International Journal of Engineering Research and General Science Volume 1, Issue 1, August 2013
ISSN 2091-2730
An Android based Smart Wheelchair
Prof. Madhuri Gawali, Poonam Patole, Sampada Joshi, Swapnil Raut, Chandrakant Khartode
1#- Dept. of Information Technology, JSCOE, Hadapsar, Pune, India
[email protected] 9096014113
Abstract— In the world there are many problems occur like accident, age and health problems for that there are many
sensing techniques are existed already. To help people with overcoming such defects, the intelligent wheelchair system which we will
have implementing such system uses triple control for navigation in familiar environments. In this system there are three modes of
input control to the wheelchair that are Voice recognition, Touch Screen and Accelerometer. Touch screen sensor is modeled for
moving in different direction by pressing finger on touch pad for moving commands. With the help of Voice command technique
people can also move intelligent chair in different direction using voice controller. One way to measure a tilt angle with referencing to
the earth ground plane, ease to use an Accelerometer.Thus we plan to develop android App for combining all the features will access
and controlled easily. In these systems Bluetooth specification is very important aspect for controlling transmission of data between
android model, micro controller and its attached devices. Thus we plan to increase the accuracy of the touch screen, voice recognition
technique and accelerometer.
Keywords— AVR Microcontroller, Touch Screen, Wheelchairs, Bluetooth Controller, Android App.
INTRODUCTION
The intelligent wheelchair system uses trial control for navigation in familiar environments. The three modes of input control to the
wheelchair are voice recognition, accelerometer and touch screen. When one want to change the direction, the touch screen sensor is
modeled by pressing finger against the various quadrants on the touch screen, which has different values programmed for different
direction. This can also be controlled using simple voice commands using voice controller. By storing a single letter in voice
command kit for each direction control, the recognition time is reduced drastically and thus quick reach to destination is obtained and
third input is accelerometer. It enables an economic assembly in any existing wheelchair that enables a smart system for different
motion which can be controlled by any Smartphone. the concept particularly mentions Smartphone which covers device like any
android powered mobile phone which have inbuilt accelerometer and Bluetooth wireless technology a break control switch is provided
to avoid collision .to achieve the movement of all directions in the wheelchair, microcontroller is coded with a range of digital values.
LITERATURE SURVEY
System Under Study
Method Used
Result Obtained
A hand glove controlled
wheel chair
Joystick,
gloves
Lesser amount of force required to manipulate the hand glove
in contrast to the joystick. But Not handled by completely
handicapped people.
Autonomous control of
eye based electric wheel
chair
with
obstacle
avoidance and shortest
path findings based on
dijkstra algorithm
EWC is used to
identify obstacle
and avoid them.
Hand
Image processing Increase the
Time complexity.
It uses two cameras one for front side and other for back side.
Wheelchair can be controlled using Eye movement.
Voice recognition and
touch screen control based
wheel chair for paraplegic
persons
PIC
microcontroller,
Voice
recognition IC
It consist only two modes of operation.
Accuracy of the pic microcontroller is low. Hence for the
50% given input the 25% output will occur.
www.ijergs.org
International Journal of Engineering Research and General Science Volume 1, Issue 1, August 2013
ISSN 2091-2730
TECHNIQUES USED TO HANDLE WHEEL CHAIR
A. VOICE RECOGNITION IC
The voice recognition IC HM2007 is capable of operating in speaker independent mode. Initially, the voice is recorded to the
external SRAM attached to the IC with the help of a directly connected microphone at the analog input terminal of the
HM2007 IC. Once these letters are stored in the SRAM, the system is trained to obtain accuracy for each direction coded into
the microcontroller. After training, when the subject spells the recorded letter through the microphone, the speech through the
microphone is compared with the recorded voice and according to that digital output is generated. Then output of voice
recognition IC is then fed to the digital input ports of the PIC micro controller.
B. TOUCH SCREEN
The touch screen used in this proposed system is a 5-wire resistive type. A power supply of 5V is given to the touch screen.
This touch screen is divided into 6 quadrants. The 4 quadrants in the corner are used to specify the directions like Left, Right,
Front and Back. The two quadrants in the centre are used to control the speed of the wheelchair. The four quadrants that are
used to specify the direction is assigned a range of digital values coded with the help of a PIC microcontroller. The following
are the ranges specified for each direction: Back- 20 to 30; Front- 40 to 50; Right- 80 to 90; Left- 110 to 120. These values
are sensed on the touch screen when the user presses the finger against the particular quadrant in it.
C. BLUETOOTH CONTROLLER
HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module. It’s designed for transparent wireless serial
connection setup. Serial port Bluetooth module is qualified Bluetooth V2.0+(Enhanced Data Rate) 3Mbps Modulation with
complete 2.4GHz radio transceiver and baseband. It uses different CSR Bluecore 04 External single chip Bluetooth system
with CMOS technology and with Adaptive Frequency Hopping Feature. It’s the footprint as small as 12.7mmx27mm.It will
simplify your overall design/development cycle. HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol)
module. It’s designed for transparent wireless serial connection setup. Serial port Bluetooth module is qualified Bluetooth
V2.0+(Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. It uses different CSR
Bluecore 04- External single chip Bluetooth system with CMOS technology and with Adaptive Frequency Hopping Feature.
It’s the footprint as small as 12.7mmx27mm.It will simplify your overall design/development cycle.
Fig: Bluetooth (HC-05)
D. ACCELEROMETER
Accelerometer is an important input device to many software applications. Android reports accelerometer values in absolute
terms. The values reported are always the data from the physical sensor adjusted to so that all devices report such data in the
same fashion. Android does not transform accelerometer data to be relative to the device orientation. Applications requiring
this must perform their own transformations. Where screen-relative results are desired, the accelerometer values must be
rotated according to the display orientation returned by the Android API’s getOrientation() or getRotation() functions. Both
functions return the same values, but the former is a deprecated usage.
www.ijergs.org
International Journal of Engineering Research and General Science Volume 1, Issue 1, August 2013
ISSN 2091-2730
Fig: Phone device Accelerometer
E. MICROCONTROLLER (ATMEGA32)
ATmega32 is an 8-bit high performance microcontroller of Atmels Mega AVR family. Atmega 32 is based on enhanced
RISC (Reduced Instruction Set Computing) architecture with 131 instructions. Most of the instructions execute in one
machine cycle. Atmega32 can work on a maximum frequency of 16MHz.
Fig: Microcontroller (ATmega32)
F. L293D(DC Motor Driver)
L293D is a dual H-bridge motor driver integrated circuit(IC).Motor drivers act as current amplifiers since they take the low
current signal and provide a higher-current signal. This higher current signal is used for drive the motors. L293D contains
inbuilt H-bridge driver circuits. Its common mode of operation, two DC motors can be driven simultaneously; both are in
forward direction and reverse direction. The operations of two motors can be controlled by input logic pins 2 7 and 10 15.
Input logic 00 or 11 will stop the motor. Logic 01 and 10 will be rotate in the clockwise and Anticlockwise directions.
Fig: L293D(DC Motor Driver)
METHODOLOGY
Mathematical Model:Module 1:User Validation Upload File To Database
let S= fUser, Sen , Dev , Th , Adc values , Acc values , Voice cmd, Cmd , Fg
www.ijergs.org
International Journal of Engineering Research and General Science Volume 1, Issue 1, August 2013
ISSN 2091-2730
where,
User=user1,user2,˙.... user i
It is finite set of users of system.
Sen= Sen 1,Sen 2, Sen i
It is finite set of Sensors.
Dev= Dev 1, Dev 2,.. Dev i
It is finite set of Devices.
Th= Th 1, Th 2,. Th i
It is finite set of Threshold values.
Adcvalue= Adcvalue 1, Adcvalue 2, Adcvalue i
It is finite set of Sensor values.
Accvalues= Accvalues 1, Accvalues 2, Accvalues i
It is set of values grabbed by accsensor:
Voice cmd = Voicecmd1; Voicecmd2; Voicecmdi;
It is set of commands given by user to operate chair in voice command:
Cmd = Cmd1;Cmd2; :: Cmdi
It is set of another commands:
F = grab sensor values, apply threshold,
Control device(); grabaccvalues();
voiceinput(); applyvoicecmd(); applytouchcmd():
Where,
Adc value i=grab sensor values(sen i)
This function will read the values(0-255) of particular sensor.
Yes/No= apply threshold(Adc values I,Th i)
It checks if sensor values crosses the threshold range.
Control device(Dev I,ON/OFF) Acc values i= grab acc values()
Return accelerometer x,y,z values. Voice cmd= voice input()
Detect the voice input given by user.
apply voice cmd(voice,cmd i)
The voice commands operate on Hardware.
www.ijergs.org
International Journal of Engineering Research and General Science Volume 1, Issue 1, August 2013
ISSN 2091-2730
apply touch cmd(cmd i)
Apply the normal=touch mode commands.
SYSTEM ARCHITECTURE
The intelligent wheelchair system uses triple control for navigation in familiar environments. The three modes of input control to the
wheelchair are voice recognition, accelerometer and touch screen. When one want to change the direction, the touch screen sensor is
modeled by pressing finger against the various quadrants on the touch screen, which has different values programmed for different
direction. This can also be controlled using simple voice commands using voice controller. By storing a single letter in voice
command kit for each direction control, the recognition time is reduced drastically and thus quick reach to destination is obtained and
third input is accelerometer.. It enables an economic assembly in any existing wheelchair that enables a smart system for diggerent
motion which can be controlled by any Smartphone. The concept particularly mentions Smartphone which covers device like any
android powered mobile phone which have inbuilt accelerometer and Bluetooth wireless technology A break control switch is
provided to avoid collision .To achieve the movement of all directions in the wheelchair, microcontroller is coded with a range of
digital values.
Fig: Proposed Architecture
www.ijergs.org
International Journal of Engineering Research and General Science Volume 1, Issue 1, August 2013
ISSN 2091-2730
Start the Android Application
Establish Bluetooth Connection with
Wheelchair
Control wheelchair using
Touchpad/Voice/tilting
Display wheelchair position
Fig: Flowchart of Proposed system
ACKNOWLEDGMENT
We take this opportunity to thank our guide Prof. M.K.GAWALI and Head of the Department Prof. S.V.TODKARI and Principal Prof
.Dr.M.G.JADHAV for their valuable guidance and for providing all the necessary facilities, which were indispensable in the
completion of this project report. We are also thankful to all the staff members of the Department of Information Technology of
Jaywantrao Sawant College of Engineering Hadapsar, Pune for their valuable time, support, comments, suggestions and persuasion.
We would also like to thank the institute for providing the required facilities, Internet access and important books.
CONCLUSION
The overall objective of this paper is to study different d techniques available to handle the smart wheelchair .The android based smart
wheelchair system is designed for handicap people. to achieve the movement of all directions using this system the handicap people
doesn’t depends on other people.the handicap people will use this system very smartly and effectively.there are three modes of inputs
to control the wheelchair are voice recognition,accelerometer and touch screen.this system particularly mentions android smartphone
which consists devices like accelerometer and bluetooth wireless technology. Also it uses break control mechanism which avoid
collision.
REFERENCES
[1] Rini akmeliawati, faez s. Ba tis, umar j. Wani, design and development of “A hand-glove controlled wheel chair” 2011 4th
international conference on mechatronics (icom),17-19 may 2011.
[2] Kohei Arai, Ronny Mardiyanto, “autonomous control of eye based electric wheel chair with obstacle avoidance and shortest
path findings based on dijkstra algorithm”(ijacsa) International Journal of Advanced Computer Science and Applications,
Vol. 2, No. 12, 2011
[3] Aruna.C1,Dhivya Parameswari.A1, Malini.M1, Gopu.G2, “voice recognition and touch screen control based wheel chair for
paraplegic persons”,Issue 9 Sept., 2013
[4] Andriod Based Smart Wheelchair IEEE,2014
[5] Puneet Dobhal, Nishant Singh Bisht, Bhupendra Singh, “smart wheel chair for physically handicapped people using tilt
sensor and ieee 802.15.4 standard protocols” Conference on Advances in Communication and Control Systems 2013
(CAC2S 2013)
[6] Ambarish.D.Pundlik,Anant.Bhide,Tanvi,P.Mahajan, “voice and gesture based wheelchair using avr and android”,
International Journal of Innovative Research in Computer and Communication Engineering,December2014
[7] Hiroo Wakaumi, K. N. T. M., 1992. “Development of an automated wheelchair”, BEng, Resources and Environment
Protection Research Laboratories, NEC Corporation, Kawasaki, 213 Japan.
[8] Seagrave, W., 2013. basic4android. United Kingdom: Penny Press Ltd.
[9] P. Jia and H. Hu: ”Head Gesture based control of an Intelligent Wheelchair”, Proceedings of the 11th Annual Conference of
the Chinese Automation and Computing Society in the UK [CACSUK05], 85-90, 2005.
www.ijergs.org
International Journal of Engineering Research and General Science Volume 1, Issue 1, August 2013
ISSN 2091-2730
[10] Wang, H., Ishimatsu, T.: ”Vision-based Navigation for an Electric Wheelchair Using Ceiling Light Landmark”, Journal of
Intelligent and Robotic Systems, 41, 4, 283-314, 2005.
[11] M. Dechrit, M. Benchalak and S. Petrus Wheelchair Stabilizing by Controlling the Speed Control of its DC Motor World
Academy of Science, Engineering and Technology 58 2011.
[12] Mudit Ratana Bhalla, Anand Vardhan Bhalla“Comparative Study of Various Touchscreen Technologies” International
Journal of Computer Applications”, Vol.6, No.8, September 2010.
www.ijergs.org