android- equipped with metal detectors are used. Metal detectors are
based gadget, this robot car was created. The brain of used by military bomb disposal experts to look for mines
the robot is an Arduino Uno. It also comprises the buried in mine fields and under roadways. Metal detectors
portion of the programme that makes use of a portable are also used by electricians to look for electrical lines that
application. The metal-detection robot described in this are concealed in walls. In airport terminals, metal detectors
study can be controlled via Bluetooth remote control are used to check passengers for metal objects, such as cuts
while also being able to detect metal. In terms of and weapons. Metal detectors are routinely used to trawl
detection, turning, and pricing accuracy, the suggested through former battlegrounds and historic places in search of
design is contrasted with the automated robot. The artefacts, jewelry, and antiquated coins. They are used in
results demonstrate that the suggested design robot food industries to examine and make sure that no metal
vehicle can provide a precise and quick metal movement objects accidently fell into the food from an industrial
detection, easier turning, and less expensively. The space facility. This project focuses on inventing and creating a
between buried landmines and the sensor heads has a robotic vehicle that can detect land mines by sensing metals
significant impact on metal detectors' capacity to detect on its path in front of it. A control unit interfaced metal
landmines. As a result, human deminers physically scan detector circuit that alerts the user to a potential metal ahead.
the ground with metal detectors while ensuring that the The metal detector circuit is installed atop a robotic vehicle,
sensor heads follow the surface. By adjusting the and it works by automatically detecting metals underneath.
distance and angle of the sensor heads, robots may aid in Our project stands out from others since it seeks to lower
landmine detection while doing it correctly and safely. In manufacturing costs so that this robotic system may be used
this study, a quantitative analysis of the impact of in low-budget scenarios, which are common in emerging
mechanical manipulator-based gap and attitude control and impoverished countries.
on the performance of landmine detection has been done.
Managing buried metals may be done in a variety of
In order to do this, the study details the creation of a
Controlled Metal Detector (CMD) that allows for precise ways, some of which are risky for the lives of nearby
adjustment of the gap and attitude of the sensor head. residents. The globe over, several ongoing studies are also
being conducted. In order to find hidden metals and mines
Keywords:- Metal Detector, Robotics, Communication, with greater accuracy, they are working to enhance the
Safety, Bluetooth, Arduino, Magnetics, Android Application, current techniques or searching for new ones. The use of
Voice Controlled, Gyroscopic sensor. various configurations of mine detecting equipment and
carrying vehicle in the intended direction and with precision
is done with the intention of finding all mines. The
effectiveness of the detector has a significant impact on the
metal-searching bot.

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Volume 7, Issue 12, December – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
With little expense, this concept aims to outperform The metal detecting robot that is being proposed is
earlier, comparable solutions. An all-terrain robot with solar-powered. Using a mobile phone, we can operate a
wireless communication would be a highly flexible answer, robot from a distance. It has a metal detector circuit on an
therefore I've opted to use one. The frame, power solution, Arduino board. Robots have GSM, which can broadcast and
and wireless hardware design were the main responsibilities. receive mobile phone signals. For obstacle avoidance, it has
In the parts that follow, the main idea is discussed. an ultrasonic sensor. When the robot detects metal, it emits
an alert and sends SMS messages to a mobile phone.
II. RECENT WORKS Additionally, it can GSM-send its location. It is beneficial
for several applications, including the detection of land
Nearly everyone in today's contemporary world utilises mines [7].
cellphones, which are a regular part of their daily lives. This
research included using cellphones to control robotic Landmine detecting robots are designed to cover as
movement. Such robotic movement control systems much ground as they can while accurately mapping out
employing cellphones have been developed by several where landmines are located as well as any remaining space.
researchers. In this case, our goal is to build a robot and This study offers a prototype model of a land mine detection
attach the metal detector circuit to it. Here, a special robot that is effective but affordable, easily programmable,
application has been developed to operate the robotic has the necessary precision, and is outfitted with a visual
hardware, which regulates the robot's movement. A interface for charting landmines, tweaking PID, and aligning
smartphone running Android is used to operate the cameras. The manual, semi-automatic, and automatic
embedded hardware, which was created using an controls for the differential drive robot are highlighted. In
ATmega328P microcontroller. The Android phone issues order to determine the precise location of the robot and offer
orders to this controller, which then collects the data and live reckoning input to the robot's dead reckoning servo
uses the motor driver L293D to operate the robot's motors. control, image processing is required. Balance Landmines
The robot has four directions of movement: forward, are discovered with a beat metal detector. The user has a
backward, left, and right. Bluetooth is being used to connect simple yet effective control when using the graphical user
the Smartphone to the hardware. The Arduino UNO was interface for the remote terminal computer to operate the
equipped with a Bluetooth HC-05 module in order to accept robot. The system's overarching goal is to provide the user a
instructions from the smartphone. The robot was attached to robust, cost-effective, and at the same time user-friendly
a metal detector circuit, which was used to find the metal. experience [12].
When it discovered the metal, a beep was produced [1].
Finding metal components is the major purpose of this
Urban city landfills are experiencing a challenge with endeavour. Armed metal detectors are used by troops in the
garbage buildup. Different types of garbage, such as metallic army to find land mines, which sometimes causes the land
and plastic waste, have an impact on our ecosystem. A mine to detonate. So, the troops are killed. This project is
difficult task is creating a robotic system for collecting used to resolve this issue. This project has a sophisticated
metallic debris. Only a little amount of study has been done message alert system. The technology "Ardino" was used to
on robotic trash collecting and processing systems. In this create this. In this project, a robot vehicle carrying the hole
study, we propose a robotic system that may be used to the circuit is linked to an Arduino board via a metal detector.
collecting and processing of metallic trash. This robot has a Bluetooth is used to operate this vehicle using radio
metal detector, an ultrasonic sensor, a power and control technology and a Bluetooth module. When a metal object is
unit, and actuators. This autonomous robot is capable of detected by a metal detector, an Arduino sends a message to
doing things like avoiding obstacles and finding metal [2]. a mobile device via a GSM module. Because all three
application programmes are combined onto a single board,
The robotics age is characterized by the use of personal this project just requires one Arduino board. With the help
computers and advanced software to power mechanical of this project, you may uncover priceless gems in
constructions. A standalone software called Hyperlink underground and covered locations and identify land mines
allows users to communicate with computers' distant in uninhabited areas. Also utilised for security reasons is this
devices. The robotic devices' orientation and movement are project [14].
controlled by a supporting system called wireless
communication. The goal of this study is to control the III. METHODOLOGY
conductive metal seeking robot in each of the eight
orientations. The robot is placed at a certain angle using an The flow of electric current through a coil creates a
IR sensor component. To locate the desired metal, a magnetic field around it. The basic idea behind a metal
concentrator coil type metal detector is employed. The data detector is to emit a magnetic field while analysing the
is sent to the remote-control portion of the robot using an return signal from the target and surrounding area. A
offset quadrature phase shift keyed modulation stream transmit coil used in a magnetic transmitter generates a
(OQPSK) at a frequency of 2.4 G Hz. Calculations of the variable electric current using transmit electronics. A coil
mechanical load are made to build the robot. The created that is attached to electronics for receiving and processing
model works well on surfaces that are uneven [4]. signals serves as the receiver. All of the gear is housed in an
electronics housing that is linked to the coil by an electric
connection, and this electronics housing is referred to as the
"control box" since it has the coils inside of it. An oscillator

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Volume 7, Issue 12, December – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
that produces alternating current is also a part of a metal  After using the device with Bluetooth, disconnect the
detector. The transmit coil in a metallic item functions as a connection.
conductor for this alternating current, which interacts with  The Joystick and G-sensor may also be used to operate the
the coil to create another magnetic field all around it. The robot (Gyroscope).
transmitted magnetic field changes over time, usually at
speeds comparable to very acute sound impulses. Electric It's easier to run a robot and increases productivity and
currents known as eddy currents pass through metal objects efficiency when you can merely speak to it to give it
as a result of this fluctuating transmitted magnetic field. instructions. Google's speech recognition technology is used
Another coil called the receiving coil is part of the metal in the app to convert speech to text when voice commands
detector's loop. The magnetic field changes brought on by are processed by the phone. Following that, Bluetooth is
the presence of the metallic item are detected by the used to send the text to the recipient side. Using the UART
receiving coil. serial communication protocol, text received over Bluetooth
is sent to the Arduino Uno board. The SMS message is
A smartphone is one of the most potent and quickly verified using Arduino code. Every time a matching string
evolving gadgets in today's world, and all credit for this goes appears in the text, Arduino adjusts the rover's motions in
to the device's potent CPU chip and communication system. the directions of forward, backward, turning right, turning
Bluetooth is one such technique of communication. left, and stopping.

Fig. 2: Circuit diagram of the proposed system

Fig. 1: Block diagram of the proposed Metal Detector Robot

In this architecture, the necessary work is performed

by an android application using a microcontroller. Bluetooth
technology makes it easier for the robot and the application
to connect. The orders given will be sent across the channel
and received by the module. The goal of a voice-controlled
rover is to respond to the user's orders. The Block diagram
of the proposed system is depicted in Fig. 1.

With the use of cutting-edge smartphone technology,

we want to create a robotic car that is both easy to use and
cost-effectively. The vehicle will be remotely operated using
an Android smartphone.

The steps to achieve this are as follows:

 Get the Google Play Store app "Arduino Bluetooth Fig. 3: Circuit Diagram of the metal detector circuit being
Control." tested
 Ensure that your smartphone and the HC-05 are linked by
entering the password "1234". Then, from the list of The drive circuit and metal detector employed in the
available apps, choose HC-05. proposed system's circuit diagram are shown in Figures 2
 Next, choose the voice command. and 3.
 Speak "Ahead" aloud to propel the vehicle forward.
 To reverse the direction of the automobile, say The L293D Motor Driver shield, Solid copper Coil,
"Backward." HC-05 Bluetooth Module, and Arduino UNO board are the
circuit's primary components. An Android smartphone with
 Speak "Left" to veer the vehicle to the left.
Bluetooth built in serves as the project's transmitter.
 Say "Right" to signal the automobile to turn to the right.
 To put the automobile in park, say "stop."

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Volume 7, Issue 12, December – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
The Smartphone uses Bluetooth to transmit the pulses. Due to the spikes' relatively brief length (about 0.5
command to the HC-05 Module on the bot. The micro- microseconds) and the difficulty of measuring them with an
controller subsequently decodes the supplied command, Arduino, it is impossible to measure inductance correctly in
which causes the necessary job to be finished. An additional this case. In its place, a capacitor that is charged by an
functionality that provides feedback on the connection status increasing pulse or spike is utilised. And just a few pulses
of the bot has been introduced to the Android application. In were necessary to fully charge the capacitor so that Arduino
the metal detector circuit, I utilised a detector made of solid analogue pin A5 could read its voltage. Arduino then used
copper coil. an ADC to read the capacitor's voltage. By setting "capPin"
as the output and checking the voltage, the capacitor was
The coil creates a magnetic field all the time that swiftly depleted. The duration of this whole procedure is
current flows through it. Additionally, the magnetic field's around 200 microseconds. We repeated the measurement
modification creates an electric field. Faraday's law states and averaged the results to get a better result. In this manner,
that because of this electric field, a voltage builds up across the estimated inductance of the coil is determined. The LED
the coil that opposes changes in the magnetic field. This is and buzzer are used to identify the presence of metal once
how the coil produces inductance, which means the created the result has been received.
voltage fights a rise in current. Henry is the symbol for
inductance, and the method for calculating it is: IV. RESULTS AND DISCUSSIONS

L = (u0 * n2 * A) / l (1) The proposed system's hardware implementation is

shown below, along with screenshots of the Android apps'
Where, user interfaces that are used to Bluetooth-control the robot.
L- Inductance in Henries

u0- Permeability, its 4π* 10−7 for Air

N- Number of turns

A-Inner Core Area (π 2) in m

l- Length of the Coil in meters

A coil's inductance varies when a metal object is in

close proximity to it. Depending on the kind of metal, the
inductance might differ. When it comes to ferromagnetic
elements like iron, it rises and falls for non-magnetic metals.
Fig. 4: Side View of the proposed system
The value of inductance varies significantly depending
on the coil's core. The inductors with air cores, which are
seen in the diagram below, won't have a solid core. In
essence, they are coils that have been left in the air. It's
either nothing or air that the inductor's magnetic field flows
through. The inductances of these devices are very low-
value. Keep in mind that this coil is air-cored, thus if a piece
of metal is introduced close to the coil, the metal piece
serves as the core for the inductor. The coil's inductance is
significantly altered or raised when this metal serves as the
core. The total reactance or impedance of the LC circuit
changes significantly with this abrupt rise in coil inductance
as compared to the situation without the metal component.

We must thus determine the coil's inductance in order

to detect metals in this Arduino metal detector project. This
is why we utilised the LR circuit (Resistor-Inductor Circuit) Fig. 5: Top View of the proposed system
that we previously described. In this circuit, a coil with
around 20 turns—or a winding with a 10 cm diameter—has
been employed. To create the coil, the wire was wound
around an empty tape roll.

Arduino generates a wave or pulse that is sent to the

LR high pass filter. The coil will as a result produce brief
spikes at each changeover. The inductance of the coil
directly affects how long the spikes' pulses are. In order to Fig. 6: User Interface of the Android Application used for
measure the inductance of the coil, we use these spike Joystick control.

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Volume 7, Issue 12, December – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
By improving the functionality and adding new
features, this project may be further improved. A gas sensor
might be added to this project in the future, along with
robotic arms connected for pick-and-place operations and
other functions. The Proposed system offers the following
advantages along with bright results;
 Ensure the bomb disposal team's security by adding an
additional line of protection.
 Performance reliability.
Fig. 7: User-Interface for controlling the robot via Voice  Constant workday and night.
commands.  A decrease in operator mistakes.
 Can be persuaded to carry out even the riskiest duties
fearlessly.

Proposed
Method [2] [5] [8] [10] [13]
Method
Dataset/Realti
RT DT DT RT RT RT
me
85 90 80 80 70
Accuracy 97%
% % % % %
15 10 20 20 20
Fig. 8: Robot controlled via Joystick and Gyroscopic sensor. Error Rate 3%
% % % % %
Table 1: Comaprison of the existing works with proposed
Buzzer and LED will glow quickly to inform the user system
of any metal material in their route if it is identified that the
bot is travelling through any metal. REFERENCES

[1.] Chan, C. K., & MIN, M. A. (2022). Design Metal

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ISSN No:-2456-2165
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