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Raspberry Pi Zero W Obstacle Detection and SOS Alert System with LiDAR and Radar Sensors

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Circuit Documentation

Summary

This circuit integrates various components for real-time obstacle detection, feedback, and SOS alerting. It uses a LiDAR sensor, radar sensor, vibration motor, and an SOS button. The system provides immediate feedback when obstacles are detected and triggers an SOS alert when the button is pressed. The main controller for this circuit is a Raspberry Pi Zero W.

Component List

  1. Raspberry Pi Zero W

    • Description: Main microcontroller for the circuit.
    • Pins: 5V, 3V3, GPIO2 (SDA), GPIO 3, GROUND, GPIO 14, GPIO15, GPIO 18, GND, GPIO 23, GPIO24, GPIO 25, GPIO 8, GPIO 7, GPIO 1, GPIO 12, GPIO 16, GPIO 20, GPIO 21, GPIO 04, GPIO 17, GPIO 27, GPIO 22, GPIO 10, GPIO 9, GPIO 11, GPIO 0, GPIO 5, GPIO 6, GPIO 13, GPIO 19, GPIO 26, CSI (CAMERA)

  2. OV2640 Camera Module

    • Description: Camera module for capturing images.
    • Pins: 3.3V, GND, SIOC, SIOD, VSync, HRef, PCLK, XCLK, D9, D8, D7, D6, D5, D4, D3, D2, RET, PWDN

  3. RCWL-0516 Microwave Radar Motion Sensor Module

    • Description: Radar sensor for motion detection.
    • Pins: CDS, VIN, OUT, GND, 3V3

  4. Vibration Motor

    • Description: Motor for providing vibration feedback.
    • Pins: POS, NEG

  5. Rocker Switch

    • Description: Switch for controlling power.
    • Pins: 1, 2

  6. Arcade Button (red)

    • Description: Button for triggering SOS alert.
    • Pins: no name yet

  7. Resistor

    • Description: Resistor with 10 Ohms resistance.
    • Pins: pin1, pin2

  8. XL6009E1 Boost Converter

    • Description: Boost converter for voltage regulation.
    • Pins: IN+, IN-, OUT-, OUT+

  9. Battery Case

    • Description: Case for holding the battery.
    • Pins: +, -

  10. TP4056

    • Description: Battery charging module.
    • Pins: OUT-, B-, B+, OUT+, IN-, IN+

  11. LiDAR TF Mini S

    • Description: LiDAR sensor for distance measurement.
    • Pins: Ground, VC, RX (blue), TX (green)

Wiring Details

Raspberry Pi Zero W

XL6009E1 Boost Converter

LiDAR TF Mini S

Vibration Motor

Arcade Button (red)

Resistor

RCWL-0516 Microwave Radar Motion Sensor Module

Rocker Switch

TP4056

Code Documentation

/*
 * This Arduino Sketch integrates various components for real-time obstacle
 * detection, feedback, and SOS alerting. It uses a LiDAR sensor, radar sensor,
 * vibration motor, buzzer, and an SOS button. The system provides immediate
 * feedback when obstacles are detected and triggers an SOS alert when the
 * button is pressed.
 */

// Pin definitions
#define RADAR_PIN 17
#define SOS_BUTTON_PIN 24
#define BUZZER_PIN 18
#define VIBRATION_PIN 18
#define LIDAR_TX_PIN 15
#define LIDAR_RX_PIN 14

// Threshold for obstacle detection
const int OBSTACLE_THRESHOLD = 50; // in cm

void setup() {
  // Initialize GPIO pins
  pinMode(RADAR_PIN, INPUT);
  pinMode(SOS_BUTTON_PIN, INPUT_PULLDOWN);
  pinMode(BUZZER_PIN, OUTPUT);
  pinMode(VIBRATION_PIN, OUTPUT);
  Serial.begin(115200);
  Serial1.begin(115200, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
  attachInterrupt(digitalPinToInterrupt(SOS_BUTTON_PIN), sosButtonCallback, RISING);
}

void loop() {
  // Check radar sensor
  if (digitalRead(RADAR_PIN) == HIGH) {
    Serial.println("Radar detected an obstacle!");
    obstacleDetected();
  }
  // Check LiDAR sensor
  if (Serial1.available() >= 9) {
    readLidar();
  }
  delay(100);
}

void readLidar() {
  uint8_t data[9];
  for (int i = 0; i < 9; i++) {
    data[i] = Serial1.read();
  }
  if (data[0] == 0x59 && data[1] == 0x59) { // Valid packet header
    int distance = data[2] + data[3] * 256; // Combine bytes for distance
    if (distance < OBSTACLE_THRESHOLD) {
      obstacleDetected();
    }
  }
}

void obstacleDetected() {
  digitalWrite(VIBRATION_PIN, HIGH); // Vibrate motor
  digitalWrite(BUZZER_PIN, HIGH);    // Activate buzzer
  delay(500);  // Feedback duration
  digitalWrite(VIBRATION_PIN, LOW);
  digitalWrite(BUZZER_PIN, LOW);
}

void sosButtonCallback() {
  Serial.println("SOS Triggered");
  digitalWrite(BUZZER_PIN, HIGH);    // Activate buzzer
  delay(1000);  // SOS alert duration
  digitalWrite(BUZZER_PIN, LOW);
  // Add additional SOS actions here
}

This code initializes the GPIO pins, sets up the LiDAR and radar sensors, and provides functions for obstacle detection and SOS alerting. The setup() function configures the pins and serial communication, while the loop() function continuously checks for obstacles and SOS button presses. The readLidar() function processes