● Android has a robot based on the Bluetooth capture

MOBOT unit that receives the orders and takes it to the

*Shaik Imran Nazir microcontroller to control the motors. Then, the
microcontroller will give the signal to the driver IC
ABSTRACT : (L293d) to run the motors.

The project aims to optimize robot design with Android Apps. The
robot control is exported via Android's Bluetooth module. As a● * Android is an open source operating system
MOBOT title, means a mobile-controlled robot. Here I use the● based on Linux Kernel and is designed
smartphone as a remote control for the robot operation. Android● specifically for touch screen handsets such as
is a software package for handheld computers that includes an● Smartphone and tablets.
Operating system, medium and large applications. Android also● * It was built to be very open. For example, an
includes Wi-Fi, Bluetooth, and wireless data over an encrypted● application can request any of the key.
connection (such as GPRS, EDGE (Enhanced GSM Evolution) and● commitments of the phone as the calling,
3G). Android offers a wide range of libraries and useful tools that
● sending text messages, or using Bluetooth,
can be used to boost applications. Bluetooth is an open general
● camera etc
assignment for short-term technology (RF) technology, short-
term based on data processing for wireless communication. It is
designed to be a wireless networking system for all types of The Android SDK provides API libraries and
mobile movements, such as laptops, PDA (digital personal development tools that are essential for Android
assistants) and mobile phones. The entire system is controlled by applications, testing, and debugging.
a device called microcontroller. There is a Bluetooth module, DC The main aims of the project are:
motors connected to the Arduino. The data obtained via the 1. Run the robot automatically through a
Android Smart Bluetooth Module includes how the action will mobile phone.
take place. A robot in the project can be moved to all four 2. A smart Android touchscreen phone
directions by giving command through touch as well as voice. In usage in performing the work.
performing the work, the manager is filled with a "C" writing 3. Bluetooth wireless transmission.
program with Embedded. 4. 4. Movement of the robot also with voice.

BLOCK DIAGRAM & WORKING PRINCIPLE

Keywords: MOBOT, Arduino, HC-05(Bluetooth Module), L293d (Dual H-
bridge Motor Controller), BO DC Motor .

INTRODUCTION:

Android robot control project utilizes Android's mobile

phone for strategic control with the help of Bluetooth
technology. This is a simple project that uses micro-
controller. We have already seen the Mobile Controlled
robot using DTMF technology (Dual-tone multi-frequency)
that uses a cell-based approach to control a robot. Many
wireless robots use RF models. A Smartphone smart robot is
better than all those robots. This project is a mobile controller
robot. For this, the mobile Android user needs to install or The system consists of following parts:
build an application on her / her mobile. Then the user must
put the Bluetooth on their mobile phone. Bluetooth Arduino UNO (ATMEGA 328P)
technology is the wireless methods of communication used Bluetooth module (HC-05)
to control the robot. The user can use a variety of commands Motor driver IC (l293D)
to move forward, back, stop, left, and move right by voice or DC Motors
by the command buttons. These orders will be released from Arduino software (version 1.8.5)
Android to the Bluetooth receiver. Android smart phone (APPLICATION)

The basic building blocks of the project have been

described below:
● B.Tech (Ist Year), Department of Mechanical Engineering, Andhra University,
Visakhapatnam, Email ID: [email protected] Mobile No. :9676409479.
Arduino UNO:
Arduino UNO which is based on Atmel ATMEGA 328P isSRAM(Static a Random Access Memory). It is a 40 pin IC and
micro-controller. It has 14 digital input/output pins (of which
also an 8-bit micro-controller.
6 pins can be used as PWM outputs),6 analog pins, a 16 MHZ
crystal oscillator, a USB connector, a Power jack, AN ICSP 3, 5, 6, 9, 10, 11 pins provide an 8-bit pulse width
header(In Circuit Serial Programming) and a reset button. If modulated output with the analog write () function.
supplied with less than 7 V, the 5V pin may supply less than (7)External Interrupts:
5V and the board may be unstable. The recommended range
is 7-12V.The coding part of the Arduino is written in 2 and 3 pins can be configured to trigger an
embedded c language. The data is both transmitted and interrupt on a low value, a rising or falling edge or
received using TTL (Transistor-Transistor Logic) serial data. change in value, see the attach interrupt() function
These pins are connected to corresponding pins of Atmel
ATMEGA 328P.IT has a crystal oscillator of 16 MHz also (8)P.W.M: The Android device controls a robot
has a LED to show that Arduino is switched on. Arduino has through Bluetooth through the Bluetooth module
6 analog pins (0 to 5V with 10 bit ADC (Analog to Digital that is present on the robot. While you click on the
Converter)) app or use the voice controller command on the
app, the matching commands will be placed via
Power pins: Bluetooth to the robot. The commands are inserted
in the ASCII format. The PIC on the robot will
(1)V in: investigate the command received by the
The input voltage to the Arduino board can be given by an previously described orders and control the DC
external power supply or the supply can be given via an motors according to the command received to take
external power jack. it forward, back, left, right or stop. Mobile, robot,
and Bluetooth are the on-going technologies which
(2)5V: can be used for the benefit of mankind.

The regulated power used to power the microcontroller and

other components on the board .this can be done V in via or
be supplied by USB or another regulated 5V supply.

(3)3.3V:

It is a 3.3Vsupply generated by the onboard regulator. Max

current drawn is 50mA.

(4)Ground:

These pins are connected to the negative supply from the

source.
Fig.-1: Arduino Uno R3
(5)Reset:

Bring this line low to reset the micro-controller. Typically

used to add a reset button to shields which block the one on BLUETOOTH MODULE(HC-05):
the board.
HC-05 is an easy to use Bluetooth SPP (Serial Port
(6)Memory: Protocol). The Bluetooth module HC-05 is a master/slave
module. By Default, the factory setting is set as SLAVE. The
The ATMEGA 328P has 32kb (in which 0.5kb is used for
role of the module (MASTER OR SLAVE) can be
the boot-loader). It has 1kb of EEPROM (Electrically
configured only by AT(ATTENTION) command. The SPP
Erasable Programmable Read Only Memory) and 2kb of Bluetooth module is highly qualified with V2.0+ EDR
(Enhanced Data Rate),3 MBPS modulation with full 2.4 GHz
Transceiver and baseband. It uses CSR Blue core 04- motor. There are 4 input pins in l293d i.e. 2, 7 pins
External single chip Bluetooth system with CMOS on the left and 15, 10 on the right. Enable pins 1 and
technology along with AFH (Adaptive Frequency Hopping 9 must be high for motors to start operating. The
Feature).It has the footprint as small as 12.7mmx27mm output pins 3 and 6 on the left, 11 and 14 pins on the
right used for connecting them with the DC motor.
IT has 6 pins they are as follows: Ground pins 4 and 5 at the left and 12,13 pins are
connected to the negative source Vcc2 gives a supply
(1) Enable:
voltage for motors 9-12V(up to 36V) and Vcc1
When the enable pin is pulled low, the module is disabled which is the 16th pin gives a supply voltage of 5V(up
which means the module will not turn on and it fails to to 36V).
communicate. When the enable is left open or connected to
3.3V the module is enabled i.e., the module remains on and
communication also takes place.

(2) Vcc:

Supplies voltage of 3.3V to 5V.

(3)Ground pin:

Is connected to the negative supply of current.

DC Motor:
(4)TXD & RXD:
Almost all mechanical movements we see around
These act as a UART interface for communication are achieved by an electric motor. An example of
(Universal asynchronous receiver and transmitter) small applications of motors is used in vehicles,
robots, hand-held devices and food mixes. Micro-
(6) State:
device devices are small electrodes with red blood
It acts as a status indicator. When the module is connected cell components and find many drug applications.
to/paired with any other Bluetooth device, the signal goes Using this project BO (Battery Powered) DC
low. At this state, LED flashes continuously which denotes motors. It converts electrical energy into the energy
that module is not paired with other devices. As the device is of the machine. In DC motors gears reduce vehicle
connected/paired to a device the state goes high and LED speed but increase its torque is known as gear
blinks with a constant delay. reduction. In DC motor is built with many setup
gears. Motor speed is counted in terms of shaft
rotation per minute is called RPM (Revolution Per
Minute). Setups help to increase torque and reduce
motor speed. All micro-controllers based on
Robots use this type of DC motors. In any DC
motors, RPM and Torque are inversely
proportional. In all DC gear, motor PWM circuit is
used.
Motor Driver (L293D): It is a typical motor driver or Specifications:
motor driver IC which allows both the DC motor to
drive in either direction. It is a 16 pin IC which can Weight:100gm
control a set of two DC motors simultaneously in any
direction. In a single L293d IC there are two H- RPM: 60 TO 300
Bridged circuits which can rotate two DC motors Voltage: 2 DC to 12 V DC
independently. H-bridged IC is ideal for driving a dc
 String readdata;

void setup() {
BT.begin(9600);
Serial.begin(9600);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
ARDUINO SOFTWARE: pinMode(6, OUTPUT);
The microcontroller called Arduino Uno can
be registered in the Arduino software without having }
to install any other software instead of Arduino. To void loop() {
encode MOBOT In the beginning, select "Arduino Uno while (BT.available()){ //Check if
from the Installation Menu, select the board there is an available byte to read
(depending on the microcontroller on your board). The delay(10); //Delay added to make thing
IC named ATmega328 on Arduino One has a submerge stable
Advanced unit to upload you will get a new code char c = BT.read(); //Conduct a serial
read
without using any external hardware program. We can
also look at the barriers with the boot loader and readdata += c; //build the string-
"forward", "reverse", "left" and "right"
program microcontroller via the header of ICSP (In
}
Circuit Serial Programming). Arduino software includes
a serial display that allows simple text data to be sent if (readdata.length() > 0) {

to and from Arduino card The RX and TX LEDs on the Serial.println(readdata);

card blink when data is transmitted via USB to serial
chip and USB computer connection (but not for serial if(readdata == "forward")
communication with pins 0 and 1). Enables serial {
communications with either the Uno’s digital pin digitalWrite(3, HIGH);
Arduino programs are written in C or C ++ and the digitalWrite (4, HIGH);
program code written for Arduino is imprinted a
digitalWrite(5,LOW);
sketch.
digitalWrite(6,LOW);
delay(100);

ARDUINO CODE: }

#include <Arduino.h>
else if(readdata == "reverse")
#include<stdio.h>
{
#include<SoftwareSerial.h>
digitalWrite(3, LOW);
digitalWrite(4, LOW);
SoftwareSerial BT(10, 11); //TX, RX
respetively digitalWrite(5, HIGH);
digitalWrite(6,HIGH);
 delay(100);
}

SOFTWARE IMPLEMENT:
else if (readdata == "right")
{ App Inventor for Android is an open-source
digitalWrite (3,HIGH); web application developed by Google and now
maintained by the Massachusetts Institute of
digitalWrite (4,LOW); Technology (MIT). It allows computer program to
digitalWrite (5,LOW); create software applications for the Android
digitalWrite (6,LOW); operating system (OS).The MIT app Inventor is
used to build GUI (Graphical User Interface) for an
delay (100);
android application. The MIT App Inventor is an
innovative for beginner of programming and
} application creation that transforms a complex
language of text-based into visual buildings,
dragging. A simple graphic interface which helps
else if ( readdata == "left")
even an inexperienced person to create a basic,
{ fully functional app to create a basic, fully active
digitalWrite (3, LOW); app within an hour or less. The set-up process for
the software is very easy and system requirements
digitalWrite (4, HIGH);
are very basic.
digitalWrite (5, LOW);
digitalWrite (6, LOW); App Inventor involves three
delay (100); aspects:
}
a) App inventor designer,
b) App Inventor Blocks editor, and
else if (readdata == "stop") c) An emulator or Android Phone.
{
MOBOT App looks like this
digitalWrite (3, LOW);
When device is When devoce os
digitalWrite (4, LOW); “NOT CONNECTED” “ “CONNECTED”

digitalWrite (5, LOW);

digitalWrite (6, LOW);
delay (100);
}
else
{
readdata=="";
//Reset the variable APPLICATIONS:
}
✔ Used for Industrial and Commercial
}} Purpose.
 ✔ Helpful For mobility of paralyzed use this MOBOT the android mobile user needs to install a
designed application on her/his mobile.
persons.
✔ Used in military purpose. ACKNOWLEDGEMENT:
✔ Used in Remote Areas for
Transportation purpose. By the end of this project we come to know that there are
✔ Also Used as a surveillance device. many uses of the Arduino UNO R3. Arduino UNO can
easily take the input from the real world and produce the
output with respect to the input and it can control almost
everything and the knowledge continues to expand. In this
FUTURE SCOPE: spirit, it is hoped that the current activity will Bring further
A wireless camera is mounted on the robot vehicle Progress.
for spying and surveillance purpose even in night REFERENCES:
time by using infrared lighting. This can also be
implemented using WIFI module or ZIGBEE to [1] Aniket R. Yeole1, Sapana M. Bramhankar2, Monali
get an higher range. Future modifications can be D Wani3, Mukesh P. Mahajan4, “Smart Phone
made to perform different tasks with precise Controlled Robot Using ATMEGA328
control such as: Microcontroller”, IJIRC Vol. 3,
[2] G¨obel, S., Jubeh, R., Raesch, S. L., and
Z¨undorf A.,“Using the Android Platform to control

✔ A Robot Mounted with camera. Robots”, KasselUniversity Germany.

✔ In military for bomb diffusion and bomb [3] Aiman Ansari, Yakub Ansari, Saquib Gadkari, Aarti
plantation. Gokul “Android App Based Robot”, Mumbai, India,
✔ It can be modified as a wheel chair for physically 2015.
handicapped persons. [4] Bluetooth Android Developers,
https://developer.android.com/guide/topics/connectivit
CONCLUSION: y/ bluetooth.html.
[5] Piyare, R. and Tazil, M. (2011) “Bluetooth based
home automation system using Android phones”. IEEE
15TH
The Android operation system is capable of developing a [6] . D. Minns, Atmega32 for Arduino Microcontroller
relatively effective control program. At the same time, this System. Author House, 2013
program uses a Bluetooth connection to interact with the [7 ] Available :
robot. It has enabled virtual two-way communication http://ai2.appinventor.mit.edu/?locale=en#5295559157
between the Android phone and the robot that allows an 743616
unknown to communicate between the Android and the
MOBOT that uses a controller of ATmega328, a single [8] Yeon-Gyunkim et.al. "Smartphone-controlled user
board microcontroller that is expected to make application calling system for a mobile robot."Robotics (ISR),
2013 44th International Symposium on. IEEE, 2013.
of interactive objects or environments more accessible. The
surveillance has always been a very difficult work. And it
includes as many risks. So it's best to use a robot for this
work instead of humans. And if you are able to control the
robots with efficiency and accuracy, you can maintain
yourself with good results and success. This system is a
good step for security and surveillance using robots. These
are also cost efficient(low cost).
Wireless Device is one of the most essential needs for the people
all over the world. But unfortunately the technology is not fully
used due to a huge amount of data and communication Costs.
Generally many of the wireless-controlled robots use RF
modules as their means. But our project MOBOT makes use of
Android mobile phone which is very cheap and easily available.
The available control commands are more than RF modules. To