[Link]
net/publication/278715892_Development_of_A_Zigbee_Ba
sed_Virtual_Eye_for_Visually_Impaired_Persons
The ultrasonic sensor HC-SR04 is connected to the microcontroller through serial
port. The microcontroller triggers the sensor to send a pulse and run a timer at the
same time. When an echo is received signal reflected by an object the timer will
stop and time interval is obtained. The Distance is calculated by knowing the time
interval and using special formula to calculate the distance. The microcontroller is
programmed to decide whether there is an object in front of the user or not and if
an object exists in a range below 1 meter the microcontroller will send continues
pulses to trigger the motor to rotate. When the user deviates to the left or to the
right, the smart handheld device sends a character Either R or L to the
microcontroller. The microcontroller decides whether user should deviate to left or
right.
The reflection time is proportional to the distance that the object is from the source.
In this implementation, the sound wave is transmitted and received from the same
transducer.