Sensors Based Automated Wheelchair

Transcription

1 Sensors Based Automated Wheelchair D.Hareesh 1, R.Raja Kishore 2, K.Satyavathi 3 Malla Reddy Institute of Engineering and Technology E.mail:hareesh.dacharla@gmail.com 1, rajakishore.r@gmail.com 2, satyanarayana.ah@gmail.com 3 ABSTRACT This proposed method is mainly useful for handicapped persons who are suffering with Parkinson s disease or physically disabled or paralytic patients. These type of persons are cannot move their own. They always depend on other persons. This proposed method is very useful to handicapped persons, without depending on other persons, so these persons are freely move with own directions. In this proposed model dc motors are used to moving the wheelchair. The hardware part of the proposed model is built on printed circuit board containing microcontroller PIC18F452. It consists in built compatible 10 bit analog to digital converter, 8*8 single cycle hardware multiplier, it drives 1.6mA current. It is having 4 timers these are T0, T1, T2, and T3 and also used as interrupts. Keywords: dc motors, zigbee, sensors, LabVIEW, MPLAB IDE. 1. INTERDICTION The proposed project enables physically challenged persons like paralytic patients or physically disabled patients or patients having acute diseases like Parkinson s disease. The particular project is useful for the patients where they can move their wheelchair in their own directions, without any third party s help or support. In this project, there will be a wheel chair model as a ROBOT model, which will contain an in-built MICRO CONTROLLER and EYE BALL SENSING system, which will do the functions like right, left, forward and reverse operations. The wheel chair is designed in such a way that it can move freely without external support or dependency. Through this feature the patients can enable movements of their wheelchair as per their desire. Model: A prototype model which symbolizes the wheel chair is constructed. Master Controller: A PIC Microcontroller will act as a master controller for the movement of the automated wheelchair. It is responsible for all the decisions taken by the auto mated wheelchair. Eye ball Movement Sensor: This is used to sense the movement of the eye ball s direction and converts it into digital data and transfers it to the Master controller. (Straight Command, Left/Right Command, Stop Command) 2. HARDWARE DESIGN OF AUTOMATED WHEELCHAIR: I. The hardware architecture In this automated wheelchair mainly consisting of 3 types of modules: first one is the sensor module, second one is control module and third one is the wireless communication module. The sensors will sense the eyeball rotation send the values to control module. Control module is given the directions to wheelchair. Another two sensors take the position of the wheelchair and send it to control module. Control module converts analog data into digital and send the values to pc by using wireless communication module. The wireless communication is mainly deals with the RF ID packets. Main theme of this proposed model is helpful to physically challenged persons and sends their status to pc or control module, this type of communication is very helpful in who are suffering to Parkinson s disease or physically disabled or paralytic patients. Now a days, there are various kinds of wireless communication protocols are available. Our proposed model is zigbee is used to prepare a communication between PC and wheel chair, this communication model is transmitting the data up to 1km in outdoor RF id in line of site. It send the values like as distance of the ultrasonic and X, Y positions of the accelerometer. Zigbee acts as traducers. Zigbee modules are Page 813

2 low and medium transmit power and high reliability wireless networks. In this proposed model master controller is PIC18F452. It is high-performance enhanced flash microcontrollers with 10-bit analog to digital converter and also 32k of flash memory. It is belongs to PIC18f series. The figure 1shows the block diagram of sensor based automated wheelchair, in the figure PIC microcontroller is interface with sensors, dc motors, zigbee, buzzer, switch and lcd. Micro controller is receiving signals from eye truckers, by using that signals microcontroller is guide the wheelchair. Left eye tracker is detected microcontroller send signals like as stop left dc motor and run right dc motor. Right eye tracker is detected microcontroller send signal like as stop right motor and run left motor. In any situation ultra sonic is detect obstacles wheelchair will go to stop and buzzer will activated. Based on the position of eye wheelchair will move left, right and forward. By using eye tracking sensor detect the position of eye. Eye tracking sensor will recognize color differences. the eye focus on three parts of the eye that will respond to incoming light rays in a different manner: 1) the sclera (the wh ite portion of the eye), 2) the iris (the region bearing one s eye color), and 3) the pupil (the black entrance hole that serves as a light receptacle based on these white and black portions eye tracking sensor will give the signals to microcontroller. It decides movement of wheelchair. Fig.2 Eye tracking IV. Ultrasonic sensor: Fig.1 Block diagram II. Port allocation to the microcontroller PIC microcontrollers have 5 ports. Each port will work like as I /O. these 5 ports have 33 I/O pins. The ports are PORT A, PORT B, PORT C, PORD D and PORT E. every hardware is inter face with microcontrollerr by using these ports. PORT A connected to accelerometer. LCD connected to PORT D, Zigbee and driver board is connected to PORT C and buzzer, switch, ultrasonic and IR board connected to PORT B. III. Eye tracking sensor In this proposed project ultrasonic is used to detect obstacles in the path of wheelchair. Any obstacle is detected microcontroller is zero and buzzer is activated. Calculate the range through the time interval between sending trigger signal and receiving echo signal. The HC-SR04 Ultrasonic Sensor is a very affordable proximity/distance sensor that has been used mainly for object avoidance in various robotics projects. It essentially gives your Arduino eyes / special awareness and can prevent your robot from crashing or falling off a table. It has also been used in turret applications, water level sensing, and even as a parking sensor. This simple project will use the HC-SR04 sensor with an Arduino and a Processing sketch to provide a neat little interactive display on your computer screen. Formula: Range = high level time * velocity (340M/S) / 2; V. Accelerometer In the proposed project accelerometer will give the position of the wheelchair like as bend left or right or front or back. It send analog values to microcontroller, microcontroller have inbuilt A to D converter it converts analog values into digital. It measures static acceleration of tilt sensing and dynamic acceleration resulting from motion, shack or vibration. An accelerometer is a sensor that measures the Page 814

3 physical acceleration experienced by an object due to inertial forces or due to mechanical excitation. Acceleration is defined as rate of change of velocity with respect to time. It is a measure of how fast speed changes. It is a vector quantity having both magnitude and direction. As a speedometer is a meter to measures speed, an accelerometerr is a meter to measure acceleration. It is having 3 outputs like as X, Y and Z. in the proposed method use only X and Y. depends on X and Y values calculate the position of wheelchair. VI. Zigbee It is a one type of wireless communication prototype. Using this transfer data to PC or LabVIEW. It will working like as transducer both receiving and transmitting. In this proposed project send X and Y values of accelerometer and obstacle distance to PC or labview and play a good role to control the wheelchair from the labview. It transfers data up to 1km appropriate high gain antennas in outdoor RF line of sight range. PICKit2, PICKit3 and MPLAB ICD3 in circuit debuggers. MPLAB REAL ICE in circuit emulator, can program the code into target device. LabVIEW is another tool used in this proposed method. LabVIEW is a graphical programming language that used instead of lines of text to create applications. In contrast to text-based programming languages, where instructions determine program execution, LabVIEW uses dataflow programming, where the flow of data determines execution. In LabVIEW, you build a user interface with a set of tools and objects. The user interface is known as the front panel. You then add code using graphical representations of functions to control the front panel objects. The block diagram contains this code. In some ways, the block diagram resembles a flowchart. You can purchase several add-on software toolsets for developing specialized applications. All the toolsets integrate seamlessly in LabVIEW 4. RESULTS In this section shows the results of wheelchair sensors like as accelerometer and ultrasonic values. PC is always monitoring these values, by using labview control the wheelchair with PC. I. Monitoring section Fig. 3 Receiver block By using serial communication zigbee is interfaced to labview. In the wheelchair by using USART zigbee is connected to microcontroller. In receiving side the receiving data is taken by MAX 232, it is transmitted RS232 transmitted pin and the data is serial output to PC or labview. In this monitoring section always monitor X and Y value and ultrasonic sensor values. It always sends the distance of obstacle. In the figure X, Y and S (distance) these values always monitor in PC. 3. SOFTWARE TOOLS DESCRIPTION The MPLAB IDE is used to programming all the microchip controllers and digital signal controllers. A programmer will easily develop the programs for the microchip controllers. In this MPLAB IDE by using c and assembly languages programmer should written the code. Dump the code in to microcontroller to create e a hex. File. This file is created after compete the code built the code. That time hex. file will be generated. Controlling section Fig.4 Monitoring Section Page 815

4 In this controlling section always control the directions left [L], right[r], forward [F] and back [B]. It controls the direction of wheel chair. In the figure L, R, F and B (direction) these values always control in PC. Fig.7 X position graph Y-Position Below fig 8 shows the graph of Y values of accelerometer Fig. 5 controlling section Accelerometer Tlit section In this Accelerometer Tlit section section measure the left, right, forward and back. it send the wheel chair direction of accelerometer. In the figure L, R, F and B (motion) these values always measure the monitor in PC. Fig. 8: Y position graph Ultrasonic Below fig 9 shows the distance this will change ultrasonic values based on Fig. 6 Accelerometer section II. Graphs The below figures shows X, Y and Ultrasonic values in graphs X-Position Below fig 7 shows the graph of X values of accelerometer Page 816

5 5. CONCLUSION Fig.9 Ultrasonic values Today, Robots play a vey major role in industrial applications. In future these may come in every field, they could change the way the people live. Even though robots are the creation of human, they are more efficient and accurate. In this project we developed a robotic wheelchair with an in-built programmed microcontroller to which sensors are connected. This microcontroller makes the wheelchair move in straight, left and right directions with the help of motors. This project enables the disabled patients to move their wheelchair in their own directions without the help of any other person. However, the only drawback with this project is as the wheel chair requires eye-ball movement as input to the controller for its working, a lot of strain is created to the eyes. In the real time application we can use long range ultrasonic for the sensing of obstacles in a little far distance and always monitor the position of wheelchair like as it bend front or back or right or left. Thus this project enables to help the physically challenged persons to move freely with their own control of the wheel chair and that is the sensor based automated wheelchair. Future scope To make the system more interact with patient we have to add some additional sensors. Based on the results obtained we conclude that the eyeball response towards normal subjects and hemiplegic patients is very prominent and gives a wide range of movements. Thus the wheel chair moves in all required directions with good response. There is very slight variation in the responses of eye ball sensor in the case of normal subject to hemiplegic patient i.e., in the order of 0.5 mv. There is no big difference in the IR sensor response when tested on normal subjects and patients i.e., the activity of the sensor depends on the eye movement of the subject so the range can be narrowed according to the subject using the wheel chair. REFERENCES [1] Preethika Britto,Indumathi.J,Sudesh Sivarasu,Lazar Mathew School of Biosciences and Technology VIT University-Vellore. NCCI National Conference on Computational Instrumentation CSIO Chandigarh, INDIA, March [2] SIAMO Project (CICYT). Electronics Department. University of Alcala. Madrid. Spain. [3] Sonar-Based Real-World Mapping and Navigation. Alberto Elfes. IEEE Journal of Robotics and Automation, Vol. RA-3, No. 3, June [4] The Eyegaze Eyetracking System. Joseph A. Lahoud and Dixon Cleveland. LC Technologies, Inc. 4th Anual IEEE Dual-Use Technologies and Applications Conference. Suny Institute of technology at Utica/Rome, New york. [5] Face Tracking using an adaptive skin colour model. L.M. Bergasa et al. Third International ICCS Symposia on Intelligent Automation (IIA 99 ) and Soft Computing (SOCO 99). Genova. Italia. Junio [6] EagleEyes Project. James Gips, Philip DiMattia, Francis X. Curran and Peter Olivieri. Computer Science Department, Boston College. Chestnut Hill, Mass. USA. [7] Manual de técnicas de Electrofisiología clínica. M.C. Nicolau, J. Burcet, R.V. Rial. University of Islas Baleares. [8] A robust eye gaze tracking method based on a virtual eyeball model, Journal Machine Vision and Applications Publisher Springer Berlin / Heidelberg ISSN (Print) (Online) [9] Brown, M., Marmor, M. and Vaegan, ISCEV Standard for Clinical Electro-oculography (EOG) (2006), in: Documenta Ophthalmologica, 113:3( ) [10] It's in Your Eyes - Towards Context-Awareness and Mobile HCI Using Wearable EOG Goggles, Proc. of the 10th International Conference on Ubiquitous Computing (UbiComp 2008), Seoul, South Korea, pages 84-93, ACM Press, September [11] Robust Recognition of Reading Activity in Transit Using Wearable Electrooculography, Proc. of the 6th International Conference on Pervasive Computing Page 817

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