Professional Documents
Culture Documents
1. INTRODUCTION
While the needs of many individuals with disabilities can be satisfied with power
wheelchairs, some members of the disabled community find it is difficult or impossible
to operate a standard power wheelchair. This project could be part of an assistive
technology. It is for more independent, productive and enjoyable living. The
background, objectives, problem statement and scopes of the project will be discussed
in this chapter.
This project describes a wheelchair which can be controlled only by using the user's
voice. This project aims to facilitate the movement of the disabled people and elderly
people who cannot move properly then enable them to lead better lives without any
problem. Speech recognition technology is a key technology which can provide a new
way of human interaction with machines or tools for controlling a wheelchair. This
project consists of two parts which is software and hardware. It is realized by using the
microphone as an intermediary which is used as the input of human voice.
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2. LITERATURE SURVEY
This population needs a support that is provided by wheelchair. The normal pushing
wheelchair is the primitive one in which the user has to push the chair with the hands.
It has a stress on the user when travelling for a long distance. So with the help of
technology and human intelligence the idea of automated wheelchair was evolved. An
automated wheelchair is based on some input interfacing machine which provides input
to the motor. The motor processes the input provided and takes the corresponding action
(in terms of movement – move left, front, back, right). With the introduction of android
Smartphone in the system, the working becomes less complex. The system becomes
quite user-friendly to the user.
In the past few years, many projects related to wheelchair have been developed. Some
of the existing systems are based on the input provided by joystick, eye-ball
movements, gesture-based, voice based, patterns made by hand In last few years, many
projects related to wheelchair and brain signal ( neural ) based etc. In joystick based
wheelchair person with different disabilities may find it difficult to move joystick as it
requires considerable amount of force moreover it may affect the reaction time of the
wheelchair which may be dangerous. In the eye-ball movements controlled wheelchair
and head/neck movement controlled wheelchair, the user has more stress on the
eyes/head/neck. In this case, user has restricted sight as the motion of the eye-
ball/head/neck is taken as an input by system that can give wrong output for that
instance. Voice controlled system can provide inaccurate response in noisy
environment and it can become difficult for the user to locomote in such environment.
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is stimulated by brain. But brain signal cannot be relied on for motion of wheelchair as
in some external electric field the device may not able to capture the accurate signal.
In this project, the movements of the wheelchair are controlled with the help of an
Android application. Graphical User Interface (GUI) is provided via the application to
the user to control the wheelchair movements.
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The above figure is the block diagram of Andro voice chair. The proposed system uses
touch-screen -based android mobile to control the wheelchair. An android application
is to be developed for this purpose. The android mobile is connected to microcontroller
fitted inside wheelchair via Bluetooth controller. The provided application gives simple
user interface to the user for selection of direction for motion of wheelchair. Based on
selected input, the corresponding signal is sent via Bluetooth controller to
microcontroller, which takes actions as a form of output. If the user selects the front
direction, than both the motors are made to move in the same direction and with same
speed. Similarly is for the reverse direction. If the user wants to move in the left/right
direction than polarity of both the motors are reversed correspondingly.
The feasibility of the project is analyzed in this phase and business proposal is put forth
with a very general plan for the project and some cost estimates. During system analysis
the feasibility study of the proposed system is to be carried out. This is to ensure that
the proposed system is not a burden to the company. For feasibility analysis, some
understanding of the major requirements for the system is essential.
Three key considerations involved in the feasibility analysis are
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ECONOMICAL FEASIBILITY
This study is carried out to check the economic impact that the system will have on the
organization. The amount of fund that the company can pour into the research and
development of the system is limited. The expenditures must be justified. Thus the
developed system as well within the budget and this was achieved because most of the
technologies used are freely available. Only the customized products had to be
purchased.
TECHNICAL FEASIBILITY
This study is carried out to check the technical feasibility, that is, the technical
requirements of the system. Any system developed must not have a high demand on
the available technical resources. This will lead to high demands on the available
technical resources. This will lead to high demands being placed on the client. The
developed system must have a modest requirement, as only minimal or null changes
are required for implementing this system.
SOCIAL FEASIBILITY
The aspect of study is to check the level of acceptance of the system by the user. This
includes the process of training the user to use the system efficiently. The user must not
feel threatened by the system, instead must accept it as a necessity. The level of
acceptance by the users solely depends on the methods that are employed to educate
the user about the system and to make him familiar with it. His level of confidence must
be raised so that he is also able to make some constructive criticism, which is welcomed,
as he is the final user of the system.
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3.1.1 ARCHITECTURE
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different sensors and turn it into an output such as activating a motor, turning
LED on/off, connect to the cloud and many other actions.
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(15) Digital I / O
The Arduino UNO board has 14 digital I/O pins (15) (of which 6 provide
PWM (Pulse Width Modulation) output. These pins can be configured to
work as input digital pins to read logic values (0 or 1) or as digital output
pins to drive different modules like LEDs, relays, etc. The pins labeled “~”
can be used to generate PWM.
(16) AREF
AREF stands for Analog Reference. It is sometimes, used to set an external
reference voltage (between 0 and 5 Volts) as the upper limit for the analog
input pins.
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Install
The pins of the official Arduino motor shield will only align with Arduino
Uno Rev. 3.
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Shield Features
The motor shield has 2 channels, which allows for the control of two DC
motors, or 1 stepper motor.
It also has 6 headers for the attachment of Tinkerkit inputs, outputs, and
communication lines. The use of these pins is somewhat limited, and
therefore not covered in this tutorial.
With an external power supply, the motor shield can safely supply up to 12V
and 2A per motor channel (or 4A to a single channel).
There are pins on the Arduino that are always in use by the shield. By
addressing these pins you can select a motor channel to initiate, specify the
motor direction (polarity), set motor speed (PWM), stop and start the motor,
and monitor the current absorption of each channel.
The pin breakdown is as follows:
Channel Channel
Function
A B
Digital Digital
Direction
12 13
Speed Digital
Digital 3
(PWM) 11
Sensing 0 1
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This is a motor driver IC that can drive two motor simultaneously. L293D IC is a dual
H-bridge motor driver IC. One H-bridge is capable to drive a dc motor in bidirectional.
L293D IC is a current enhancing IC as the output from the sensor is not able to drive
motors itself so L293D is used for this purpose. L293D is a 16 pin IC having two
enables pins which should always be remain high to enable both the H-bridges. L293B
is another IC of L293 series having
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2. L293D has protection diode whereas L293B doesn’t have any such protection
diode. Need to
add the protection diode manually.
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Supply voltage (Vss) is the Voltage at which we wish to drive the motor.
Generally we prefer 6V for dc motor and 6 to 12V for gear motor, depending upon the
rating of the motor.
Logical Supply Voltage will decide what value of input voltage should be
considered as high or low .So if we set Logical Supply Voltage equals to +5V, then -
0.3V to 1.5V will be considered as Input Low Voltage and 2.3 V to 5V will be
considered as Input High Voltage.
• Channel 2 - Pin 9 to 16
Enable Pin is use to enable or to make a channel active .Enable pin is also called as
Chip Inhibit Pin.
All Input (Pin No. 2, 7,10and 15) of L293D IC is the output from
microcontroller (ATmega8).
E.g.-We connected (Pin No. 2, 7, 10 and 15) of L293D IC to (Pin No. 14,
All Output (Pin No. 3, 6,11and 14) of L293D IC goes to the input of Right and
Leftmotor.
If Enable pin low, the output will be at 0 always. If its high output depend on input
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Output Connections
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The only difference code-wise is that you need to engage a second channel
to control the second motor.
//Setup Channel A
pinMode(12, OUTPUT); //Initiates Motor Channel A pin
pinMode(9, OUTPUT); //Initiates Brake Channel A pin
//Setup Channel B
pinMode(13, OUTPUT); //Initiates Motor Channel A pin
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void loop(){
delay(3000);
delay(1000);
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delay(3000);
digitalWrite(9, HIGH); //Engage the Brake for Channel A
digitalWrite(9, HIGH); //Engage the Brake for Channel B
delay(1000);
}
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HC-05 is a class-2 Bluetooth module with Serial Profile that can be used as Master or
Slave. In Arduino, we will use Serial Communication for various purposes. Since it
also suports Serial Communication and you can treat it as a replacement.
HC-05 Specifications
2.45Ghz Frequency
Security: Authentication
Password: 1234
HC-05 Description
So, we have six (or four) leads in this module. But we will genuinely care about only
four of them. Where, the two are for Vcc and GND.
And the next two leads are for RX (Receiving End) and TX (Transmitting End). From
the basic idea, we can say the RX of the module will go to the TX of the Arduino UNO.
In the same way, we connect the TX of the module with the RX of the Arduino UNO.
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The Circuit
Since it is known that sound travels through air at about 344 m/s (1129 ft/s), you
can take the time for the sound wave to return and multiply it by 344 meters (or
1129 feet) to find the total round-trip distance of the sound wave. Round-trip
means that the sound wave traveled 2 times the distance to the object before it
was detected by the sensor; it includes the 'trip' from the sonar sensor to the
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object AND the 'trip' from the object to the Ultrasonic sensor (after the sound
wave bounced off the object). To find the distance to the object, simply divide
the round-trip distance in half.
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This budget DC-DC boost converter cranks up input voltage from as low
as 2V to an output as high as 28VDC
efficient
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It's inexpensive
Specifications:
36 x 17 x 14mm
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ELECTROCHEMISTRY
Discharge
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Charging
Fully recharged: Lead anode, Lead oxide cathode and sulfuric acid
electrolyte
In the fully charged state, the negative plate consists of lead, and the
positive plate lead dioxide, with the electrolyte of concentrated sulfuric
acid.
Overcharging with high charging voltages generates oxygen and hydrogen
gas by electrolysis of water, which is lost to the cell. The design of some
types of lead-acid battery allow the electrolyte level to be inspected and
topped up with any water that has been lost.
Due to the freezing-point depression of the electrolyte, as the battery
discharges and the concentration of sulfuric acid decreases, the electrolyte
is more likely to freeze during winter weather when discharged.
Ion motion
During discharge, H+
produced at the negative plates moves into the electrolyte solution and
then is consumed into the positive plates, while HSO−
4 is consumed at both plates. The reverse occurs during charge. This
motion can be by electrically driven proton flow or Grotthuss mechanism,
or by diffusion through the medium, or by flow of a liquid electrolyte
medium. Since the density is greater when the sulfuric acid concentration
is higher, the liquid will tend to circulate by convection. Therefore, a
liquid-medium cell tends to rapidly discharge and rapidly charge more
efficiently than an otherwise similar gel cell.
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VIII. DC MOTORS:
Robot is an electromechanical device which is capable of reacting in some
way to its environment, and take autonomous decisions or actions in order
to achieve a specific task.
Roboticists develop man-made mechanical devices that can move by
themselves, whose motion must be modelled, planned, sensed, actuated and
controlled, and whose motion behavior can be influenced by
“programming”.
This definition implies that a device can only be called a “robot” if it
contains a movable mechanism, influenced by sensing, planning, and
actuation and control components. Motors and actuators are the devices
which make the robot movable. Motors and actuators convert electrical
energy into physical motion. The vast majority of actuators produce either
rotational or linear motion.
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Principle of DC Motor
This DC or direct current motor works on the principal, when a current
carrying conductor is placed in a magnetic field, it experiences a torque
and has a tendency to move.
This is known as motoring action. If the direction of current in the wire is
reversed, the direction of rotation also reverses. When magnetic field and
electric field interact they produce a mechanical force, and based on that
the working principle of DC motor is established.
The direction of rotation of a this motor is given by Fleming’s left hand rule,
which states that if the index finger, middle finger and thumb of your left
hand are extended mutually perpendicular to each other and if the index
finger represents the direction of magnetic field, middle finger indicates the
direction of current, then the thumb represents the direction in which force
is experienced by the shaft of the DC motor.
Structurally and construction wise a direct current motor is exactly similar
to a DC generator, but electrically it is just the opposite. Here we unlike a
generator we supply electrical energy to the input port and derive
mechanical energy from the output port. We can represent it by the block
diagram shown below.
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So from the picture above we can well understand that motor is just the
opposite phenomena of a DC generator, and we can derive both motoring
and generating operation from the same machine by simply reversing the
ports.
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include cast iron, plastic, rubber, polyurethane, forged steel, stainless steel,
aluminum, and more.
XII. BREADBOARD:
A breadboard is a construction base for prototyping of electronics.
Originally it was literally a bread board, a polished piece of wood used for
slicing bread. In the 1970s the solderless breadboard (AKA plugboard, a
terminal array board) became available and nowadays the term
"breadboard" is commonly used to refer to these.
Because the solderless breadboard does not require soldering, it is reusable.
This makes it easy to use for creating temporary prototypes and
experimenting with circuit design. For this reason, solderless breadboards
are also extremely popular with students and in technological education.
Older breadboard types did not have this property. A stripboard (Veroboard)
and similar prototyping printed circuit boards, which are used to build semi-
permanent soldered prototypes or one-offs, cannot easily be reused. A
variety of electronic systems may be prototyped by using breadboards, from
small analog and digital circuits to complete central processing units
(CPUs).
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A jump wire (also known as jumper, jumper wire, jumper cable, DuPont wire, or
DuPont cable – named for one manufacturer of them) is an electrical wire or group of
them in a cable with a connector or pin at each end (or sometimes without them – simply
"tinned"), which is normally used to interconnect the components of a breadboard or
other prototype or test circuit, internally or with other equipment or components,
without soldering.
Individual jump wires are fitted by inserting their "end connectors" into the slots
provided in a breadboard, the header connector of a circuit board, or a piece of test
equipment
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ARDUINO IDE:
After learning about the main parts of the Arduino UNO board, we are ready to
learn how to set up the Arduino IDE. Once we learn this, we will be ready to
upload our program on the Arduino board.
Step 1: First you must have your Arduino board (you can choose your favorite
board) and a USB cable. Here in case of Arduino UNO, we need a standard
USB cable (A plug to B plug), the kind you would connect to a USB printer
You can get different versions of Arduino IDE from the Download page on the
Arduino Official website. You must select your software, which is compatible
with your operating system (Windows, IOS, or Linux). After your file download
is complete, unzip the file.
The Arduino Uno automatically draw power from either, the USB connection
to the computer or an external power supply..
Connect the Arduino board to your computer using the USB cable. The green
power LED (labeled PWR) should glow.
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After your Arduino IDE software is downloaded, you need to unzip the folder.
Inside the folder, you can find the application icon with an infinity label
(application.exe). DoubleClick the icon to start the IDE.
Writing Sketches
Programs written using Arduino Software (IDE) are called sketches. These
sketches are written in the text editor and are saved with the file extension .ino.
The editor has features for cutting/pasting and for searching/replacing text. The
message area gives feedback while saving and exporting and also displays
errors. The console displays text output by the Arduino Software (IDE),
including complete error messages and other information. The bottom righthand
corner of the window displays the configured board and serial port. The toolbar
buttons allow you to verify and upload programs, create, open, and save
sketches, and open the serial monitor.
NB: Versions of the Arduino Software (IDE) prior to 1.0 saved sketches with
the extension .pde. It is possible to open these files with version 1.0, you will be
prompted to save the sketch with the .ino extension on save.
Verify
Checks your code for errors compiling it.
Upload
Compiles your code and uploads it to the configured
board. See uploading below for details.
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Open
Presents a menu of all the sketches in your sketchbook.
Clicking one will open it within the current window
overwriting its content.
Additional commands are found within the five menus: File, Edit, Sketch,
Tools, and Help. The menus are context sensitive, which means only those items
relevant to the work currently being carried out are available.
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3.2 FLOWCHARTS
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Chair
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3.3 ALGORITHM
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3.4 WORKING
Arduino is the main processing unit of the robot. Out of the 14 available digital I/O
pins, 6 pins are used in this project design.
The ultrasonic sensor has 4 pins: Vcc, Trig, Echo and Gnd. Vcc and Gnd are
connected to the supply pins of the Arduino. Trig is connected to the 11th pin and
Echo is connected to 10th pin of the Arduino.
L293D is a 16 pin IC. Pins 1 and 9 are enable pins. They are connected to Vcc. Pins
2 and 7 are control inputs from microcontroller for first motor. They are connected
to pins 9 and 8 of Arduino respectively.
Similarly, pins 10 and 15 are control inputs from microcontroller for second motor.
They are connected to pins 4 and 3 of Arduino. Pins 4, 5, 12 and 13 of L293D are
ground pins and are connected to Gnd.
First motor (consider this as the motor for left wheel) is connected across the pins
3 and 6 of L293D. The second motor, which acts as the right wheel motor, is
connected to 11 and 14 pins of L293D.
The 16th pin of L293D is Vcc1. This is connected to 5V Vcc. The 8th pins is Vcc2.
This is the motor supply voltage. This can be connected anywhere between 4.7V
and 36V. In this project, pin 8 if L293D is connected to 9V supply.
Motor Driver boards are available with on – board 5V voltage regulator. A similar
one is used in the project.
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It is important to understand how the ultrasonic sensor works. The basic principle
behind the working of ultrasonic sensor is as follows:
Using an external trigger signal, the Trig pin on ultrasonic sensor is made logic high for
at least 10µs. A sonic burst from the transmitter module is sent. This consists of 8 pulses
of 40KHz.
The signals return back after hitting a surface and the receiver detects this signal. The
Echo pin is high from the time of sending the signal and receiving it. This time can be
converted to distance using appropriate calculations.
The aim of this project is to implement an obstacle avoiding robot using ultrasonic
sensor and Arduino. All the connections are made as per the circuit diagram. The
working of the project is explained below.
When the robot is powered on, both the motors of the robot will run normally and the
robot moves forward. During this time, the ultrasonic sensor continuously calculate the
distance between the robot and the reflective surface.
This information is processed by the Arduino. If the distance between the robot and the
obstacle is less than 15cm, the left wheel motor is reversed in direction and the right
wheel motor is operated normally.
This will rotate the robot towards right. This rotation continues until the distance
between the robot and any obstacle is greater than 15cm. The process continues forever
and the robot keeps on moving without hitting any obstacle.
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Ultrasonic Sensor
Vcc to 5v
Gnd to Gnd
Applications
Obstacle avoiding robots can be used in almost all mobile robot navigation
systems.
They can be used for household work like automatic vacuum cleaning.
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#include <AFMotor.h>
AF_DCMotor motor(2, MOTOR12_64KHZ); // create motor #2, 64KHz pwm
void setup() {
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("Motor test!");
motor.setSpeed(150); // set the speed to 200/255
}
void loop() {
Serial.print("tick");
motor.run(FORWARD); // turn it on going forward
delay(2000);
Serial.print("tock");
motor.run(BACKWARD); // the other way
delay(2000);
Serial.print("tack");
motor.run(RELEASE); // stopped
delay(1000);
}
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Connections
#include <SoftwareSerial.h>
SoftwareSerial Genotronex(10,11);
int ledpin=13;
int BluetoothData;
void setup()
Genotronex.b
egin(9600);
pinMode(ledpin,OUTPUT);
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void loop()
if(Genotronex.available())
BluetoothData=Genotronex.read();
if(BluetoothData=='1')
digitalWrite(ledpin,1);
if(BluetoothData=='0')
digitalWrite(ledpin,0);
delay(100);
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Connection
//Libraries
#include "Ultrasonic.h"
Ultrasonic ultrasonic(A0,A1);
//Variables
int distance;
void setup() {
Serial.begin(9600);
void loop()
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//Print distance...
Serial.print(distance);
Serial.println("cm");
//every 1sec.
delay(1000);
Note:
ultrasonic.Ranging(CM) will return distance from an object to centimeters
ultrasonic.Ranging(INC) will return distance from an object to inches
ultrasonic.Timing() will return the time (ms) where the signal took to return
from the object
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Main Code
#include <AFMotor.h> //Adafruit Motor Shield Library. First you
must download and install AFMotor library
#include <Servo.h> //Servo library. This is standard library. (Sketch ->
Include Library -> Servo)
String voice;
void setup()
{
Serial.begin(9600); //start serial communication
myServo.attach(10); //define our servo pin (the motor shield servo1 input =
digital pin 10)
myServo.write(90); //servo position is 90 degrees
pinMode(LED1, OUTPUT); //A0 is output pin
pinMode(LED2, OUTPUT); //A1 is output pin
pinMode(buzzerPin, OUTPUT); //A2 is output pin
}
void loop()
{
while (Serial.available()){ //Check if there is an available byte to read
delay(10); //Delay added to make thing stable
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void forward_car()
{
motor1.run(FORWARD);
motor1.setSpeed(170);
motor2.run(FORWARD);
motor2.setSpeed(170);
delay(2000);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void back_car()
{
motor1.run(BACKWARD);
motor1.setSpeed(170);
motor2.run(BACKWARD);
motor2.setSpeed(170);
delay(2000);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void right_car()
{
myServo.write(0);
delay(1000);
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myServo.write(90);
delay(1000);
motor1.run(FORWARD);
motor1.setSpeed(170);
motor2.run(BACKWARD);
motor2.setSpeed(170);
delay(1000);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void left_car()
{
myServo.write(180);
delay(1000);
myServo.write(90);
delay(1000);
motor1.run(BACKWARD);
motor1.setSpeed(170);
motor2.run(FORWARD);
motor2.setSpeed(170);
delay(1000);
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void LED_on ()
{
digitalWrite(LED1, HIGH);
digitalWrite(LED2, HIGH);
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void LED_off ()
{
digitalWrite(LED1, LOW);
digitalWrite(LED2, LOW);
}
void buzzer_on ()
{
tone(buzzerPin, 100);
delay(800);
noTone(buzzerPin);
}
void stop_car ()
{
motor1.run(RELEASE);
motor2.run(RELEASE);
}
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4.1 RESULT:
The project was tested for the movement of the wheel chair using trained
voice after the design and development of the self-automated wheel chair
with its various interfacing units.
On the basis of two important aspects, firstly, on the accuracy of the voice
system and secondly, wheelchair velocity by means of control commands
this design is experimented. This would be implemented for disabled
people. Firstly the voice recognition system will be tested in a quiet room
with only one single user. Every word was correctly recognized.
For a next time we will test it with a different user on whom the system was
not trained .For example words like “right” were recognized as “write” in
this way about 5% errors occurred in this case.
This was because the recognizer heard a different pronunciation. However,
after the user had to speak the word a number of times the system had
enough examples and properly determined what pronunciation the user
speak of the word.
After this system was tested in a noisy room by turning on some music in
that room. There was no problem in correctly recognizing the words when
the music was light but the recognizer found it difficult to recognize the
user’s voice when we turned the volume high and often took commands
from what it heard in the song.
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5. CONCLUSIONS
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6. REFERENCES
[1] “Android Based Mobile Drive System” by Dr. Sheilfali Gupta, Anand Bansal,
2014.
http://developer.android.com/training/basics/
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