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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
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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
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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
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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
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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.
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ISSN: 2278-621X