This invention relates to an Ultrasonic Sensor System Using Arduino and methods thereof. Arduino uno has been used for this project along with Ultrasonic sensor and Motor driver L293D.
Background of the Invention
Arduino uno has been used for this project along with Ultrasonic sensor and Motor driver L293D . Arduino software is an open source and is readily available to install and start compiling the code on the go mainly used for writing, compiling and uploading the code in the Arduino Device . range of Arduino modules available including Arduino Uno, Arduino Mega, Arduino Leonardo, micro and many more Each of them contains a microcontroller on the board that is actually programmed and accepts the information in the form of code.
The main code, also known as a sketch, created on the IDE platform will ultimately generate a Hex File which is then transferred and uploaded in the controller on the board. The Arduino platform is popular with people just starting out with electronics, and for good reason. Unlike most previous programmable circuit boards, the Arduino does not need a separate piece of hardware (called a programmer) in order to load new code onto the board USB cable can be used to fullfill the requirement. Additionally, the Arduino IDE uses a simplified version of C++, making it easier to learn to program. Finally, Arduino provides a standard form factor that breaks out the functions of the micro-controller into a more accessible package.

CN205621208U Long -range security protection system based on arduino range finding discloses The utility model discloses a long -range security protection system based on arduino range finding, it relates to long -range security protection field. It includes a host node and a plurality of child node, and host node and child node are settled indoor on door or window have the wall of certain distance, the child node includes arduino singlechip, xbee module, temperature and humidity sensor, ultrasonic sensor, infrared sensor, xbee module, temperature and humidity sensor, ultrasonic sensor, infrared sensor are connected respectively to the arduino singlechip, the host node includes all modules and the GSM module of child node, and the GSM module is also connected on the arduino singlechip. The utility model discloses realizing the wireless network ization of security protection system, saving loaded down with trivial details wiring process, adopt the GSM transmission technology, can in time inform the user to report to the police, realize security protection information's real -time, long distance transmission, convenience of customers uses.
KR20170136697A Arduino LED Development of Ultrasonic Sensors Detecting LED by Utilizing Arduino discloses A proximity sensor detection LED using Arduino uno according to an embodiment of the present invention receives a signal reflected by a front object as an ultrasonic wave again by using an ultrasonic sensor, and receives a signal by a piezoelectric speaker and the LED. The proximity sensor detection LED is programmed to be designated in a red color as a danger signal, a blue color as a warning signal and a green color as a safety signal and to check a risk with the speed and size of a sound. The present invention relates to a proximity

sensor detection using the ultrasonic sensor, the piezoelectric speaker, and a tri-color LED. Accordingly, the present invention can prevent an accident by reducing a risk.
CN206991283U Virtual touch -control equipment of ultrasonic sensor based on arduino principal and subordinate controller group discloses The utility model relates to a virtual touch -control equipment technique, concretely relates to virtual touch -control equipment of ultrasonic sensor based on arduino principal and subordinate controller group, including the regional and PC end of virtual touch -control, still include ultrasonic sensor group, the 2nd ultrasonic sensor group, a bluetooth transmitter, the 2nd bluetooth transmitter^ arduino from controller, the 2nd arduino from controller, first battery set, second group battery, arduino main control unit, a bluetooth receiver, the 2nd bluetooth receiver, ultrasonic sensor group, the 2nd ultrasonic sensor component do not set up about the top of virtual touch -control region twojiaos, and arduino main control unit connects first, the 2nd bluetooth receiver and PC end respectively, first, the 2nd bluetooth transmitter is connected with first, the 2nd bluetooth receiver communication. This equipment structure is simple, small, the sexual valence relative altitude, can both realize the data measurement of higher precision under different temperatures, light, electromagnetic wave, atmospheric pressure environment, accurate discernment user gesture moves correct execution instruction.
None of the above-said prior art individually or in combination teaches what the present invention discloses.
SUMMARY OF THE INVENTION

This summary is provided to introduce a selection of concepts, in a simplified format, that are further described in the detailed description of the invention. This summary is neither intended to identify key or essential inventive concepts of the invention and nor is it intended for determining the scope of the invention.
Embedded system can be thought of as a computer hardware system having software embedded in it. An embedded system can be an independent system or it can be a part of a large system. An embedded system is a microcontroller or microprocessor based system which is designed to perform a specific task. This project is used in Robot to avoid obstacle . Robot halts few centimetre before then the object In this project can also calculate distance by transmitting the signal and receiving back with the help of Arduino Programming. Ultrasonic sensor with alteration in programming is used as Autonomous parking system or smart blind stick that producs sound when find object ahead. Moreover it also helps to find objects in dark where there is danger to life in the dark and finally same project can be used to maintain specific distance in covid-19.
Ultrasonic sensors can detect a variety of materials, regardless of shape, transparency, or colour. The only requirement for ultrasonic sensing is that the target material should be solid or liquid. This enables contactless detection of Metal wood plastic oil sand rocks etc These materials are able to reflect sound back towards the sensor through the air. Certain objects can be more difficult to detect, like angled surfaces that direct the echo away from the sensor, or permeable targets like sponge, foam, and soft clothing. These absorb more reflected ultrasonic energy.

Infrared (IR) sensors can be used for obstacle detection because of their high resolution, low cost, and fast response times. However, IR sensors require knowledge of the surface properties prior to implementation due to their non-linear characteristics and dependence on reflectance properties. Various surface materials reflect and absorb IR energy differently, so target material identification is required for accurate distance measurements.
To further clarify advantages and features of the present invention, a more particular
description of the invention will be rendered by reference to specific embodiments
thereof, which is illustrated in the appended drawings.
It is appreciated that these drawings depict only typical embodiments of the
invention and are therefore not to be considered limiting of its scope. The invention
will be described and explained with additional specificity and detail with the
accompanying drawings.
Brief Description of the Drawings
The foregoing detailed description of embodiments is better understood when read in conjunction with the attached drawings. For better understanding, each component is represented by a specific number which is further illustrated as a reference number for the components used with the figures.
Figure 1: Ultrasonic Sensor
Figure 2: Voltage Regulator and Motor Driver
Figure 3: Arduino uno

Figure 5: Complete Design
Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have necessarily been drawn to scale. For example, the flow charts illustrate the method in terms of the most prominent steps involved to help to improve understanding of aspects of the present invention. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having benefit of the description herein. Detailed Description of the Invention
For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same.
It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skilled in the art to which this invention belongs.

The system, methods, and examples provided herein are illustrative only and not intended to be limiting.
Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
This invention relates to an Ultrasonic Sensor System Using Arduino and methods thereof. Arduino uno has been used for this project along with Ultrasonic sensor and Motor driver L293D.
Ultrasonic Sensor Pin Configuration
Vcc The Vcc pin powers the sensor, typically with +5V
Trigger Trigger pin is an Input pin. This pin has to be kept high for lOus to initialize measurement by sending US wave.

Echo

Echo pin is an Output pin. This pin goes high for a period of time which will be equal to the time taken for the US wave to return back to the sensor.

Ground This pin is connected to the Ground of the system.
Main features and operating range
• Operating voltage: +5V and it can measure distance upto 100 cm with accuracy and precision
• Measuring angle covered: <15°

• Operating Current: <15mA
• Operating Frequency: 40Hz
HC-SR04 Ultrasonic (US) sensor is a 4 pin module, whose pin names are Vcc, Trigger, Echo and Ground respectively. This sensor is a very popular sensor used in many applications where measuring distance or sensing objects are required. The module has two eyes like projects in the front which forms the Ultrasonic transmitter and Receiver. The sensor works with the simple high school formula that
Distance = Speed x Time
The Ultrasonic transmitter transmits an ultrasonic wave, this wave travels in air and when it gets objected by any material it gets reflected back toward the sensor this reflected wave is observed by the Ultrasonic receiver module as shown in the drawings.
Applications
Ultrasonic sensors can detect a variety of materials, regardless of shape, transparency, or colour. The only requirement for ultrasonic sensing is that the target material should be solid or liquid. This enables contactless detection of Metal wood plastic oil sand rocks etc These materials are able to reflect sound back towards the sensor through the air. Certain objects can be more difficult to detect, like angled surfaces that direct the echo away from the sensor, or permeable targets like sponge, foam, and soft clothing. These absorb more reflected ultrasonic energy.
Infrared (TR) sensors can be used for obstacle detection because of their high resolution, low cost, and fast response times. However, IR sensors require

knowledge of the surface properties prior to implementation due to their non-linear characteristics and dependence on reflectance properties. Various surface materials reflect and absorb IR energy differently, so target material identification is required for accurate distance measurements
• Used to avoid and find obstacles with robots like hindrance , obstacle avoider robot, path finding robot etc.
• Used to measure the distance within a wide range of 2cm to 300cm
• Can be used to map the objects surrounding the sensor by rotating it
• Depth of certain places like walls mountains ,wells, pits etc can be measured since the waves can penetrate through water
a)Enable 1,2 This pin enables the input pin Input 1(2) and Input 2(7)
b)Input 1 Controls the Output 1 pin. Controlled by digital circuits
c) Output 1 Connected to one end of Motor 1
d)Ground Ground pins are connected to ground of circuit (0 V)
e)Ground Ground pins are connected to ground of circuit (0 V)
f)Output 2 Connected to another end of Motor 1
g) Input 2 Directly controls the Output 2 pin. Controlled by digital circuits
h) Vcc2 (Vs) Connected to Voltage pin for running motors (4.5V to 36 V)

i) Enable 3,4 This pin enables the input pin Input 3(10) and Input
4(15)
j) Input 3 Directly controls the Output 3 pin. Controlled by digital
circuits
k) Output 3 Connected to one end of Motor 2
1) Ground Ground pins are connected to ground of circuit (0 V)
m) Ground Ground pins are connected to ground of circuit (0 V)
n) Output 4 Connected to another end of Motor 2
o) Input 4 Directly controls the Output 4 pin. Controlled by digital circuits
p) Vcc2 (Vss) Connected to +5 V to enable IC function
7. Controlling a DC Moto
In order to have a accurate control over DC motor, speed and rotation direction are parameters. This can be targetted by combining two techniques.
• PWM - For controlling speed
• H-Bridge - For controlling rotation direction PWM - For controlling speed
The speed of a DC motor can be controlled by varying its input voltage and technique for this is to PWM (Pulse Width Modulation) .PWM is a method

where average value of the input voltage is adjusted by sending a series of ON-OFF pulses. The average voltage is proportional to the width of the pulses known as Duty Cycle. The higher the
duty cycle, the greater the average voltage being applied to the dc motor(High Speed) and the lower the duty cycle, the less the average voltage being applied to the dc motor(Low Speed). PWM, is a technique for getting analog results with digital means. Digital control is used to create a square wave, a signal switched between on and off. This on-off pattern can simulate voltages in between the full Vcc of the board (e.g., 5 V on Uno, 3.3 V on a MKR board) and off (0 Volts) by changing the portion of the time the signal spends on versus the time that the signal spends off. The duration of "on time" is called the pulse width
Wiring L293D motor driver IC with Arduino UNO
Now that we know everything about the IC, we can begin hooking it up to our Arduino!
Start by connecting power supply to the motors. In our experiment we are using DC Gearbox Motors(also known as 'TT' motors) that are usually found in two-wheel-drive robots. They are rated for 3 to 9V. So, we will connect external 9V power supply to the Vcc2 pin.
Next, we need to supply 5 Volts for the L293D's logic circuitry. Connect Vccl pin to 5V output on Arduino. Make sure you common all the grounds in the circuit.

Now, the input and enable pins(ENA, INI, IN2, IN3, IN4 and ENB) of the L293D IC are connected to six Arduino digital output pins(9, 8, 7, 5, 4 and 3). Note that the Arduino output pins 9 and 3 are both PWM-enabled.
Finally, connect one motor to across OUTl & OUT2 and the other motor across OUT3 & OUT4. You can interchange your motor's connections, technically, there is no right or wrong way.
Programming
/ Motor A connections
int enA = 9;
int inl = 8;
int in2 = 7;
// Motor B connections
int enB = 3;
int in3 = 5;
int in4 = 4;
void setup() {
// Set all the motor control pins to outputs
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);

pinMode(inl, OUTPUT); pinMode(in2, OUTPUT); pinMode(in3, OUTPUT); pinMode(in4, OUTPUT); // Turn off motors - Initial state digitalWrite(inl, LOW); digitalWrite(in2, LOW); digitalWrite(in3, LOW); digitalWrite(in4, LOW);
}
void loop() {
directionControl();
delay(lOOO);
speedControl();
delay(lOOO);
}
// This function lets you control spinning direction of motors
void directionControlQ {

// Set motors to maximum speed
// For PWM maximum possible values are 0 to 255
analogWrite(enA, 255);
analogWrite(enB, 255);
// Turn on motor A & B
digitalWrite(inl, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(2000);
// Now change motor directions
digitalWrite(inl, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
delay(2000);
// Turn off motors
digitalWrite(inl, LOW);

digitalWrite(in2, LOW); digitalWrite(in3, LOW); digitalWrite(in4, LOW);
// This function lets you control speed of the motors void speedControl() {
// Turn on motors
digitalWrite(inl, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
// Accelerate from zero to maximum speed
for (int i = 0; i < 256; i++) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
// Decelerate from maximum speed to zero

for (int i = 255; i >= 0; -i) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20); }
// Now turn off motors digitalWrite(inl, LOW); digitalWrite(in2, LOW); digitalWrite(in3, LOW); digitalWrite(in4, LOW);
}
DirectionControl() - This function spins both motors forward at maximum speed for two seconds. It then reverses the motor's spinning direction and spins for another two seconds. Finally it turns the motors off.
SpeedControl() - This function accelerates both the motors from zero to maximum speed by producing PWM signals using analog Write() function, then it decelerates them back to zero. Finally it turns the motors off.

Novelty Statement-Ultrasonic sensors are adaptable tools with a diverse range of applications. Essentially an instrument for distance calculation and measurement. Ultrasonic sensor is used in robot that halts few centimeter before then the object In this project can also calculate distance by transmitting the signal and receiving back with the help of Arduino Programming, sensor with alteration in programming is used as Autonomous parking system or smart blind stick that produces sound when find object ahead. Moreover it also helps to find objects in dark where there is danger to life in the dark and finally same project can be used to maintain specific distance in covid-19.
While specific language has been used to describe the present disclosure, any limitations arising on account thereto, are not intended. As would be apparent to a person in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein.
The drawings and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment.

We Claim:
1. A system of Ultrasonic Sensor System Using Arduino comprises Arduino nano which downloads the Arduino IDE and follow the steps carefully to install in user's computer; Ultrasonic Sensor, Sensor characteristics and operating range, Ultrasonic sensor applications, Timing Diagram, L293D Motor Driver IC, DC motors and its Control, Wiring L293D motor driver IC with Arduino UNO; Arduino programming, Arduino Code - Controlling a DC Motor, and system for Direction and speed control.
2. The system as claimed in claim 1, wherein HC-SR04 Ultrasonic (US) sensor is a 4 pin module, whose pin names are Vcc, Trigger, Echo and Ground respectively; and this sensor is used in applications where measuring distance or sensing objects are required; wherein the module has two eyes like projects in the front which forms the Ultrasonic transmitter and Receiver.
3. The system as claimed in claim 1, wherein the Ultrasonic transmitter transmits an ultrasonic wave, this wave travels in air and when it gets objected by any material it gets reflected back toward the sensor this reflected wave is observed by the Ultrasonic receiver module.
4. The system as claimed in claim 1, wherein Direction Control spins both motors forward at maximum speed for two seconds; and then reverses the motor's spinning direction and spins for another two seconds. Finally it turns the motors off.

5. The system as claimed in claim 1, wherein Speed Control accelerates both the motors from zero to maximum speed by producing PWM signals using analog Write function, then it decelerates them back to zero; finally it turns the motors off.