Final Report On Whhelchair

“VOICE CONTROLLED WHEELCHAIR FOR PHYSICALLY CHALLENGED PERSON “
CHAPTER-1
INTRODUCTION
This project will represent the “voice controlled wheel chair” for the physically handicapped
person where the voice command controls the movements of the wheel chair. There are patients
who have lost control of both arms and legs, as a result of higher level spinal cord injury or brain
and nervous system disorder. These kinds of patients can't use the standard wheelchair which
depends on the arms muscular force to move the wheelchair. The advancement and development
of technology has always influenced several aspects of our lives since a very long time and will
continue to do so in the future with more capacity and more unexpected development. In our
project we tried our best to correlate between the advancement of technology and the human
requirement for human being. The main aim of this project is to control wheel chair through
human voice. This project is mainly design for physically challenged people who are dependent
on wheelchairs and especially those persons who cannot use their hand to drag their wheel chair
because of some disability. In this system we have used voice recognition module to recognize
the voice of the user for controlling the direction of the wheelchair. The prototype of the wheel
chair is built using Arduino, chosen for its low cost, in addition to its versatility and performance
in mathematical operations and communication with other electronic devices. The system will be
design and implement in a cost effective way so that if our project is commercialized the needy
users in developing countries will benefit from it. For voice recognition we will use “VOICE
RECOGNITION V3.1 MODULE”. We believe our project is applicable for some useful
operation and provide some advancement in technology and most important this may provide
some help to the handicap person.
DEPARTMENT OF ECE,VIT 2018-2019 Page 1

CHAPTER-2
LITERATURE SURVEY
Reona Cerejo, [1] proposed that there are around 40 cases per million of quadriplegia every
year. Great people like Stephen Hawking have been suffering from this phenomenon. The idea is
to create an Eye Controlled System which enables the movement of the patient’s wheelchair
depending on the movements of eyeball. A person suffering from quadriplegia can move his eyes
and partially tilt his head, thus giving is an opportunity for detecting these movements. There are
various kinds of interfaces developed for powered wheelchair and also there are various new
techniques invented but these are costly and not affordable to the poor and needy people. In this
paper, we have proposed the simpler and cost effective method of developing wheelchair. This
have created a system where in a person sitting on this automated Wheel Chair with a camera
mounted on it, is able to move in a direction just by looking in that direction by making eye
movements. The captured camera signals are then send to PC and controlled MATLAB, which
will then be send to the Arduino circuit over the Serial Interface which in turn will control
motors and allow the wheelchair to move in a particular direction. The system is affordable and
hence can be used by patients spread over a large economy range.
Kharka Bahadur Rai1 [2] proposed the “voice control wheel chair” for the physically
handicapped person were the voice command controls the movements of the wheel chair. Voice
Recognition Kit (HM2007 Module) is being used to recognize the voice command. The voice
command given is converted to binary numbers by Voice Recognition Kit and those binary data
is given to the arduino board for the control of the wheel chair. For example when the user says
„forward‟ than chair will move in Forward direction and when he says „Backward‟ than the
chair will move in backward direction and similarly for left, right and stop. We have used LCD
display unit to display the direction in which direction of the wheel chair.

CHAPTER 3
DESIGN METHODOLGY
Using micro phone human voice is convert into electrical signal. The audio signal which is
convert to electrical signal goes to the voice recognition module v3.1 to recognize the voice
signal which has been train to the module.
3.1 BLOCK DIAGRAM
Fig 3.1 Block Diagram Of Voice Control Wheelchair

3.2 WORKING PRINCIPLE
The human voice should be train to the voice module at the beginning before we give
some command to the module. When the voice is train to the voice module the voice command is
being train with the BCD input from the matrices keypad of the module, so later when we give
some command to the voice module the LCD will display, this is done using I2C to LCD
interface board, we can control the LCD using 4 pins we can display in LCD. Voice recognition
Module will produce the binary output. The output of the module is being interface with the
Arduino where the Arduino will process the output of the module for the motor direction control.
An ultrasonic sensor uses SONAR to determine the distance of an object. It offers excellent non-
contact range detection with high accuracy and stable readings in an easy-to-use package from
2cm to 400cm or 1” to 13 feet. Arduino cannot be directly connected because it cannot give
sufficient current to drive the DC motors. Motor driver is a current enhancing device, it can also
be act as switching device. Thus L2938N IC motor driver is inserted between the Arduino and
the motor. Motor driver take the input signal from the Arduino and generate corresponding
output for motor. This motor driver IC can drive two motor simultaneously.
3.3 PROPOSED SYSTEM
The purpose of this paper is to develop a wheelchair which will move as per the user’s
commands. This system works on voice commands given by the wheelchair user. The system is
fully independent as the user does not need any other person to help him to move the wheelchair.
There are basically five commands, which command is given by the user, accordingly the
wheelchair will move. The voice commands of the user are recognized in the first step. Once it is
recognized, the commands are converted into its equivalent instructions which drive the system.
This system consists of two major modules namely Voice recognition module and motor driving
module. The voice recognition is done through voice recognition module. The output of this
module is directed to Arduino which uses a motor driver IC to drive the motors. The voice
controlled wheelchair works using unilateral mic, voice recognition module, Arduino and
motors. The input to the system is the mic. It’s capable to take user’s voice commands. The mic
will be placed as per the user’s comfort. The output is in the form of voice signals and is
transferred to the voice recognition module which acts as an interface between mic and Arduino.

The Arduino then receive the output from voice recognition module thus converting it into
binary code. The system is unable to understand any language other than binary code. Thus, the
generated voice command is converted into machine understandable form. This system uses the
Arduino MEGA 2560. It is connected with motors to drive the wheelchair anywhere. Motors are
responsible for the movement of wheelchair. Hence, motors receives input from the Arduino
and depending upon the instruction type, motors moves accordingly. This system uses two
motors connected with motor driver. There are five different instructions that can be given to the
motors, they are forward, backward, left, right and stop. The basic movement functions include
forward direction, left and right turns and stop. In order to recognize the spoken words, the voice
recognition processor must be trained with the word spoken out by the user who is going to
operate the wheelchair.
Fig 3.3. System Architecture

CHAPTER 4
DESIGN IMPLEMENTATION
4.1 ARDUINO
Arduino is a movement, not a microcontroller. It was Founded by Massimo Banziand and
David Cuartielles in 2005. Based on “Wiring Platform”, which dates to 2003 libraries. Arduino
is a tool for making devices that can sense and control more of the physical world than desktop
computers. It is a microcontroller development board for writing software for the hardware
circuitry. Arduino is an inexpensive, commercially available electronic board with a
microcontroller and some I/O capabilities. Arduino is an open-source electronics prototyping
platform based on flexible, easy-to-use hardware and software. It’s intended for artists,
designers, hobbyists, and anyone interested in creating interactive objects or environments. Or
more simply, you load on some code and it can read sensors, perform actions based on inputs
from buttons, control motors, and accept shields to further expand it’s capabilities. The Arduino
is a programmable hardware board that runs an 8-bit /16 Mhz microcontroller with a special
bootloader that allows users to upload programs to the microcontroller. It has digital input pins
for input from switches and output to Actuators (LEDS or electrical motors) It also has analog
pins to accept inputs from voltage based sensors. Arduino can be used to develop stand-alone
interactive objects or can be connected to software on your computer.
Fig 4.1 Arduino Mega 2560

Arduino Open Source

 Open Source Hardware
The Arduino system is open source - all hardware (made by Arduino distributors) has the
schematics and PCB layouts available online.
 Open Source Bootloader
The bootloader is what runs on the chip before the program is run. It boots the chip and executes
the program.
 Open Source Development Kit
The development kit - what you use to program an Arduino board - is also available online. It is
free, open-source. Easy-to learn language and libraries (based on Wiring language) –Integrated
development environment Available for Windows / Mac / Linux.
Flavors of Arduino:
• Arduino Uno
• Arduino Leonardo
• Arduino LilyPad
• Arduino Mega
• Arduino Nano, Mini, Mini pro, BT.
4.1.1 Specifications:
 Microcontroller ATmega2560
 Operating Voltage (logic level) 3.3V or 5 V
 Digital I/O Pins 54 (of which 15 provide PWM output)
 Analog Input Pins 16
 DC Current per I/O Pin 40 mA
 Flash Memory 256KB
 SRAM 8 KB
 EEPROM 4KB (ATmega2560)
 Clock Speed 16 MHz
 Low power consumption, low cost
 Micro USB connection make the cable can be mixed use with most digital products such
as cell phone.

Additional features coming with the R3 version are:

 ATmega16U2 instead 8U2 as USB-to-Serial converter.
 Added SDA and SCL pins for TWI communication placed near to the AREF pin and two
other new pins placed near to the RESET pin.
 Stronger RESET circuit.
Mega2560-CORE The brain of the Mega is an ATmega2560.Its design is based on the Arduino
Mega2560，so we can use it as a Arduino Mega2560 development board. Arduino MEGA 2560
is an open-source physical computing platform predicated on a simple input/output board and a
development environment that implements the Processing/Wiring language. There’s a secondary
IC on-board (an ATmega16U2) to convert USB-to-serial to allow USB programming. It runs at
the same speed – 16 MHz. All of the pins are broken out in a way that keeps the board shield-
compatible.
4.1.2 Pin Diagram:
Fig 4.1.2 Pin Diagram

In a different place, it lacks only a 6-foot download port and a reset switch. Reducing the
hardware circuit that can we reduce the power consumption and the cost. It has 54 digital
input/output pins (of which 14 can be used as PWM outputs), 16 analog inputs, 4 UARTs
(hardware serial ports), a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP
header, and a reset button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with a AC-to-DC adapter or battery to get
started. so it is very convenient for use.
PIN DESCRIPTIONS:
POWER
The Arduino Mega2560 can be powered via the USB connection or with an external power
supply. The power source is selected automatically. External (non-USB) power can come either
from an AC-to-DC adapter (wall-wart) or battery. The adapter can be connected by plugging a
2.1mm center-positive plug into the board's power jack. Leads from a battery can be inserted in
the Gnd and Vin pin headers of the POWER connector. The board can operate on an external
supply of 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may supply less than
five volts and the board may be unstable. If using more than 12V, the voltage regulator may
overheat and damage the board. The recommended range is 7 to 12 volts. The Mega2560 differs
from all preceding boards in that it does not use the FTDI USB-to-serial driver chip. Instead, it
features the Atmega8U2 programmed as a USB-to-serial converter.
The power pins are as follows:
• VIN. The input voltage to the Arduino board when it's using an external power source (as
opposed to 5 volts from the USB connection or other regulated power source).
. • 5V. The regulated power supply used to power the microcontroller and other components on
the board. This can come either from VIN via an on-board regulator, or be supplied by USB or
another regulated 5V supply.
• 3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50 mA.
• GND. Ground pins.

MEMORY
The ATmega2560 has 256 KB of flash memory for storing code (of which 8 KB is used
for the bootloader), 8 KB of SRAM and 4 KB of EEPROM (which can be read and written with
the EEPROM library).
INPUT AND OUTPUTS

Each of the 54 digital pins on the Mega can be used as an input or output, using
pinMode(), digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin can
provide or receive a maximum of 40 mA and has an internal pull-up resistor (disconnected by
default) of 20-50 kOhms.
SPECIALIZED FUNCTIONS:
• Serial: 0 (RX) and 1 (TX); Serial 1: 19 (RX) and 18 (TX); Serial 2: 17 (RX) and 16 (TX);
Serial 3: 15 (RX) and 14 (TX). Used to receive (RX) and transmit (TX) TTL serial data. Pins 0
and 1 are also connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip .
• External Interrupts: 2 (interrupt 0), 3 (interrupt 1), 18 (interrupt 5), 19 (interrupt 4), 20
(interrupt 3), and 21 (interrupt 2). These pins can be configured to trigger an interrupt on a low
value, a rising or falling edge, or a change in value. See the attach Interrupt() function for details.
• PWM: 0 to 13. Provide 8-bit PWM output with the analog Write() function.
• SPI: 50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS). These pins support SPI communication,
which, although provided by the underlying hardware, is not currently included in the Arduino
language. The SPI pins are also broken out on the ICSP header, which is physically compatible
with the Duemilanove and Diecimila.
• LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value, the
LED is on, when the pin is LOW, it's off.
• I2C: 20 (SDA) and 21 (SCL). Support I2C (TWI) communication using the Wire library
(documentation on the Wiring website). Note that these pins are not in the same location as the
I2C pins on the Duemilanove.
The Mega2560 has 16 analog inputs, each of which provide 10 bits of resolution (i.e. 1024
different values). By default they measure from ground to 5 volts, though is it possible to change
the upper end of their range using the AREF pin and analog Reference() function.
There are a couple of other pins on the board:
• AREF: Reference voltage for the analog inputs. Used with analog Reference().
• Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset button to
shields which block the one on the board.
Port A (PA7..PA0)
Port A is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit).
The Port A output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port A pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port A pins are tri-stated when a reset condition becomes active, even
if the clock is not running.
Port B (PB7..PB0)
Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
Port B output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port B pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port B pins are tri-stated when a reset condition becomes active, even
if the clock is not running. Port B has better driving capabilities than the other ports.
Port C (PC7..PC0)
Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
Port C output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port C pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port C pins are tri-stated when a reset condition becomes active, even
Port D (PD7..PD0)
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit).
The Port D output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port D pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port D pins are tri-stated when a reset condition becomes active, even
Port E (PE7..PE0)
Port E is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
Port E output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port E pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port E pins are tri-stated when a reset condition becomes active, even
Port F (PF7..PF0)
Port F serves as analog inputs to the A/D Converter. Port F also serves as an 8-bit bi-directional
I/O port, if the A/D Converter is not used. Port pins can provide internal pull-up resistors
(selected for each bit). The Port F output buffers have symmetrical drive characteristics with
both high sink and source capability. As inputs, Port F pins that are externally pulled low will
source current if the pull-up resistors are activated. The Port F pins are tri-stated when a reset
condition becomes active, even if the clock is not running. If the JTAG interface is enabled, the
pull-up resistors on pins PF7(TDI), PF5(TMS), and PF4(TCK) will be activated even if a reset
occurs. Port F also serves the functions of the JTAG interface.
Port G (PG5..PG0)
Port G is a 6-bit I/O port with internal pull-up resistors (selected for each bit). The Port G output
buffers have symmetrical drive characteristics with both high sink and source capability. As
inputs, Port G pins that are externally pulled low will source current if the pull-up resistors are
activated. The Port G pins are tri-stated when a reset condition becomes active, even if the clock
is not running.
Port H (PH7..PH0)
Port H is a 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
Port H output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port H pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port H pins are tri-stated when a reset condition becomes active, even
Port J (PJ7..PJ0)
Port J is a 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The
Port J output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port J pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port J pins are tri-stated when a reset condition becomes active, even

Port K (PK7..PK0)
Port K serves as analog inputs to the A/D Converter. Port K is a 8-bit bi-directional I/O port with
internal pull-up resistors (selected for each bit). The Port K output buffers have symmetrical
drive characteristics with both high sink and source capability. As inputs, Port K pins that are
externally pulled low will source current if the pull-up resistors are activated. The Port K pins are
tri-stated when a reset condition becomes active, even if the clock is not running.
RESET
Reset input. A low level on this pin for longer than the minimum pulse length will generate a
reset, even if the clock is not running. The minimum pulse length is given in pulses are not
guaranteed to generate a reset.
XTAL1
Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.
XTAL2
Output from the inverting Oscillator amplifier.
VCC
A VCC is the supply voltage pin for Port F and the A/D Converter. It should be externally
connected to VCC, even if the ADC is not used. If the ADC is used, it should be connected to
VCC through a low-pass filter.
COMMUNICATION
The Arduino Mega2560 has a number of facilities for communicating with a computer, another
Arduino, or other microcontrollers. The ATmega2560 provides four hardware UARTs for TTL
(5V) serial communication. An ATmega8U2 on the board channels one of these over USB and
provides a virtual com port to software on the computer (Windows machines will need a .inf file,
but OSX and Linux machines will recognize the board as a COM port automatically. The
Arduino software includes a serial monitor which allows simple textual data to be sent to and
from the board. The RX and TX LEDs on the board will flash when data is being transmitted via
the ATmega8U2 chip and USB connection to the computer (but not for serial communication on
pins 0 and 1). A Software Serial library allows for serial communication on any of the Mega's
digital pins. The ATmega2560 also supports I2C (TWI) and SPI communication. The Arduino
software includes a Wire library to simplify use of the I2C bus.

4.1.3 BLOCK DIAGRAM
Fig4.1.3 Block diagram of Arduino Mega 2560
4.2 VOICE RECOGNITION MODULE V3.1:
Voice Recognition Module is a compact and easy-control speaking recognition board.

The module could recognize your voice. It receives configuration commands or responds
through serial port interface. With this module, we can control the car or other electrical devices

by voice. The voice recognition system is completely integrated and easy to use programmable
speech recognition Circuit. Programmable, in the sense that we can train the words or commands
that we want the circuit to be recognized. This circuitry allows us to experiment with many
facets of speech recognition technology. It has 8 bit data out which can be interfaced with any
microcontroller for further processing and development.
This product is a speaker-dependent voice recognition module. It supports up to 80 voice

commands in all. This product is a speaker-dependent voice recognition module. It supports up
to 80 voice commands in all. Max 7 voice commands could work at the same time. Any sound
could be trained as command. Users need to train the module first before let it recognizing any
voice command. This board has 2 controlling ways: Serial Port (full function), General Input
Pins (part of function). General Output Pins on the board could generate several kinds of waves
while corresponding voice command was recognized.
Fig.4.2 Voice Recognitions Module
A microphone, colloquially nicknamed mic or mike is a transducer that converts sound into
an electrical signal. Microphones are used in many applications such as telephones, hearing
aids, public address systems for concert halls and public events, motion picture production,
megaphones, radio and television broadcasting, and in computers for recording voice, speech
recognition, VoIP, and for non-acoustic purposes such as ultrasonic sensors or knock sensors.
Several different types of microphone are in use, which employ different methods to convert the
air pressure variations of a sound wave to an electrical signal. The most common are
the dynamic microphone, which uses a coil of wire suspended in a magnetic field; the condenser

microphone, which uses the vibrating diaphragm as a capacitor plate, and the piezoelectric
microphone, which uses a crystal of piezoelectric material. Microphones typically need to be
connected to a preamplifier before the signal can be recorded or reproduce
Technical Specifications
 Voltage: 4.5-5.5V
 Current: <40mA
 Digital Interface: 5V TTL level UART interface
 Analog Interface: 3.5mm mono-channel microphone connector + microphone pin
interface
 Size: 30mm x 47.5mm
 Recognition accuracy: 99% (under ideal environment)
 Support maximum 80 voice commands, with each voice 1500ms (one or two words
speaking).
 Maximum 7 voice commands effective at same time
 Arduino library is supplied
 Easy Control: UART/GPIO.
 User-control General Pin Output.
Terminology:
● VR3 -- Voice Recognition Module V3
● Recognizer -- a container where acting voice commands (max 7) were loaded. It is core part of
voice recognition module. For example, it works like “playing balls”. You have 80 players in
your team. But you could not let them all play on the court together. The rule only allows 7
player playing on the court. Here the Recognizer is the list which contains names of players
working on the court.
● Recognizer index -- max 7 voice commands could be supported in the recognizer. The
recognizer has 7 regions for each voice command. One index corresponds to one region: 0~6
● Train -- the process of recording your voice commands
● Load -- copy trained voice to recognizer
● Voice Command Record -- the trained voice command store in flash, number from 0 to 79
● Signature -- text comment for record
● Group -- help to manage records, each group 7 records. System group and user group are
supported.
Hardware and Software Preparation
Connect your Voice Recognition V3 Module with Arduino, By Default:
ARDUINO VR MODULE
5V 5V
GND GND
51 TX
52 RX
Voice commands are stored in one large group like a library. Any 7 voice commands in the
library could be imported into recognizer. It means 7 commands are effective at the same time.
Fig Command library
Train
1. Open vr_sample_train (File -> Examples -> VoiceRecognitionV3 -> vr_sample_train)
2. Choose right Arduino board(Tool -> Board, UNO recommended), Choose right serial port.
3. Click Upload button, wait until Arduino is uploaded.
4. Open Serial Monitor. Set baud rate 115200, set send with Newline or Both NL & CR

4.3Ultrasonic Ranging Module HC - SR04

The Ultrasonic sensor module is a convenient way for measuring distances from objects.
HC-SR04 ultrasonic sensor module functions like sonar to determine distance to an object, as
bats or dolphins do. The human ear can hear sound frequency around 20HZ ~ 20KHZ, and
ultrasonic is the sound wave beyond the human ability of 20KHZ. It offers excellent non-contact
range detection with high accuracy and stable readings. The distance of sensing is from 2cm to
400 cm (1 to 13ft.). The device uses two digital pins to communicate the distance found. With a
Vcc and GND pin, the four pinned device is programmed by writing to the trigger pin in a
certain way and then timing the duration of the input from the echo pin. Its operation is not
affected by ambient light or optically non-reflective material, although acoustically absorbent
materials like thick cloth can be more difficult to detect. The module contains both ultrasonic
transmitter and receiver. Ultrasonic transmitter emitted an ultrasonic wave in one direction, and
started timing when it launched. Ultrasonic spread in the air, and would return immediately when
it encountered obstacles on the way. At last, the ultrasonic receiver would stop timing when it
received the reflected wave. The principle of ultrasonic distance measurement used the already-
known air spreading velocity, measuring the time from launch to reflection when it encountered
obstacle, and then calculate the 6distance between the transmitter and the obstacle according to
the time and the velocity. The module sends a short pulse through (Pin ‘Trig’) to trigger the
detection, then listens for a pulse on the Pin ‘Echo’. The duration of this second pulse is equal to
the time taken by the ultrasound to travel to the object and back to the sensor. Using the speed of
sound, this time can be converted to distance. Thus, the principle of ultrasonic distance
measurement is the same with radar.
Pin Configuration
VCC 3.3v ~ 5V
TRIG Triggering Input Pin.
10uS TTL Pulses
ECHO TTL Logic Output Pin.
Fig.4.3 Ultrasonic sensor

Proportional to distance
GND Ground Pin

4.3.1 Distance Measurement:

As Ultrasonic spread velocity is 340m / s in the air, based on the timer record.
The formulas in Equations 1 and 2 show how the distance to an object is calculated.
𝑇𝑖𝑚𝑒 (𝑢𝑆)
𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 (𝑐𝑚) = … … … … … … … . (1)
58
𝑇𝑖𝑚𝑒 (𝑢𝑆)
𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 (𝐼𝑛𝑐ℎ) = …………………….(2)
148
Equation 1: Distance Calculation
(High Signal Time)(Speed of Sound)

Range = …………….(3)
2
Equation 2: Range of Sensor
According to the formula: Distance = (ECHO high level time X ultrasonic velocity (Speed of
Sound in air 340m/sec) / 2, you can calculate the distance to the obstacle.
Fig.4.3.1 Working Principle Of Ultra Sensor Sensor

4.3.2 Timing Diagram
The timing diagram, Figure shown below.. A sonar sensor works like this: when your program
sends a trigger signal through a digital pin (figure 1(B) first row), the sensor emits a ultrasound
burst shown in the second row of figure 1(B), and sets the voltage of the echo pin to a HIGH
(5V) value, which you can read from a digital pin on the Arduino board. When the ultrasound
burst returned after bouncing on an obstacle, the sensor sets the voltage of the echo pin to a
LOW (0V)

Fig.4.3.2 Timing Diagram Of Ultra Sonic Sensor

How its work
 Use an I/O to trigger the module, provide at least 10us HIGH signal on
Pin ‘Trig’ to start ranging.
 The module will send out 8 square ware @40Khz, it will auto detect the
return signal.
 The echo is a distance object that is pulse width and the range in proportion.
 If got any signal return back, it will output a HIGH signal on Pin ‘Echo’,
the duration (T) for the HIGH signal is the time taken by the ultrasound
to travel to the object and back to the sensor.
 Distance = Speed of Sound * T / 2;
where Speed of Sound = 340M/s
4.3.3 Specifications:
 Working Voltage DC 5 V
 Working Current 15mA
 Working Frequency 40Hz Max Range 4m
 Min Range 2cm
 Measuring Angle <15°
 Best in 30 degree angle
 Trigger Input Signal 10uS
 Dimension 45*20*15mm

 Quiescent current : <2mA

 Ranging distance : 2cm – 500 cm
 Resolution : 0.3 cm
Ultrasonic Application:
 Ultrasonic measurement of distance, depth and thickness
 Ultrasonic testing
 Ultrasound imaging, cleaning, welding
 Ultrasonic machining such as polishing, drilling
 Car Parking Reverse Sensors
 Liquid Level Detection
4.4 L298N Motor Driver:
L298N is a motor driver integrated circuit which is used to drive DC motors rotating in
either direction. It is the 16-pin IC which can control a set of two motors simultaneously.it means
that we can control two DC motors with single L298N IC. This driver module is based on L298N
H-bridge, a high current, high voltage dual full bridge driver manufactured by ST company. It
can drive up to 2 DC motors 2A each. It can also drive one stepper motor or 2 solenoids.
The L298 Driver is a high voltage, high current dual full bridge driver designed to accept
standard TTL logic levels and drive inductive loads such relays, solenoids, DC and stepping
motors. Two enable inputs are provided to enable or disable the device independently of the
input signals. Driver are enable in pairs, with drivers 1 and 2 being enable by the enable pin.
When enable input is high, the associated driver enabled and their outputs are active and in phase
with their inputs. When the enable pin is low, the output is neither high nor low, irrespective of
the inputs direction of the motor is controlled by asserting one of the inputs to motor to high and
other to be low to move the motor in opposite direction just interchange the logic applied to the
two inputs of the motors. It is an electronic circuit which enables a voltage to be applied across a
load in either direction. It allows a circuit full control over a standard electric DC motor. The
term “H-bridge is derived from the typical graphical representation of such a circuit, which is
built with four switches, either solid state-state or mechanical That is in H-bridge, a
microcontroller, logic chip, or remote controller can electronically command the motor to go
forward, reveres, brake and coast. H-bridge are available as integrated circuits, or can be built

from discrete components The Motor Shield is based on the L298N, which is a dual full-bridge
driver designed to drive inductive loads such as relays, solenoids, DC and stepping motors. It is a
high voltage, high current dual full-bridge driver designed to accept standard TTL logic levels.
This dual bidirectional motor driver, is based on the very popular L298 Dual H-Bridge Motor
Driver Integrated Circuit. This board equipped with power LED indicators, on-board +5V
regulator and protection diodes. The driver can control both motor RPM and direction of
rotation. The RPM is controlled using PWM input to ENA or ENB pins, while of rotation
direction is controlled by suppling high and low signal to EN1-EN2 for the ﬁrst motor or EN3-
EN4 for second motor. This Dual H-Bridge driver is capable of driving voltages up to 46V.
4.4.1 Features
 Light weight, small dimension
 Super driver capacity
 FWD protection
 Heavy load Heat sink
 Power selection switch
 4 pull up resistor switch
 2 DC motor/ 4 coil dual phrase stepper motor output
 Motor direction indication LED

4.4.2 L298N IC
Fig4.4.2 L298N IC and Pin Diagram Of L298N

4.4.3 Specifications
 Driver: L298N
 Driver power supply: +5V~+46V
 Driver peak current: 2A
 Logic power output Vss: +5~+7V (internal supply +5V)
 Logic current: 0~36mA
 Controlling level: Low -0.3V~1.5V, high: 2.3V~Vss
 Enable signal level: Low -0.3V~1.5V, high: 2.3V~Vss
 Max drive power: 25W (Temperature 75 ℃)
 Working temperature: -25℃~+130℃
 Maximum power consumption: 20W
 Circuit diagram of Motor Drive
Fig4.4.4 Circuit diagram of Motor Drive

WORKING
The L298 integrates two power output stages (A,B). The power output stage is a bridge
configuration and its outputs can drive an inductive load in common or differential mode,
depending on the state of the inputs. The current that flows through the load comes out from the
bridge at the sense output : an external resistor (RSA, RSB.) allows to detect the intensity of this
current.
Fig4.4.4.1 Motor Drive

Board Dimension & Pins Function:
1. DC motor 1 "+" or stepper motor A+
2. DC motor 1 "-" or stepper motor A-
3. 12V jumper - remove this if using a supply voltage greater than 12V DC. This enables
power to the onboard 5V regulator
4. Connect your motor supply voltage here, maximum of 35V DC. Remove 12V jumper
if >12V DC
5. GND
6. 5V output if 12V jumper in place, ideal for powering your Arduino (etc)
7. DC motor 1 enable jumper. Leave this in place when using a stepper motor. Connect
to PWM output for DC motor speed control.
8. IN1 (Direction of motor 1)
10.IN3 (Direction of motor 2)

12. DC motor 2 enable jumper. Leave this in place when using a stepper motor. Connect
to PWM output for DC motor speed control.
13. DC motor 2 "+" or stepper motor B+
14. DC motor 2 "-" or stepper motor B
APPLICATION
1. MCU controlled vehicle.
2. Wheel robots.
4.5 GEARD DC MOTORS:
DC motor is any of a class of rotary electrical machines that converts direct current
electrical energy into mechanical energy. Nearly all types of DC motors have some internal
mechanism, either electromechanical or electronic, to periodically change the direction of current
flow in part of the motor. DC motors were the first type widely used, since they could be
powered from existing direct-current lighting power distribution system. Geared DC motors can
be defined as an extension of DC motor. A geared DC Motor has a gear assembly attached to the
motor. The speed of motor is counted in terms of rotations of the shaft per minute and is termed
as RPM. The gear assembly helps in increasing the torque and reducing the speed. Using the
correct combination of gears in a gear motor, where gears reduce the speed of the vehicle but
increase its torque is known as gear reduction.
Fig4.5 GEARD DC Motors
A DC motor is not the same as a "gear motor" - a "gear motor" may be an AC or DC

motor coupled with a gearbox or transmission. A gear motor adds mechanical gears to alter the
speed/torque of the motor for an application. "Gear motor" refers to a combination of a motor
plus a reduction gear train. These are often conveniently packaged together in one unit. The gear
reduction (gear train) reduces the speed of the motor, with a corresponding increase in torque. A
small ratio can be accomplished with a single gear pair, while a large ratio requires a series of

gear reduction steps and thus more gears. There are a lot of different kinds of gear reduction. In
the case of a small transmission ratio N, the unit may be back drivable, meaning you can turn the
output shaft, perhaps by hand, at angular velocity w and cause the motor to rotate at angular
velocity Nw. A gear motor is a specific type of electrical motor that is designed to produce high
torque while maintaining a low horsepower, or low speed, motor output. Gear motors can be
found in many different applications, and are probably used in many devices in your home. Gear
motors are commonly used in devices such as can openers, garage door openers, washing
machine time control knobs and even electric alarm clocks. Common commercial applications of
a gear motor include hospital beds, commercial jacks, cranes and many other applications that
are too many to list.
4.5.1 FEATURES:
 12V – 200RPM.
 3.6KG•CM torque DC gear head motor.
 30:1 Gear Ratio.
 2mm rear encoder shaft.
 Good compromise between speed and torque for small robotic designs.
4.5.2 SPECIFICATION:
 Speed range: 1 to 441rpm.
 Gearbox torque rating of 0.5Nm, sintered metal gears.
 Motors : max. usable power 1 to 3.9w interference suppression on standard products.
4.5.3 APPLICATIONS:
 Photocopiers, Ticket printers
 Mail handling machine
 Blind openings/closing

 Bank note counting machines
4.5.4 Basic Principles of Operation

A gear motor can be either an AC (alternating current) or a DC (direct current) electric
motor. Most gear motors have an output of between about 1,200 to 3,600 revolutions per minute
(RPMs). These types of motors also have two different speed specifications: normal speed and
the stall-speed torque specifications. Gear motors are primarily used to reduce speed in a series
of gears, which in turn creates more torque. This is accomplished by an integrated series of gears
or a gear box being attached to the main motor rotor and shaft via a second reduction shaft. The
second shaft is then connected to the series of gears or gearbox to create what is known as a
series of reduction gears. Generally speaking, the longer the train of reduction gears, the lower
the output of the end, or final, gear will be. An excellent example of this principle would be an
electric time clock (the type that uses hour, minute and second hands). The synchronous AC
motor that is used to power the time clock will usually spin the rotor at around 1500 revolutions
per minute. However, a series of reduction gears is used to slow the movement of the hands on
the clock. For example, while the rotor spins at about 1500 revolutions per minute, the reduction
gears allow the final secondhand gear to spin at only one revolution per minute. This is what
allows the secondhand to make one complete revolution per minute on the face of the clock.
4.5.5 Gear Motors and Increased Force

Gear motors are commonly used in commercial applications where a piece of equipment needs to
be able to exert a high amount of force in order to move a very heavy object. Examples of these
types of equipment would include a crane or lift Jack. If you've ever seen a crane in action,
you've seen a great example of how a gear motor works. As you have probably noticed, a crane
can be used to lift and move very heavy objects. The electric motor used in most cranes is a type
of gear motor that uses the basic principles of speed reduction to increase torque or force.
4.6 BUZZER
An electric buzzer uses an electromagnet to make a loud repetitive sound. Invented in 1831 by Joseph
Henry, it is often used as a door bell or alarm. A buzzer or beeper is an audio signaling devices,
which may be mechanical, electromechanical or piezoelectric. Typical uses of buzzer and
beepers include alarm devices, timers and confirmation of user input such as a mouse click or

keystroke. A piezo electric buzzer can be drive by a oscillating electronic circuit or other audio
signal source. There are several different kinds of buzzer at future electronics we stock many of
the most common types carectorised by type, sound level, frequency, rated voltage, dimention
and packaging type. The parametric filters on our websites can help refine your search results
depending on the required specification.
Fig4.6 Buzzer
Application of Buzzer
 Alarm devices, Timers.

 Confirmation of user input.
 Electronic metronomes.
 Sporting events.
 Household appliances.
4.7 I2C 1602 SERIAL LCD MODULE:
The I2C 1602 LCD module is a 2 line by 16 character display interfaced to an I2C
daughter board. The I2C interface only requires 2 data connections, +5 VDC and GND to
operate.
4.7.1 LCD:
 LCD stands for Liquid Crystal Display, is an electronic device which is used for data
display.
 LCD is a thin, flat panel used for electronically displaying information such as text,
images.
 LCDs are preferable over seven segments and LEDs as they can easily represent data in
form of alphabets, characters, numbers or animations.
LCDs are very easy to program and make your work quite attractive and simple.
LCD uses include computer monitors, television, device ranging from aircraft cockpit
displays to everyday consumer devices such as clocks, calculators and telephone.
LCD is an electronically modulated optical device made up of any numbers of pixel
filled with liquid crystal and arrayed in front of a light source or reflector to produce
images in color or monochrome.
 A term Liquid Crystal refers to the fact that these compound have a crystalline
arrangement of molecules.
Fig.4.7.1 LCD
4.7.2 Inter-Integrated Circuit (I2C):
An i2c bus is bidirectional 2 wired serial bus which is used to transport the data between
integrated circuits. I²C uses only two bidirectional open-drain lines, Serial Data Line (SDA) and
Serial Clock Line (SCL), pulled up with resistors. Typical voltages used are +5 V or +3.3 V,
although systems with other voltages are permitted. The I2C LCD component drives an I2C
interfaced 2 line by 16 character LCD. The I2C LCD component is a wrapper around an I2C
Master component and makes use of an existing I2C Master component. When one of the API
functions is called, that function calls one or more of the I2C Master functions in order to
communicate with the LCD. The original communication speed was defined with a maximum of
100kbit per second and many applications don’t require faster transmissions. A high speed 3.4
Mbit option available. I2C is not only used on single boards but also to connect components
which are linked via cable. Simplicity and flexibility are key characteristics that make this bus.
Specifications:
I2C Address Range: x20 to 0x27 (Default=0x27, addressable)

Operating Voltage: 5 Vdc
Backlight: White
Contrast: Adjustable by potentiometer on I2c interface
I2C address defaults to 58 (0x3A) but can be set to any valid I2C address in the range 1 – 127
. • LCD contrast set by trimmer potentiometer.
• Bootloader installed for easy software updates • Serial connection at 2400, 4800, 9600, 14400,
19200, 28800, 57600, 115200
• 160 byte command buffer
Fig.4.7.2 I2C Bus
ARDUINO PINS I2C BUS PINS

GND GND
VCC 5V
SDA 20
SCL 21
Features:
 Only two bus lines are required
 No strict baud rate requirements like for instance with RS232, the master generates a bus
clock.

 A single component may drive one or more LCDs on the same I2C bu
 Simple master/slave relationships exist between all components.
 Each device connected to the bus is software-addressable by a unique address.
 I2C is a true multi-master bus providing arbitration and collision detection.
 Some intelligent control, usually a single-chip microcontroller
 General-purpose circuits like LCD and LED drivers, remote I/O ports, RAM, EEPROM,
real-time clocks or A/D and D/A converters
 Application-oriented circuits such as digital tuning and signal processing circuits for
radio and video systems, temperature sensors, and smart cards
I2C-bus terminology
 Transmitter- the device which sends data to the bus

 Receiver- the device which receives data from the bus
 Master - the device which initiates a transfer, generates clock signals and
terminates a transfer
 Slave- the device addressed by a master
 Multi-master -more than one master can attempt to control the bus at the same
time without corrupting the message
 Arbitration - procedure to ensure that, if more than one master simultaneously
tries to control the bus, only one is allowed to do so and the winning message is y
device addressed is considered a slave.
Synchronous serial bus:
 Up to 127 devices on one bus
 Up to 1Mbps data rate
 Really simple protocol (compared to USB, Ethernet, etc)

ALGORITHM:
The main part of the design is to control the motion of the wheelchair. There are four
condition of motion are considered, moving forward , moving reverse, moving to left, moving to
right. For speed, the user may use slow or fast speed commands. The system starts by applying
the supply voltage to the voice recognition circuit. For fast condition the system will supply
higher current to the motors. If the user does not want the move high speed the slow speed
command can be set by applying low current supply to the motors.

5.1 Algorithm steps–
The working of the project can be explained in the following steps:
Step 1: Initially 5v power supply is given to the Voice recognition kit, Arduino Mega 2560 and
motor drivers.
Step 2: voice module is ready to receive the commands.
Step 3: If the given voice command is LEFT then the wheel chair moves left side.
Step 4: If the command is RIGHT the wheel chair moves right side.
Step 5: If the command is FORWARD the wheel chair moves forward.
Step 6: If the command is BACKWARD the wheel chair moves backward.
Step 7: If the command is STOP the wheelchair stops moving.
The wheel chair directions and movement possible in this project are given below
 Forward: Both motors are in forward direction.

 Reverse: Both motors are in reverse directions.
 Left: Left motor in reverse and right motor in forward direction.
 Right: Right motor in reverse and Left motor in forward direction.
 Stop: Both motors are stopped.
Fig 5.1 Wheel chair direction

4.8 Arduino IDE Software
Arduino consist of both physical programmable circuit board (often referred to as a

microcontroller) and a piece of software or IDE(Integrated Development Environment) that
runs on your computer, used to write and upload computer code to the physical board. Arduino
language is merely a set of c/c++ function that can be called from your code. Arduino is an
open source computer hardware and software company, project and user community that
designed and manufactures single board microcontroller kits for building digital devices and
interactive object that can sense and control objects in the physical and digital world.Arduino
takes the BCD output from Voice recognizer module and control the motor movement. Arduino
takes two bit output form Voice recognizer module and the output coding process is shown
below in table 6.2
4.8.1 Simulation Process
a) Simulation process

4.8.2 Arduino Coding Concept
DIRECTION ARDUINO MOTOR MOTOR DIRECTION OF

INPUTS (M1) (M2) MOTOR
A B A B
FRONT 0 0 H L H L M1(Front)
M2(Front)
BACK 0 1 L H L H M1(Back)
M2(Back)
LEFT 1 0 L H L H M1(Back)
M2(Front)
RIGHT 1 1 H L L H M1(Front)
M2(Back)
Table 4.8.2 Arduino coding concept
4.8.3 Arduino Programming
Fig4.8.3 (a) Motor Direction Control Program (b)Final Program

SCOPE OF THE PROJECT
 In our project the system will be a Real-Time Voice controlled Wheelchair for the
physically disabled person. This system will be designed to operate the wheelchair based
on the voice of the user and control the movement according to the command given by
the operating person. The voice would be given through a unilateral mic and would be
converted into binary format by voice recognition kit. Thus this binary format would be
checked with the binary code fed to the Ardunio, if true the command will be performed.
More specifically, this system is designed to allow an admin and users to give the voice
command to the wheelchair. These command would be performed within seconds. On the
whole it's basic operation would be left, right, stop, go, back. Basically it's a wheelchair
controlled by voice.

ADVANTAGES, DISADVANTAGES, APPLICATION
ADVANTAGES:
 Obstacle detection using ultrasonic sensor.

 Less expensive.
 A handicapped persons without Legs can use this and become Independent.
 This will help to save energy
 Less Hardware required
 User friendly
 It reduces manpower
DISADVANTAGES:
 Only the installed voice is recognized by the module.

 It causes problem during noisy environment
 The cost of the module is quite higher.
APPLICATION:
 Command and control of home appliances.

 Telephone assistance system and Data entry
 Speech and voice recognition security system (voice password)
 The automated wheelchair is valuable for the people who could not
move independently like,
 Amputees missing legs and arms.
 Paralyzed children.
 People with weak or no upper body movement.

Chapter 5
RESULTS AND ANALYSIS
 This system will be a Real-Time Voice controlled Wheelchair for the physically disabled
person. This system will be designed to operate the wheelchair based on the voice of the
user and control the movement according to the command given by the operating person.
These command would be performed within seconds. . The system will be design and
implement in a cost effective way so that if our project is commercialized the needy users
in developing countries will benefit from it. For voice recognition we will use “VOICE
RECOGNITION V3.1 MODULE”. The main part of the design is to control the motion
of the wheelchair. There are four condition of motion are considered, moving forward ,
moving reverse, moving to left, moving to right..
Fig.5. Model Of The Project

CONCLUSION AND FUTURE SCOPE:
CONCLUSION
The system will be designed in such way that it is simple ,cost effective and easy to operate so
that it aids the physically challenged people. A smart wheelchair using voice and head joystick
control is design and develops. It is easy to understand and process. It contains two modules to
control the movement of the wheelchair according to user commands. If any patient is unable to
move hand then voice commands can be used for the navigation of the wheelchair
independently. The joystick provides help for the manual control. A microphone can be used to
give voice commands. This system provides independent mobility as well as many intelligent
facilities to the rising disabled population. Efficiency of the voice command control system can
be further improved by implementing neural network based algorithms.
FUTURE SCOPE:
As the future work, Google maps can be used to move the wheelchair. we can provide a friendly
atmosphere for disabled persons that is alerting in case of obstacles and updating the whole
indoor environment condition to wheel chair and giving controlling of the devices at wheel
chair itself which avoids the problem of approaching the switch. To be able to perform a
wheelchair transfer up or down a set of stairs, The user can not attempt this type of transfer
if helpers are not available .A wheelchair up and down (step) movement is very difficult ,even if
there is a helper. In order to overcome this problem, WHEELCHAIR TREADS can be used.
The person using the wheelchair should be seated with their entire body fitting in the chair. A
seat belt should be used in order to keep the patient/user in the chair while attempting the transfer
and can also use GSM and GPRS for emergency purpose.

REFERENCES
[1] U. UPASE, K. JOSHI “Voice Operated Wheelchair For Physically Challenged People”
International Journal of Advances in Science Engineering and Technology, Vol-4, Iss-3, Spl.
Issue-1 Aug.-2016
[2]. Kharka Bahadur Rai, Jeetendra Thakur, Nirmal Rai “Voice controlled wheel chair using
arduino” Department of Electronics and Communication Engineering, Sikkim Manipal Institute
of Technology (SMIT), Volume No.04, Issue No. 06, June 2015
[3] Aakash. A. Hongunit, Mayauri. Deulkar, Varsha. Sable. Prof. Dr. P. B. Mane. University of
Pune “Voice Operated Wheelchair”, AISSMS Institute of Information Technology. E&C Dept.
Volume 4, Issue 4, April 2014.
[4] Ms. S. D. Suryawanshi, Mr. J. S. Chitode, Ms. S. S. Pethakar3. “Voice Operated Intelligent
Wheelchair”. International Journal of Advanced Research in Computer Science Engineering and
Software. Volume 3, Issue 5, May 2013.

Final Report On Whhelchair

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“VOICE CONTROLLED WHEELCHAIR FOR PHYSICALLY CHALLENGED PERSON “

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3.1 BLOCK DIAGRAM

Fig 3.1 Block Diagram Of Voice Control Wheelchair

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3.2 WORKING PRINCIPLE

3.3 PROPOSED SYSTEM

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Fig 3.3. System Architecture

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Fig 4.1 Arduino Mega 2560

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Arduino Open Source

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Additional features coming with the R3 version are:

Fig 4.1.2 Pin Diagram

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INPUT AND OUTPUTS

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4.1.3 BLOCK DIAGRAM

Fig4.1.3 Block diagram of Arduino Mega 2560

4.2 VOICE RECOGNITION MODULE V3.1:

Voice Recognition Module is a compact and easy-control speaking recognition board.

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This product is a speaker-dependent voice recognition module. It supports up to 80 voice

Fig.4.2 Voice Recognitions Module

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Fig Command library

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4.3Ultrasonic Ranging Module HC - SR04

Fig.4.3 Ultrasonic sensor

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4.3.1 Distance Measurement:

Equation 1: Distance Calculation

(High Signal Time)(Speed of Sound)

Equation 2: Range of Sensor

Fig.4.3.1 Working Principle Of Ultra Sensor Sensor

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Fig.4.3.2 Timing Diagram Of Ultra Sonic Sensor

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 Quiescent current : <2mA

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Fig4.4.2 L298N IC and Pin Diagram Of L298N

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Fig4.4.4 Circuit diagram of Motor Drive

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Fig4.4.4.1 Motor Drive

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Fig4.5 GEARD DC Motors

A DC motor is not the same as a "gear motor" - a "gear motor" may be an AC or DC

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 3.6KG•CM torque DC gear head motor.

 30:1 Gear Ratio.

 2mm rear encoder shaft.

 Speed range: 1 to 441rpm.

 Gearbox torque rating of 0.5Nm, sintered metal gears.

 Motors : max. usable power 1 to 3.9w interference suppression on standard products.

 Photocopiers, Ticket printers

 Mail handling machine

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