Vehicles for the Wheelchair Bound

8/6/2019 Vehicles for the Wheelchair Bound

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Objective

Most wheelchair users have no motor control

in their lower extremities

Design and model a vehicle that will becontrolled only by hand


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Design: Vehicle

Basic car design:

Chassis

3 wheels (2 rear, 1 front) Motor

Integrated sensor for collision detection

Wireless receiver Mounted Arduino board


4/23

Design: Controller

One input to control the direction of thevehicle

The other input to control the speed of thevehicle

Flexi-force pressure sensor to accelerate anddecelerate vehicle.

A potentiometer that will be used as adirectional knob along side a servo motorthat changes the direction of the vehicle.

Wireless transmitter


5/23

Design: Safety

Integrate a collision detection system onto

the vehicle.


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Materials: Vehicle

Chassis made out of plexiglass

Double Gearbox serves as the motor

Wheels made of plastic Rear wheels outer diameter 4

Front wheels outer diameter 1.5


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Materials: Controller

Force sensor used to accelerate/decelerate

vehicle

Directional knob used in combination with aservo motor used to change direction ofvehicle

Wireless transmitter to send input to vehicle


8/23

Arduino Duemilanove

Microcontroller used to receive inputs

from controller and translate it to vehicle

motion

Programmed in C language using Arduino0020


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Sensors

Pressure sensor

-A piezoresistive sensor

-As force is applied to the sensor, the resistancedecreases

-Does not change resistance while being flexed


10/23

Sensors (cont.)

Ultrasonic sensor

-Transmits ultrasonic waves and receives the echo

-In combination with the ArduinoBoard, candetermine the distance from objects


11/23

Programming

The Arduino 0021 program will be used to

interface with the Arduino board


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Programming: Pressure Sensors Pressure sensor

//acceleration/ deceleration

///30k to the pressure sensor for more speed.

# define motor 9

int val1=0;

void setup()

{

Serial.begin(9600);

pinMode (motor, OUTPUT);

}

void loop()

{

val1 =analogRead(0);

analogWrite(motor, val1*8);

Serial.println(val1);

delay (10);

}


13/23

Programming: Ultrasonic Sensors

/* ping ultrasonic sensorthe circuit

const int pingPin=7;

#include ;Servo myservo; // create a servo object to control a servo

int potpin = 1;

int val=0;

void setup()

{

// initialize serial communication:

myservo.attach(6);Serial.begin(9600);

}

void loop()

{

long duration,inches;

// the PING))) is triggered by a HIGH pulse of 2 or more mircoseconds.

// give a short LOW pulse beforehand to ensure a clean HIGH pulse;

pinMode (pingPin ,OUTPUT);

digitalWrite(pingPin, LOW);

delayMicroseconds (2);

digitalWrite(pingPin ,HIGH);

delayMicroseconds (5);

digitalWrite(pingPin ,LOW);


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Programming: Ultrasonic Sensors (continue

pinMode (pingPin, INPUT);

duration = pulseIn(pingPin, HIGH);

// convert the time into a distance

inches = duration / 74/2 ; // microseconds to inches (duration);

Serial.print(inches);

Serial.print("in, ");

Serial.println();

delay (10);

val = analogRead (potpin);

val= map (val, 0, 1023, 0,179);

if (inches >5)

{

myservo.write(val);

delay(15);

}

else

{

myservo.write(179);

delay(150);

}

}


15/23

TROUBLESHOOTINGGROUP WORKING HARD MAKING SURE THAT THEULTRASONICSENSOR PRESSURE SENSOR AND MOTOR WORKS THE WAY WE

WAN

T.


16/23

TROUBLEHOOTING >>CONTINUESTHE SERVOMOTOR HAS BEENADDED WHICH WILL CONTROL THEDIRECTION WHERE THE PING SENSOR WILL INTERUPT IF ITS

GOIN

G TO

CO

LLIDE


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TROUBLESHOOTING>>>>CONTINUESTHE PROJECT IS TAKING SHAPE AND WEVE WORKINGONMAKING SURETHAT EVERYTHING IS STILL WORKING ACCORDINGLY


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SAMPLE VIDEO ON HOW THE

PROJECT WORKS


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Vehicles for the Wheelchair Bound