introduction

Staircase ClimberProject submitted by:

Shraddha JoshiSoham MohidekarShelton Dsouza

Under the guidance of:

Prof. K. T. Talele

Electronics Engineering DepartmentSardar Patel Institute of TechnologyAndheri (W), Mumbai 400 0582011-121

1Organization of the presentationConcept

Block diagram

Description of various components used in the project

Description of our prototype

How our machine is different from others used in the same field

Application areas of the machine

References2

ConceptMachine helpful for carrying a aged or physically challenged person up and down the staircase.

Seat adjusted automatically according to slope of the staircase.

Completely automatic.

Project, a prototype of an actual staircase climber3

ATMEGA 8535Power sourceSeat adjustmentMotorsPath tracking and obstacle detectionAccelerometerServomotor Block Diagram4

ATMEGA 8535

8 bit RISC microcontroller

8-bit Timer/Counters

Has four PWM channels

Conversion of analog to digital values.5

ATMEGA 8535 board6

Accelerometer

MMA 7361 accelerometer which is a analog accelerometer

Can sense movements on 3 axes, that is X, Y and Z

Output for 0 to 90 degree tilt on X axis is from 1.5 volts to 2.5 volts7

Accelerometer (MMA 7361)8

Servo motor

High torque of 16 kg/cm and powered by 6 V battery

OCR values of 15 to 35 corresponds to ON time pulse width of 1-2 ms

Shaft of the motor attached to the seat

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Servo motor used in the vehicle (NRS 995)10

Servomotor for future applications (BSM R-series)11

3.5 rpm motors

Skid steering mechanism with four 3.5 rpm motors, two on each side

Motors driven by a relay circuit

Rotation of motors is as per the tracked path

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Relay circuit

Four relays for driving the four 3.5 rpm motors

SL 100 npn transistor used as the switching element

Inputs to the relay circuit come from the Microcontroller

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Obstacle detector

Infrared obstacle detector

Can sense obstacles within a range of 60 cms

Output of obstacle detector goes to the microcontroller

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Path tracking circuit

Consists of three IR transmitter -receiver pairs (TCRT 5000)

Comparator LM-341 used

Output of each of the IR pairs goes to one of the terminals of the comparator

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Path tracking logic16Whenever the sensor detects the white line it gives a low output.

000-invalid state

001- Move right (left pair of wheels will be activated)

010- Move straight (both pair of wheels will go forward)

011- Move right (left pair of wheels will be activated)

100- Move left (right pair of wheels will be activated)

101-invalid state

110- Move left (right pair of wheels will be activated)

111- Move straight (both pair of wheels will go forward)

Path tracking sensor (TCRT 5000)17

Real Time Vehicle

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24Prototype

SeatOpticalsensorATMEGA 85353.5 RPM motorsRelayCircuit25

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How is the machine different from others used in the same fieldAutomatic and comfortable seat adjustment irrespective of the slope of staircase.

Automatic movement of vehicle

Path tracking facility is provided (useful in industries)

Obstacle detection

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No risk factor

Person to push the wheelchair is not required

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ApplicationsBuildings which do not have elevators.

Industries.

Railway Bridges.

Places which are at high altitudes (Pilgrim places)29

References Design and Implementation of Stair-Climbing Robot for Rescue Applications- Basil Hamed, International Journal of Computer and Electrical Engineering, Vol. 3, No. 3, June 2011Climbing and descending Vehicle- U.S. Patent document,4790548,12/1988Autonomous Stair Climbing for Tracked Vehicles, DOI: 10.1177/0278364907080423, Anastasios I. Mourikis, Nikolas Trawny, Stergios I. Roumeliotis, Daniel M. Helmick and Larry Matthies, The International Journal of Robotics Research 2007; 26; 737Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhshhttp://pagesperso-orange.fr/topchair

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