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This type of wheelchair is a different low-cost sensor modules, increasing safety in mobility for users of electrical wheelchairs. The implemented functionalities include navigation as well as obstacle avoidance support. As different sensor types are included to cover the same function, this system operates reliably for a broad range of environmental conditions. Within the hospital environment, these capabilities assist the nursing staff by enabling the following functions: convoy driving of several wheelchairs, autonomous transports on given routes, quick contact to the disabled person in case of emergencies.
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SUBMITTED BY :HARSHIT SRIVASTAVA (Roll No. 0705621028)
PRADEEP KUMAR PAL (Roll No. 0705621041)
YOGESH KUMAR (Roll No. 2805621009)
SAURABH RAWAT (Roll No. 2805621008)BHARAT KUSHWAHA (Roll No. 2805621002)
UNDER THE GUIDENCE OF:Mr. SAURABH DIXITSENIOR LECTURER,EC DEPT., NIEC, LUCKNOW
BATCH 2007-2011
B.Tech. FINAL YEAR ELECTRICAL AND ELECTRONICS
NORTHERN INDIA ENGINEERING COLLEGE LUCKNOW
CONTENTS..
• INTRODUCTION
• WORKING MODE
• WHEELCHAIR OVERVIEW
• SYSTEM ARCHITECTURE CHARACTERISTICS
–Environment Perception.
–Control Architecture.
• CIRCUITS
• SOFTWARES USED
• APPLICATION
• CONCLUSION
Introduction..
• The need for an intelligent wheelchair simulator has its origin in the intelligent wheelchair project.
• Mobile robots with capabilities to autonomously reach a target location despite obstacles are designed for a broad range of applications.
• This includes in particular capabilities to avoid obstacles, to localise the actual position, to determine relative distances to specific objects and to accurately reach given target locations.
• The main objective was to transfer related sensor technology to support disabled users of electrical wheelchairs.
(Fig. 1. Wheelchair)
LAPTOP
TRANSMITTER
RECEIVER
MICRO CONTROLLER
WHEELCHAIR
USER(JOYSTICK)
WIRELESSWIRELESSWIRELESS
MASTER CONTROL
WIRELESS CAMERA
WIRELESS RECEIVER
SIGNALSSIGNALS
Working Mode...
(Fig. 2. Overall Control Of Wheelchair)
Wheelchair Overview..
(Fig. 3. Overview Of Wheelchair)
ACTIVE VISION AND CAMERA
PASSIVE VISION
ULTRASONIC SENSORS
INFRARED SENSORS
LOW LEVEL SAFETY
PROC
ESSI
NG M
ODUL
ESNAVIGATION
BUILDING COMMUNICATION
SENSORY AND INTEGRATION
POWER AND MOTION CONTROLLER
SYSTEM ARCHITECTURE
VISION
ENVIRONMENT PERCEPTION
(Fig. 4. SYSTEM ARCHITECTURE)
SYSTEM ARCHITECTURE
Control Architecture..
Intelligent wheels project has a multilevel control architecture :The lower levels - basic control - are handled by the main application itself, separating the higher levels – tactical 4-level and the strategy level - from the Intelligence module.
HIGH LEVELOBJECTIVE PLANNING
4th LEVELGENERATION OF
ACTION PLAN
3rd LEVELBASIC ACTION
CONTROL
2nd LEVELGENERATION OF
REFERANCES
LOW LEVELVELOCITY CONTROL
TACTICAL LEVEL
BASIC CONTROL LEVEL
STRATEGY LEVEL
CONTROL ARCHITECTURE
(Fig. 5. Control Architecture)
VARIOUS CIRCUIT USED ..
1716
15
15132
3
8
9
ATMega 8
12345678
RF Module
Crystal Oscillator1.38MHz
1kohm
1kohm
10uf
28
LED14
+
-
FIG.5 R/F MODULE TRANSMITTER COTROLLER
FIG.6 POWER CONTROL OF RF TRANSMITTER
FIG. 7 R/F MODULE RECEIVER CIRCUIT
CONTINUED..
FIG.8 TIMER CONTROL CIRCUIT
FIG.9 MAIN CONTROLLING CIRCUIT
CONTINUED..
-
+
10µF1KΩ
1KΩ
1738
IR LED
FIG.10 MOTOR POWER CONTROL FIG.11 TSOP 1738 IR SENSOR INTERFACING CIRCUIT
Software Used..• WinAVR
• AVR Dude
• Pony Prog
• Eagle
• AVR Studio
• Keil uvision 4
Application..
• This electrical wheelchair is to assist disabled people in their mobility, by warning of obstacles in the way and by assisting in the navigation to return back home. Provides additional useful capabilities for the hospital environment, like convoy driving of several wheelchairs, or autonomous driving on given courses.
Conclusion..
This electrical wheelchair is to assist disabled people in their mobility, by warning of obstacles in the way and by assisting in the navigation to return back home. Provides additional useful capabilities for the hospital environment, like convoy driving of several wheelchairs, or autonomous driving on given courses.