Self-Automated System - International Journal of Latest Trends in
Transcription
Self-Automated System - International Journal of Latest Trends in
International Journal of Latest Trends in Engineering and Technology (IJLTET) Self-Automated System Sai Chaitanya Mangavelli Department of Mechanical Engineering B.V.Raju Institute of Technology, Narsapur, Medak District, Telangana, India. Md. Yousuf Shareef Department of Electronics and Communication Engineering B.V.Raju Institute of Technology, Narsapur, Medak District, Telangana,, India Murali Krishna Bumurk Department of Chemical Engineering B.V.Raju Institute of Technology, Narsapur, Medak District, Telangana,, India Abstract- The idea of this paper is to present our work on a compact transport for people with physical disabilities, spinal cord problems, polio effected, old people etc. This transport takes its design from Segway with little modifications in order to suit the user. The wheels get power from a 24V, 7AH battery with an inbuilt motor circuit for safety and better control. Two modes of control namely, Mechanical and Smart system enable user friendly control. The Mechanical system works on a throttle control with brakes similar to a mopeds whereas the Smart control uses an IP Camera which with help of switches and Raspberry PI controls the motors of vehicle. The IP camera can be controlled by an Application that runs on all smart phone platforms. IP camera also enables a visual contact with persons faraway in case of emergency and to move the transport to any area. It contains an adjustable handle with detachable seat. Hence the transport can be dismantled and carried easily to any place. Keywords – IP camera, raspberry pi. ACKNOWLEDGMENT We thank Mr. Chary sir for his invaluable technical help without which we could have never completed our product. We thank P.Subhashini madam for extending her help in terms of facilities in the form Assistive Technology Lab and being a constant Motivational source. We also thank all rehabilitation centers, camps, hospitals etc. for giving us an opportunity to interact with our customers and identify their problems. Finally we thank the Almighty for giving us an opportunity to serve and fulfill the desires of Differently Abled People. I. INTRODUCTION In recent scenario, automated wheelchairs are gaining popularity in various parts of the world. Many new technologies have emerged in order to help the especially abled people, few of them are using gestured, machine visions, joysticks etc. All the technologies have their own merits and demerits. Our main goal is to focus on aesthetics and user friendly technology along with improving functionality and range of control. A) TEAM DESCRIPTION We are team combining Mechanical, Electronic and chemical disciplines from B.V.Raju Institute of Technology, Narsapur, and Telangana. We are all from third year and with help Of Assistive Technology lab, projects which Aid Differently Abled People are designed. B) LITERATURE AND MARKET SURVEY We visited Rehabilitation centers, hospitals and camps and the following data were observed: Problems they were suffering from: i. They needed an external person for mobility Vol. 5 Issue 2 March 2015 421 ISSN: 2278-621X International Journal of Latest Trends in Engineering and Technology (IJLTET) ii. Difficult to convey messages to their care takers. iii. Their disability had put a hurdle to fulfill their desire of Working in industrial areas etc. without any external assistance. So we decided to solve their problems and came up with our idea. Problems with present technologies: 1) The range of control is limited by using joysticks, Bluetooth, WI-Fi etc. 2) Lack of user friendly technology like use of gestures, voice recognition etc. can sometimes be tedious. 3) High cost leading low Economic viability. So we started working on our idea keeping in mind all the above stated problems. II. PROPOSED ALGORITHM Start Mechanical Mode Start the throttle IP mode Connect to static Server of IP cam Start running the Motors of IP cam Which run push Button switches Decode the inputs From circuit board. Motors of vehicle Start running a) WORKING First of all, the IP camera generated Static IP address is identified and the corresponding smart device is connected. Then with help of an application known as IP Cam Viewer, the IP camera can be controlled using its servo motors. So when these IP Camera motors are connected in such a manner that when we turn the camera right it hits the switches with help of a small bar to give binary code; this code is decoded by a micro controller which in turn turns the wheels in such a manner that the transport turns right. So by this way we can access our transport form any area. Apart from this smart control system, if the rider wishes to control it mechanically, a throttle system is placed along with braking via which he control the movement of vehicle can like a normal gearless bike. The wheels have the feature of tilting which help in taking turns and auto lock brake system which locks the wheels and helps it to stay stationery in steep areas without slipping. Vol. 5 Issue 2 March 2015 422 ISSN: 2278-621X International Journal of Latest Trends in Engineering and Technology (IJLTET) b) Components: Sno Component Specification Model No 1 Battery (2 No) 12V/7Ah 2 Brake Rare clipping brake 3 Tyres (2 No) Rubber of 8 inches 4 IP Camera Tenvis JPT3815 5 Controller board Rasberry Pi 6 Motor drivers STP80NF55-08IR2109 (Half Bridge driver) 7 Motors (2 No) 12 V DC 8 Other elements circuitary or - c) IP Camera Interface Servo Motors of IP Camera turn the rectangular glass bars; they in turn push the switches via which micro controller runs the motors with help of 4 bit binary code. d) Control Logic And Equations: e) f) g) h) i) j) Calculations: Assume mass of 100 kg; For a maximum speed of 19kmph i.e., 5.27 m/s; P windage loss= VxVxV/180 Vol. 5 Issue 2 March 2015 423 ISSN: 2278-621X International Journal of Latest Trends in Engineering and Technology (IJLTET) Where V stands for velocity in kmph; P windage = 19x19x19/180=38.1 watt For Uphill of 1 in 20 slope (3 degrees of elevation); P uphill= mass x height change x 10 Height change= 5.27/20 = .268 m P uphill = 100 x .26 x 10 = 263.8 Watt. Therefore, P net required = 300 watt (considering Maximum requirement). Considering for 24 V, 7 AH battery; Current required I = 300/24 = 12.5 A Time = 7 x 60 / 12.5 = 33.6 minutes Distance it will travel = 5.27 x 33.6 x 60 = 10624 meters Or 10.624 Km So at a speed of 19kmph, with given battery it would Travel for 10.624 km for a complete charge of battery. Similarly for 12 V, 7 AH battery it would travel for 5.33 Km. k) Electrical specifications of IP Camera: Input Voltage: 5 V Input Current: 1 A So the battery we use would be more than sufficient to suffice our Requirements provided we have a controller circuit to protect the Vol. 5 Issue 2 March 2015 424 ISSN: 2278-621X International Journal of Latest Trends in Engineering and Technology (IJLTET) Camera. III. EXPERIMENT AND RESULT The electronic circuit was simulated in Proteus 7.1, and designs of vehicle have been designed and tested in AutoCAD, Ansys. Figure 1 Figure 2 Figure 1 is the conventional design available in market which balances itself using gyroscopic sensors, whereas in order to optimize cost and reduce complexity, the designed was modified as shown in Figure 2, with a balancing wheel at the front. IV. TECHNICAL SOLUTIONS TO PROBLEM As stated above, the cost of the products available in market are around 80,000 INR to 1,00,0000 INR. High cost is due to advanced system, multiple security levels and Foreign Brand. So in order to make it affordable, we replaced lightweight Aluminum with an Iron alloy, gyroscopic couples are removed. Another reason for removing those sensors is they are actually used to track the position of body and correspondingly turn the vehicle; so maintaining right positons, all times for disable people is difficult. Since dual mode of control is provided along with external aid facility, we removed the security systems existing in present day Segway. However, we provided one safety system i.e., is wheel lock which works like a hand brake and maintains vehicle’s balance on slopes. Coming to range of control, with IP camera interface and our electronic circuit, our range has drastically increased. Due to IP camera, the vehicle can be transported to anyplace avoiding collisions and it can be brought to user, from any place. However, we are working on replacing the IP camera with smart phones to make it friendlier and simply the electronic circuit further. REFERENCES R.Venkatesh, R.Karthick,”Automatic Wheel Chair Control Using Eyeball Movement for Physically Challenged People”,International Journal of Scientific Research,vol. 3, Issue :3, March-2014. [2] Fayeem Aziz, Hamzah Arof, Norrima Mokhtar and Marizan Mubin,” HMM based automated wheelchair navigation using EOG traces in EEG”, Journal of Neural Engineering,vol. 11, no. 5, 2014. [3] Shuichi Ishida, Hiroyuki Miyamoto, “Collision-Detecting Device for Omnidirectional Electric Wheelchair”, vol. 2013, Article ID 672826, ISRN Robotics.2013. [4] K.Yamada, T.Miyamoto and S.Usui, , "A study on Holonomic omnidirectional vehicle using 4 ball wheels,” Transactions of Japan Society of Mechanical Engineerings C vol.71, no. 708, pp. 2257-2562,2005. [5] N.I.Katevas, N.M. Sgours, S.G.Tzafesras et al., “ The autonomos mobile robot SENARIO: a sensor-aided intelligent navigation system for powered wheelchairs,”IEEE Robotics and Automation Magazine, vol. 4, no .4, 1997. [6] R.C.Simpson, “Smart wheelchairs: a literature review,” Journal of Rehabilitation Research and Development, vol 42,no.4,2005. [7] C.Mandel, K.Huebner, and T. Vierhuff, “Towards an autonomous wheelchair:cognitive aspects in service robotics,”in Proceedings of the Towards Autonomous Robotics Systems (TARO’05), pp.165-172,2005. [8] J.Kurata, K.T.V.Grattan, and H.Uchiyama, “Navigation system for a mobile robot with a visual sensor using a fish-eye lens,” Review of Scientific Instruments,vol. 69, no. 1-2,1998. [9] Y.Satoh and K.Sakaue, “An omnidorectional stereo vison-based smart wheelchair,” Eurasip Journal on Image and Video Processing, vol. 2007, Article ID 87646. [10] Bonita Sawatzky, Ian Denison, Shauna Langrish, Shonna Richardson, Kelly Hiller, Bronwyn Slobogean ,” The Segway Personal Transporter as an Alternative Mobility Device for people with Disabilities: A Pilot Study,” Presented in part to the International Seating Symposium, March 11-14, 2007, Orlando/Lake Buena Vista,FL. [1] Vol. 5 Issue 2 March 2015 425 ISSN: 2278-621X International Journal of Latest Trends in Engineering and Technology (IJLTET) [11] Fehr l, Langbein WE, Skaar SB. Adequacy of power wheelchair control interfaces for persons with severe disabilities:A clinical survey.J RehabilRes Devel,2003;37(3):353-60. [12] Mazo M. An integral system for assissted mobility. IEEE Robot Autom Mag.2001;8(1):46-56. [13] Lankenau A, Rofer T. A versatile and safe mobility assistant.IEEE Robot Autom Mag.2001;8(1):29-37. Vol. 5 Issue 2 March 2015 426 ISSN: 2278-621X