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.