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Motion-Activated Garage Door System with Parking Detection and
IOT Notification
Kianne Mari R. Animas, Clement Allen B. Comia, Cedrick Dalisay, Shane Kian Murillo, Mykhael
Giann L. Sarmiento, Jose Felipe Jr.
Computer Engineering Department Eulogio “Amang” Rodriguez Institute of Science and Technology
Nagtahan Street, Sampaloc, Manila, 1008, Philippines
DOI: https://doi.org/10.51583/IJLTEMAS.2026.150500283
Received: 07 June 2026; Accepted: 12 June 2026; Published: 26 June 2026
ABSTRACT
Traffic has been a prevalent issue since the introduction of automobiles, and many countries face it; one of its
root causes is car parking. Improper parking of vehicles more often than not causes traffic congestion in urban
areas, as it is usually parked on sidewalks that obstruct not only pedestrian walkways but also the road that
vehicles use. Parking garages should be required for every vehicle owner, whether it be a motorcycle or, most
importantly, an automobile.
This research paper discusses the process and methods used to develop a motion-activated garage door system
with parking detection and IoT notification, with a focus on improving convenience, safety, and accessibility in
homes. The design uses an ESP32 microcontroller, an ultrasonic sensor to enable the door to respond to motion,
another ultrasonic sensor to detect whether a parked car is inside the garage, a buzzer for sound cues, and a servo
motor.
Keywords: Automatic Garage Door System, Arduino Uno, ESP32, Ultrasonic Sensor, Parking Detection, IoT,
Blynk, Buzzer, Motion Detection, Embedded Systems, Automation
INTRODUCTION
The use of automation is considered an integral part of current technological innovations, enabling intelligent
systems to operate with minimal human input. An area where automation has shown its worth is garage control;
in this regard, automated doors have enabled opening without the dangers of human error.
As highlighted by Orji et al. (2019), automated doors increase accessibility for elderly people and those with
disabilities and, most importantly, reduce the effort required to operate them.
With the integration of the IoT, embedded systems have become more capable in-home automation. The use of
IoT enables users to monitor home systems remotely and receive real-time updates, thereby improving
convenience and situational awareness (Gupta et al., 2020). There are software platforms like Blynk that enable
easy interfacing between microcontrollers and mobile apps, improving the user experience with embedded
systems.
Building on previous work with door automation using ultrasonic sensors, the research presented here introduces
new functions that go beyond simple door opening through motion sensing. In particular, the research presents
a prototype system with an additional ultrasonic sensor to detect when a car has been successfully parked in the
garage, a buzzer for audio feedback, and an ESP32 microcontroller for establishing IoT connections.
Theoretical Framework
This study is grounded in four established theoretical frameworks that collectively explain the operational
behavior of the Motion-Activated Garage Door System with Parking Detection and IoT Notification.
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Figure 1. Systems Theory
This functional system involves parts that are connected and act together to achieve a specific purpose. In the
current case, all the parts used, which are the HC-SR04 ultrasonic sensors, ESP32 microcontroller, servo motor,
relay module, and buzzer, perform different functions but operate in harmony to automate the process of parking
in a garage.
Figure 2. Input–Process–Output (IPO) Model
The IPO process describes the flow of the functions within the system at two operational levels. The first
operational level involves door operation. In this case, the process input is object detection from the primary
ultrasonic sensor, while the output involves actuating the servo motor via a relay and activating a buzzer. The
second operational level involves parking detection, where the input is proximity detection using the secondary
ultrasonic sensor, and the output is IoT Blynk logging and the activation of the buzzer for confirmation.
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Figure 3. Embedded Systems Theory
Embedded systems theory concerns the process by which microcontroller-based systems perform their allocated
tasks. Here, the task allocation is such that the ESP32 functions solely as an embedded controller, performing
the processes involved, including acquiring sensor data, controlling the door, controlling the buzzer, triggering
the relay, and controlling the servo.
Figure 4. Control Systems Theory
Control System Theory provides an insight into how the system output is controlled using continuous feedback
of inputs. The ultrasonic sensors provide the distance information required for motor control and determining if
the car has been parked. Using logic that sets a threshold at 7 cm to trigger door opening and 7 cm sustained for
2 seconds to ensure parking has taken place ensures precise system performance.
REVIEW OF RELATED LITERATURE
The use of ultrasonic sensors for object detection and motor control using Arduino in automated doors has proven
effective. The research by Orji et al. (2019) demonstrates accurate object detection using ultrasonic sensors and
reliable door control via servo motor control and Arduino technology. According to Gupta et al. (2020),
implementing door control with an Arduino board is both cost-effective and versatile.
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Kiran (2018) explained the concept of motion-activated door control, in which sensors help avoid unnecessary
door activation and energy waste. Faroqi et al. (2018) further expanded this idea by incorporating SMS
notifications into Arduino-based door control technology.
The introduction of the ESP32 chip as a microcontroller has significantly increased the opportunities to embed
IoT capabilities in inexpensive devices. Unlike the Arduino Uno, which has no built-in Wi-Fi or Bluetooth, the
ESP32 makes it highly suitable for wireless connections to cloud platforms, such as Blynk. Sahu et al. (2024)
have observed that automatic door control using microcontrollers highly benefits from remote monitoring
capabilities.
The use of the Blynk IoT development framework in various prototypes has been successful because of its ease
of integration, dashboarding on mobile devices, and event logging and notifications. Together with the ESP32,
it enables low-code development for IoT notifications and can be used in learning institutions and home settings.
The inclusion of a buzzer to generate audio alerts adds an element of usability to the proposed system that other
scholars have not adequately addressed. The audio alerts generated for door opening and closing, and for parking
confirmations, make the user aware of any activity in the system.
METHODOLOGY
In this study, the research method used a descriptive, experimental approach to design and test the proposed
motion-activated garage door system with parking detection and IoT notification. This project involved the use
of an ESP32 (ESPRESSIF ESP-WROOM-32) microcontroller, which would act as the main
brain and the Internet of Things communication interface of the system; an ultrasonic sensor HC-SR04 for object
and distance detection purposes; a servo motor to mimic the action of opening and closing a garage door; a relay
module (JQC-3FF-S-Z, 5VDC); and a buzzer.
We used a developmental-experimental research design method for this experiment; in descriptive section, we
design the system's architecture, its component and control logic, and in experimental part we perform repeatedly
functional tests to make sure if system work correctly at different input scenarios (Object distance, dwells time
and power stability, Wi-Fi signal strength).
For the experiment, we built a single car garage model at a scaled size [specify the model dimension/materials
used, e.g. Plywood/acrylic framework] using toy car to demonstrate a parked vehicle as in table 2 summary of
scenarios. Independent variables are the distances between sensor and object (7cm is the distance to trigger the
door) and the time for which the object stayed in this threshold (2 seconds to make sure it parked and 3 seconds
to close automatic). Dependent variables were the system outcomes including servo angle position (70
closed/160 open), buzzer pattern and Relay actuation to control. Also, latency of Blynk notification and accuracy
were measured.
Using pass/fail criterion, each of scenario mentioned in table 2 would be graded. When the output matches the
expected output according to previously mentioned thresholds, the trial will be marked as pass and otherwise as
fail when the failure reason is clear for any reason of hardware or network failure.
System Architecture
The system implementation is based on a single ESP32 microcontroller capable of performing sensing, actuation,
audio, and IoT communication simultaneously. This arrangement allows combining the above two arrangements
on a single microcontroller by leveraging the integrated Wi-Fi functionality and sufficient GPIOs.
For door control, a constant-distance measurement is performed using the HC-SR04 ultrasonic sensor. If an
object is less than 7 cm, the ESP32 controls the relay circuit to actuate the door opener mechanism and rotate
the servo motor to 160° (opening the door), while the buzzer sounds during actuation. When the object moves
outside this distance range, the door shuts down, and the buzzer sounds, indicating the process.
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For parking detection, you can use a single sensor or another sensor that detects the presence of an object inside
the garage. Upon the car object remaining within 7 cm for more than 3 seconds, the ESP32 activates the buzzer
twice and sends the "Park Successfully" message to the Blynk IoT app via Wi-Fi. If there is no detected object
at the threshold, the message "Garage Empty" is logged onto the Blynk dashboard.
Hardware Components and Wiring
● HC-SR04 Ultrasonic Sensor—Connected with the ESP32 board using VCC (5V), GND, TRIG (digital
output), and ECHO (digital input) pins. The sensor emits ultrasonic waves and detects the returning
echoes to determine the real-time distance to the object.
● Servo Motor – Connected to one of the digital pins on the ESP32 board that has PWM capabilities,
sharing common voltage connections (VCC and ground) with the ESP32. The servo will rotate the motor
shaft from 70 degrees (closed state) to 160 degrees (open state) based on sensor input data.
● Relay Module (JQC-3FF-S-Z, 5VDC/10A 250VAC) – Connected to the ESP32 board via a digital pin
for controlling the relay module. The relay acts as an electric switch that controls larger circuit elements
in the system controlled via the digital signal output by the ESP32.
● Buzzer – Connected to one of the digital pins on the ESP32 board with a common ground terminal. The
buzzer is activated when the door opens, producing three beeps for parking validation.
● ESP32 (ESPRESSIF ESP-WROOM-32) – Used as the main microcontroller and IoT hub in the system.
It handles sensor operations, relay actions, servo operations, buzzer sound control, and communication
with the Blynk app.
This system's IoT architecture is a three-layered structure as described. There is a perception layer, which
consists of the two HC-SR04 ultrasonic sensors continuously taking distance readings. There is a
processing/communication layer, consisting of the ESP32, running control logic for the relay, servo, and buzzer.
State changes are sent out from this layer to the Blynk Cloud server via the ESP32's native 802.11 b/g/n Wi-Fi,
utilizing the Blynk library. The application layer is the Blynk mobile dashboard application, which renders state
changes to a log of events ("Successfully Parked," "Auto Close," "Garage Empty"), in addition to providing
manual control buttons. The system is event-driven rather than constantly polling the inputs, to reduce
unnecessary traffic on the Wi-Fi but also has event latency dependent on the Wi-Fi link at the time of the event.
The HC-SR04 sensor is specified by the manufacturer to have an effective range of approximately 2 to 400 cm,
a resolution of 0.3 cm and a typical error margin of 3 mm under standard environmental conditions within a 15-
degree detection cone. This study's threshold for activation of 7 cm is well within this accuracy range, with
plenty of margin from noise. The relay module (JQC-3FF-S-Z) is rated to operate on a 5V DC coil with
10A/250VAC switching capacity, well beyond the required current for the servo, providing ample headroom on
the switching side.
Development Phases
The functional needs were identified during the requirement analysis as follows: an ultrasonic sensor for object
detection and door triggering, secondary proximity sensing for parking confirmation, relay switching assistance,
servo action to move the door, buzzer feedback, and notification to the Blynk app via the ESP32.
During the system design process, component functions were described, and hardware connections were planned
based on the circuit schematic. A flowchart depicting the system control was designed to specify how the
ultrasonic sensor would regulate the relay, servo, and buzzer outputs, as well as the Blynk communication
managed by the ESP32.
Implementation included writing firmware and running it on ESP32, putting together the components and
connecting them following the circuit schematic, and configuring the Blynk dashboard for two event logging
widgets with "Successfully Parked" and "Auto Close" labels, respectively.
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The testing and validation procedure ensured that ultrasonic sensor detection is precise, relay and servo
actuations are reliable, the buzzer sounds correctly, parking-sensing operation within 2 seconds works as
intended, and Blynk notifications arrive while the Wi-Fi connection is stable.
Schematic Diagram
The schematic diagram shows the entire wiring layout of the motion-activated garage door with parking
detection and an IoT notifications system. The core of this project is the ESP32 microcontroller, which serves
as the main controller to which all other components are connected. The HC-SR04 ultrasonic sensor is connected
to its trig and echo terminals, enabling distance measurements for both door opening and parking applications.
The servo motor is connected to the general-purpose input/output terminal, which provides pulse-width
modulation functionality. It moves the simulated door from 70° to 160°. The relay is connected to a digital pin
and enables switching control of the circuits. The buzzer is connected to another digital output pin and emits
audio notifications when the door opens or when a parking spot is detected.
RESULTS & DISCUSSION
Observations, Analysis & Interpretation
In general, the developed system performed all necessary functions. First, the primary ultrasonic sensor
successfully detected objects closer than 7 cm, triggering the servo motor to open the garage door and the buzzer
to emit audible signals during the process. Next, once the object was moved away, the door returned to its original
state, and the buzzer signaled its closing. Moreover, the secondary ultrasonic sensor accurately registered a
vehicle as parked once it remained within 7 cm of the sensor for 2 seconds, producing 3 beeps and sending a
"Successful Park" notification to the Blynk application. System logs were recorded with date and time stamps
via Network Time Protocol (NTP) synchronization and displayed in the Blynk application for monitoring.
The Blynk application also allowed manual remote opening and closing of the garage door through virtual
buttons, providing users with additional control and convenience. Finally, when no object was detected within
the specified range, the system registered "Garage Empty" in Blynk. When the garage became empty, the system
waited for 3 seconds before automatically closing the garage door to prevent premature closure caused by
temporary sensor fluctuations, thereby improving the system's reliability and automation.
Overall, the servo motor consistently operated at the specified angles, the relay module effectively controlled
the power supplied to the servo motor, and the buzzer functioned properly as an audible notification device. In
addition, notifications and status updates were successfully transmitted to the Blynk application via Wi-Fi with
no significant delay under normal network conditions. The 2-second parking verification period and the three-
second automatic door-closing delay helped prevent erroneous actions caused by temporary sensor readings and
environmental disturbances, resulting in more stable system performance.
Nonetheless, the tests however did also reveal a number of constraints to do with the conditions of operating it
in the real world, not to the system's logic. Servo glitching was observed under low input voltages of below the
rated motor values, it was observed that it was being operated off a single unregulated 9V source and under load
the voltage would sag when the servo demanded more current, it was solved with the addition of the buck
converter in Table 1.
Significant 2-second delays in Blynk notifications were only observed under poor Wi-Fi strength, the system
behavior in this regard being indistinguishable to any cloud dependent system in IoT reliant on a robust
connection to the internet to enable real time relay. No false detections or misses occurred after correct wiring
and power supply setup therefore the only apparent deployment risk is associated with the peripheral power
supply and network resources and not the sensors themselves or the microcontrollers logic. This constraint did
not inhibit the system from achieving its stated objectives, showing the feasibility of combining the above aspects
into a single "smart garage door".
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Table 1. System Components, Variables, and Conditions
Variable /
Component
Type
Parameter
Condition / Range
System Response
Primary Ultrasonic
Sensor (HC-SR04)
Input
Distance to
approaching
object:
0–7 cm / > 7 cm
Triggers the door to open
or close
Secondary Ultrasonic
Sensor (HC-SR04)
Input
Distance to parked
vehicle
≤ 7 cm for ≥ 2 s / >
7 cm
Triggers-park
confirmation or empty log
Servo Motor
Output
Angular position
70° (Closed) /
160° (Open)
Opens/closes garage door
Relay Module (JQC-
3FF-S-Z, 5VDC)
Output
Power switching
Activate during
door movement/
deactivate when
the door reaches
the target position
Controls power supply to
the servo motor,
disconnecting power when
idle to reduce unnecessary
consumption.
Buzzer
Output
Audio alert
Door open/close,
successful park
detection
Produces an audible
notification pattern to
indicate system status
ESP32
Controller +
IoT Gateway
IoT transmission
Continuous real-
time operation
Process all sensor inputs
and outputs and send logs
to the Blynk application
9V Li-ion battery and
Buck
Converter
Input
Power Regulation
9V DC input,
5V DV output
Provides regulated power
for the ESP32, servo
motor, relay module,
ultrasonic sensor, and
buzzer
Table 2. Test Results
Test
#
Input Condition
Observed Output
Expected Output
Pass /
Fail
Remarks
1
No object within 7
cm
Servo at 70°, no buzzer
The door remains
closed
Pass
Correct idle state
2
Object placed
within 7 cm
Buzzer sounds, servo →
160°
The door opens
with audio feedback
Pass
Proper detection and
actuation
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3
Object removed
from range
Buzzer sounds, servo →
70°
The door closes
with audio feedback
Pass
Correct closing
behavior
4
Toy car within 7 cm
for 3 s
The buzzer sounds twice,
and Blynk logs
"Successful Park."
Park confirmation
and IoT log
Pass
Parking detection
confirmed
5
No car inside the
garage
Blynk logs "Auto Close."
Empty state
notification
Pass
Correct empty state
logging
6
Object briefly
within 7 cm (< 3 s)
No park confirmation
triggered
No false positive
Pass
The 2-second
window prevents a
false trigger
7
Continuous object
presence at the door
The door remains open; no
repeated servo commands
Stable open state
Pass
Logic prevents
repeated commands
8
Loose wiring on the
servo line
Erratic servo movement
Stable movement
Fail
Resolved by
securing the wiring
9
Fluctuating power
supply
Servo stops early, glitches
Full 180° rotation
Fail
Resolved by
stabilizing power
10
Weak Wi-Fi signal
Delayed Blynk notification
Immediate
notification
Fail
Stable Wi-Fi
required for
consistent delivery
11
Stable wiring and
power, good Wi-Fi
All functions perform
correctly
Full system
operation
Pass
All issues resolved;
system meets
objectives
Over the eleven scenarios of Table 2, the system achieved an initial pass rate of 72.7% (8/11) with all three
failure scenarios attributed to unreliable servo wiring, unstable power delivery, and poor Wi-Fi signal, and not
due to incorrect control logic. Once the issues were addressed – by splitting the servo's power source using a
buck converter (refer to Table 1), the system passed all eleven scenarios upon retest without either spurious
parking detection or the failure to detect the door open state. Thus, the hardware sensing and control logic appear
to be effective, and the potential pitfalls of field deployment are not the sensor itself or the microcontroller, but
rather power delivery and network conditions.
Direct hardware benchmarking against commercial systems or published approaches was beyond the scope of
this work. Instead, the feature-based comparison which follows uses systems which were discussed in the
literature:
From the experiments above, it is evident that the proposed design can easily incorporate various functionalities,
such as motion-activated door controls, audio alerts, parking sensors, and IoT notifications, into an embedded
system. The consistent performance of the ESP32 microcontroller, ultrasonic sensors, servo motor, relay module,
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and Blynk IoT platform confirms the effectiveness of the proposed motion-activated garage door system. These
observations align with the literature on automation and embedded designs incorporating ultrasonic sensors and
IoT technologies.
CONCLUSION
This research explores the design and development of the motion-activated garage door system that incorporates
parking detection and IoT notifications. The system uses a single ESP32 microcontroller that serves as both an
embedded controller and an IoT gateway. Hardware components used in this design include an HC-SR04
ultrasonic sensor to detect object proximity for activation, another ultrasonic sensor to sense parking in the
garage, a servo motor to open the door, a relay to perform switch operations, and a buzzer for audio notifications.
In terms of operation, the system provides reliable automatic door opening based on object detection and
contextual audio notifications during the process and upon parking. The system provides reliable parking
detection using a 7 cm threshold maintained for 2 seconds, and with a short delay to prevent premature closure
due to sensor fluctuations, it automatically closes the garage door when the parking area is detected as empty,
enhancing operational efficiency, convenience, and system automation.
Testing conducted in a controlled environment demonstrated that the design met all functional requirements.
Small problems such as servo glitches, power instabilities, and Wi-Fi signal dependency were addressed by
implementing better wiring techniques, improved ground connections, and a better network setup. Integrating
all functionalities into a single ESP32 device demonstrated the design's efficiency in meeting the prototype's
functional requirements, despite simplifying the entire hardware design.
In addition to fulfilling its intended functionalities, the system has potential academic applications for exploring
various technical skills. In particular, the project can serve as a learning tool in studying sensors, communication
between microcontrollers, IoT connectivity, and embedded system design.
RECOMMENDATIONS
Directions for future research may involve the following improvements. For instance, an external regulated
power source should be used instead of the battery to power the servo motor, to prevent glitches caused by
voltage drops when the motor moves. The parking detection algorithm may be upgraded by adding PIR and
infrared detectors, in addition to the existing ultrasonic sensor, to increase reliability regardless of a vehicle's
size or the surface it stands on. Testing with the actual garage door operation system, rather than a model, will
provide a more accurate evaluation of the results.
The security aspect may be enhanced by incorporating additional modules, such as unauthorized user entry
detection, PIN verification, access control, or a camera module available on the ESP32-CAM variant. Blynk app
integration could be further improved by allowing push notifications with timestamps, keeping logs of cars in
the garage, and remotely operating the garage door via the smartphone application. Lastly, future research may
explore implementing a two-sensor detection method, divided into approaching and parked areas, and possibly
optimization of the ESP32 code for faster response.
ACKNOWLEDGEMENT
The researchers would like to express their sincere appreciation to Prof. Engr. Jose C. Felipe Jr., who provided
guidance and oversight throughout the duration of this project. His role in establishing project requirements and
ensuring its proper completion was instrumental to the success of this study.
The researchers also extend their gratitude to the Computer Engineering Department of Eulogio “Amang”
Rodriguez Institute of Science and Technology for providing the academic support, technical instruction, and
resources necessary for the completion of this project.
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Heartfelt thanks are extended to the researchers' families, classmates, and peers for their continued
encouragement and support. Above all, the researchers give thanks to God Almighty for the strength and
perseverance to complete this work.
REFERENCES
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About the Authors
Clement Allen B. Comia is a Computer Engineering student at Eulogio “Amang” Rodriguez Institute of Science
and Technology (EARIST). He has a strong interest in software design, programming, and developing
technology-driven solutions. He continually seeks opportunities to expand his technical knowledge and apply
engineering principles to create innovative systems that address practical challenges.
Kianne Mari R. Animas is a Computer Engineering student at Eulogio “Amang” Rodriguez Institute of Science
and Technology (EARIST). He is passionate about innovation, technology integration, and software
development. Through academic and project-based activities, he continues to strengthen his ability to design
systems that deliver practical, effective solutions to real-world needs.
Mykhael Giann L. Sarmiento is a Computer Engineering student at Eulogio “Amang” Rodriguez Institute of
Science and Technology (EARIST). His interests include software development, system design, and emerging
technologies. He is committed to enhancing his programming and problem-solving skills while contributing to
projects that promote efficiency and technological advancement.
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Cedrick O. Dalisay is a Computer Engineering student at Eulogio “Amang” Rodriguez Institute of Science and
Technology (EARIST). He is particularly interested in embedded systems, automation, and software
engineering. His goal is to leverage modern technologies to develop reliable, efficient solutions that improve
everyday processes and user experiences.
Shane Kian G. Murillo is a Computer Engineering student at Eulogio “Amang” Rodriguez Institute of Science
and Technology (EARIST). He is dedicated to exploring innovative technologies and enhancing his expertise in
programming, system development, and automation. He strives to create impactful technological solutions that
advance society and industry.
Engr. Jose C. Felipe Jr. is an instructor in the Computer Engineering Department of Eulogio “Amang” Rodriguez
Institute of Science and Technology (EARIST). He provides guidance and mentorship in software development,
embedded systems, and engineering design. Through his academic leadership and technical expertise, he
supports students in conducting research, developing innovative projects, and strengthening their professional
competencies in engineering and technology.
