wings to your thoughts….. smart android … android wheelchair controller design.pdf · in this...

Webpage: www.ijaret.org Volume 3, Issue V, May 2015 ISSN 2320-6802

INTERNATIONAL JOURNAL FOR ADVANCE RESEARCH IN

ENGINEERING AND TECHNOLOGY WINGS TO YOUR THOUGHTS…..

Page 42

Abstract: This project is related to the android-based wheelchair controller. The system is designed to control a

wheelchair by using an android device. The objective of this project is to facilitate the movement of disable people or

handicapped and also the senior people who are not able to move well. The result of this design will allow the special

people to live a life with less dependence on others. Android technology is a key which may provide a new approach

of human interaction with machines or tools. Thus their problem can be solved by using android technology to control

the movement of a wheelchair. In this project, Basic4android interface is designed to program the android device that

will be able to control the movement of wheelchair. This project integrated IOIO board and direct current motor to

create the movement of wheelchair. The results of this project showed that this project can be used for future research

works and to design excellence innovation that meets market need and public interest.

Keywords: Android, Direct Current, IOIO Board, Motor.

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. Android-based wheelchair controller is a system

where the DC motor is used to move the wheelchair.

Nowadays, handicapped people face problem to

control wheelchair by themselves. Sometimes they

need other people to help them. This project will

provide a new way to control the movement of

wheelchair such as turn direction to left, right, forward

and reverse direction. The overall wheelchair

operation uses DC motor and motor driver module

combines with microcontroller system for instance

IOIO board [1]-[2]. Android-based wheelchair

controller that consists of android device and a control

box that can be attached to standard wheelchairs to

control the movement by using a DC motor. Bluetooth

communication protocol is used to communicate

sensory and command information between the

android device and the control box [3].

There are 4 options for basic motions of a wheelchair

to be applied by the user [4]. The four conditions of

the wheelchair can be described as the following:

a. Moving forward

b. Moving backward

c. Turning to the right

d. Turning to the left

This project also provided a controller to the electrical

appliance by using radio frequency as a wireless

connection between control box and electrical

appliance. Figure 1 shows the block diagram for

overall of the project.

Figure 1 Block diagram for overview project

Smart Android Wheelchair Controller Design K. A. A. Aziz

1, M. H. Mustafa

2, N. M. Z. Hashim

3,

N. R. M. Nuri4, A. F. Kadmin

5, A. Salleh

6

1, 2, 4, 5 Faculty of Engineering Technology,

Universiti Teknikal Malaysia Melaka,

76100 Hang Tuah Jaya, Durian Tunggal, Melaka, Malaysia. [email protected], [email protected], [email protected]

3, 6 Center for Telecommunication Research & Innovation (CeTRI),

Faculty of Electronic and Computer Engineering,

Universiti Teknikal Malaysia Melaka,

76100 Hang Tuah Jaya, Durian Tunggal, Melaka, Malaysia. [email protected], [email protected]




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2. METHODOLOGY The project is conducted as the flow chart in Figure 2

below.

Figure 2 Flow Chart of the Overall Project

2.1 Circuit Design

Circuit for the project is designed with IOIO board

module and two motor driver module (MD30C). PWM

and DIR pin for both motor driver are connected to

IOIO board that have configuration for PWM output.

The voltage input that supply for the IOIO board is

based on the LIPO battery 7.4V 900mAH. IOIO board

can support supply input from 5V to 15V.

Figure 3 Implementation of DC Motor with IOIO

Board.

Pin 31 and pin 33 are used for PWM output motor

driver MD30C while pin 32 and 34 are used for DIR

(direction). Battery 12V sealed acid lead is used for

power supply for the DC motor and it’s connected to

the connector pin input power on the motor driver. Pin

35 until pin 38 are used for RF transmitter data from

D0, D1, D2, and D3. Power supply for the RF

transmitter module are from digital output pin 39. This

is to trigger the output data. RF receiver used external

power supply 12V DC from DC power supply adapter.

2.2 Software Implementation

For software implementation, basic4android (basic for

android) software is used for user interface purpose

and to program Android-based wheelchair controller

was installed in this project [5]. Flowchart for software

implementation is shown in Figure 4.

Figure 4 Flowchart for software implementation

After completing the circuit design, by using IOIO

board module and two motor driver module, the

coding for android is designed by using the

programmer software such as basic4android software.

Android application are created with basic4android

software by using visual basic (VB) language. This

software will compile the programing code then

produce an installation for android phone.

START

Identify problem

Find information

Design

Implementation

Test

Analysis

END




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Figure 5 Basic Design for Android Phone by Using

Basic4android Software

2.3 Hardware implementation

In hardware implementation, there are two part

involved which are mechanical part and electronic

part. Mechanical part is about how the wheelchair is

developed and modified [6]-[8]. In electronic part, it

consists of the development of control box [9]-[12].

The control box consist of IOIO board and motor

driver as shown in Figure 6 below.

Figure 6 Control Box

There are two board of motor driver and IOIO board

are placed into the control box. User can switches

ON/OFF easily because switches for IOIO board and

battery supply are below the chair that can be achieved

by the user’s hand. There are RF transmitter module to

communicate with the RF receiver module[13]-[15].

This part is to control the electrical appliances directly

from android phone.

Figure 7 Battery Box

Battery 12V 7AH are placed into the battery box to

ease the user to recharge the battery. There are pin

outside the battery box for charging pin. User can

recharge the battery without have to open the battery

box.

Figure 8 Android-Based Wheelchair Controller

The connection between motor driver and the 12V

battery are using multi-core wire 2.5mm. Multi-core

wire 2.5mm are used to support high ampere supply to

the motor driver.

Figure 9 RF Receiver Circuit with Output Relay

Figure 9 shows the RF receiver module with the relay

output to control the appliance from the android

phone. Relay act as a switch to turn ON or OFF the

electrical appliance. The connection of the relay to

control the electrical appliance is parallel with the

switch on the 3 pin plug socket. Figure 10

demonstrates the internal connection of the 3pin plug

socket.




5

Figure 10 Internal Connection of the 3-Pin Plug

Socket

3. RESULT AND ANALYSIS There are few tests have been done to find the analysis

for this project.

Movement of Wheelchair

Movement of the wheelchair are according to the pin

configuration at motor driver. There are 3 pins to

control the DC motor which are pin PWM, pin DIR,

and GND pin. PWM and DIR pin are according to the

truth table.

Table 1 Pin Configuration of the Motor Driver

Pin 2

(PWM)

PIN 3

(DIR)

OUT

A

OUT

B MOTOR

Low X (Don’t

Care) Low Low Stop

High Low High Low Clockwise

High High Low High Anti-

Clockwise

Based on Table 1 the movement of the wheelchair with

the wheel direction and one wheel will going inversely

when turning to the right or left.

Table 2 Declaration of the Movement of the

Wheelchair

Button

Command

Left

Wheel

Right

Wheel

Condition Of

Wheelchair

Forward Forward

Move

Forward

Reverse Reverse Reverse

Forward Reverse

Turning To

The Right

Reverse Forward

Turning To

The Left

- Stop Stop Stop

Pin 31 until pin 34 are used as a pin controller for DC

motor. This condition can be refer to the truth table of

the motor driver MD30C.

Table 3 The Truth Table for Each Movement

Button

Command

Right Wheel Left Wheel

Condition

Of

Wheelchair

PIN

31

PWM

PIN

32

DI

R

PIN

33

PWM

PIN

34

DIR

1 0 1 0

Move

Forward

1 1 1 0

Turning To

The Right

1 1 1 1 Reverse

1 0 1 1

Turning To

The Left

-

0 0 0 0 Stop

Compass Analysis

Make an analysis to compare between the android

phone (electronic compass) compass and actual

compass (analog compass). On this analysis, 8 poles

are taken into consideration for compass analysis.

Firstly, synchronize the paper that have a printed

compass with the actual compass device.

Figure 11 Printed Compass with the Actual

Compass

Fix the paper to the right position and make sure the

paper are not moving. Place the phone according to the

position needed by following printed paper that have 8

pole.

Figure 12 Placing Phone with the Printed Compass




Page 46

Collect all the data and compare it with the actual

compass to the Table 4. Electronic compass have a bit

difference value with the actual compass.

Table 4 Comparison between Electronic Compass

Reading and Actual Compass Reading

Direction ( °) Degree ( °)

North (360°) 357.99°

North east (45°) 45.86°

East (90°) 93.97°

South east (135°) 139.60°

South (180°) 179.99°

South west (225°) 222.51°

West (270°) 267.41°

North west (315°) 313.05°

The position of the wheelchair are important to make

sure the wheelchair will turning to the right direction.

Table below shown the position of wheelchair that

need to make a turn to find a Qibla direction.

Table 5 Range Searching for Qibla Direction

Wheelchair position angle

(X) Movement of wheelchair

123° < X < 290° Turn to right

X < 123° Turn to left

X > 330° Turn to left

Table 6 Angle Range for Qibla Direction

Qibla Direction Angle (X) Movement of Wheelchair

285° > X > 255° Stop and turn to left for 3

second

315° > X > 285° Stop and turn to right for 3

second

290° > X > 280° Stop

Table 6 above shown the angle range for Qibla

direction to stop the wheelchair at the correct

direction. This Qibla direction are not too accurate

because of the inertia that happen when turning the

wheelchair to the right or left. To reduce the distance

wheelchair strayed from the direction of Qibla, this

project is added with other coding in order to make the

attraction towards the opposite rotation when rotation

of the wheelchair occur. If wheelchair are turning to

right, when it reach to the Qibla direction of angle the

wheelchair will stop and make a turning to left for 3

second. This will make the motor stop from going far

from Qibla direction. However, this system still not

make the wheelchair stop to the correct angle because

it still have a large inertia value when battery in fully

charge or vice versa. To make sure user in the correct

direction of Qibla, this project added buzzer when the

wheelchair reach at the correct angle of Qibla. User

also can manually turn the wheelchair to find the

correct direction of Qibla that guided by buzzer that

sounds right on the direction of Qibla.

RF Transmitter and RF Receiver

To make the RF receiver trigger the K1 and K2 relay

output, RF transmitter have to turn ON the module

when data transmit and turn OFF after done transmit

the data. This is because when the RF transmitter

always ON, new data will not send to the RF receiver.

To make this happen, the interface for switch button

need a separate program. Figure below is a sample of

coding to turn ON the K2. Table 7 shows the

configuration of the data for RF receiver.

Table 7 Configuration Data for RF Module

Button Data Output relay

D0 D1 D2 D3 K1 K2

S1 ON 0 0 0 1 ON OFF

S1 OFF 0 0 1 0 OFF OFF

S2 ON 0 1 0 0 OFF ON

S2 OFF 1 0 0 0 OFF OFF

Table 13 Output Relay 1 (K1)

Figure 13 showed the output for relay 1 when RF

receiver receive data 0001 from the RF transmitter

module. The output from the 3 pin plug socket can be

switch ON by using android phone or manual switch at

3 pin plug socket.

4. DISCUSSION There are few software that can create an application

for android platform with different type of code

language such as Eclipse software used java language

and basic4android software used Visual Basic

language. For this project, basic4android software is

used as a platform to create the application for android

phone. Basic4android software is used to create the

applications for the android platform. Figure 14 shown

the interface of the application for android-based

wheelchair controller.




Page 47

Figure 14 Android-Based Wheelchair Controller in

Android Device.

There are 2 toggle button to do a connection to the

Bluetooth which are check BT and Conn BT. Check

BT are used to check the Bluetooth condition. Which

mean to check Bluetooth either OFF or ON condition.

Conn BT is used to connect the Bluetooth with the

hardware (Control Box). Wired connection is also

provided to allowed user to connect their phone with

the control box by using wire. But the wired

connection only limited to the android version 4.1 and

below.

For the controller wheelchair, user is provided with 4

button to move according to the direction needed.

There are 4 button to control wheelchair which are

forward (Fwd), Right, Reverse (Rev) and left. The

limitation of this project is user only can touch one

button at one time. When user release the button,

wheelchair will automatically stop.

Qibla direction also provided to find the direction of

the Qibla. Button for this setting is located at the right

bottom of the interface. This function is to change the

direction of the wheelchair to the direction of the Qibla

that set to 290°. Melaka state have a Qibla code for

80° north and this code measured from 0 – 400 scale

that used in conjunction with a table of major cities for

determination of the Qibla. The limitation of this Qibla

is only set to 80° north to find the direction of the

Qibla.

This project also consist program to control the

electrical home appliance by using radio frequency

concept as a wireless communication. There are two

button that allowed to control only two output relay.

To operate the button, user need to hold a bit longer to

activate the output relay. When the output relay are

trigger, the electrical appliance will be turn ON.

5. CONCLUSION As a conclusion, the objectives of this project have

been achieved successfully where this project was able

to develop an android system that can control the

movement of the wheelchair and to develop an android

system that can control two appliance with the android

phone. The development of an android-based

wheelchair controller was fully functional base on the

objective which are targeted before started this project.

Finally all the combination circuits and the DC scooter

motor were embedded to the wheelchair. This project

gives an idea on how to combine all the circuit board,

DC scooter motor, and electronics components

together in one whole system. As a future

improvement, replacement of the DC scooter motor

with the DC motor with geared is recommended

because to make the Qibla more accurate.

Acknowledgement We are grateful to Universiti Teknikal Malaysia

Melaka (UTeM) and Centre for Telecommunication

Research and Innovation (CeTRI) through

PJP/2014/FTK (4B)/S01305 for their kind and help for

supporting financially and supplying the electronic

components and giving their laboratory facility to

complete this study.

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