Black Book 2019

Bluetooth Control Wheelchair 2018-2019
A Project Report on
Bluetooth Control Wheelchair

Presented By
SHUBHAM SAWANT (1927)

SARVMBH SAWANT (1929)
NISHAD RAUT (1933)
RAJ PAWAR (1936)
Under the Guidance of

Miss. Seema Kaimal
DEPARTMENT OF COMPUTER TECHNOLOGY

VIDYAVARDHINI’S BHAUSAHEB VARTAK POLYTECHNIC
VASAI (W) - 401202
2018-2019
1
VIDYAVARDHINI’S BHAUSAHEB VARTAK POLYTECHNIC
VASAI ROAD (W)
CERTIFICATE
This is to certify that Roll Nos.: 1927, 1929, 1933, 1936 of Third Year Diploma
in Computer Technology have satisfactorily completed the project titled “ Bluetooth
control wheelchair“ for the academic year 2018 – 2019 as per the curriculum laid
down by MSBTE in partial fulfilment of the award of Diploma in Computer
Technology.
_______________ ______________
Internal Guide Head of Department
_______________
Principal
_______________ ______________
Internal Examiner External Examiner
2
3
ACKNOWLEDGEMENT
We have a great pleasure and satisfaction in presenting this project report on “Bluetooth Control
Wheelchair”. We take this opportunity to express our sincere thanks to all those people who helped us to
complete our project successfully.
We are thankful to our internal guide Miss. Seema Kaimal whose technical support and helpful attitude
Gave us high moral support. We would also like to extend our sincere thanks to our HOD Dr. Shubhada
Gadgil for their constant encouragement.
We are also thankful to the staff for rendering their support during the Project Period.
We are also thankful to our friends and colleagues. Their worthy support made an encouraging
environment to work within.
Finally we would like to thank all the people directly or indirectly concerned with this project.
4
TABLE OF CONTENTS
1. Overview
1.1 Abstract
1.2 Introduction
1.3 Scope
2. Literature Survey
2.1 Stages of Paralysis

2.2 Types of Paralysis
2.3 History
2.3.1 Manual Wheelchair
2.3.2 Electronic Wheelchair
2.3.3 HandGesture Control Wheelchair
2.4 Conclusion
3. Requirement Gathering
3.1 Software Requirement

3.2 Hardware Requirement
4. System Model
4.1 Implementation and Description

4.2 Data flow Diagram
4.3 Sequence Diagram
4.4 Snapshots and other Images
5
5. Coding
6. Testing
7. System Analysis
8. Cost Analysis
9. Conclusions
10. Reference
6
1. OVERVIEW
7
1.1 Abstract:
This Work is based on Arduino, motor driver and Bluetooth module. Arduino is an open source
prototyping platform Based on easy-to-use hardware and software. Arduino uses an ATmega328 microcontroller.
Since robotics has become a major part in our daily life and also in the engineering field and it plays a vital role
in the development of new technology. This is a very simple and easy type form of remote control wheelchair,
where the ordinary micro-controller has been replaced by Arduino and IR sensors has been replaced by a
Bluetooth module. The remote can be any android or IOS cell phones. This project can be made in a bigger scale
for real time vehicles.
We are now living in the 21st century. Now, smart phone has become the most essential thing in our daily
life. Android application based smart phones are becoming each time more powerful and equipped with several
accessories that are useful for Robots. This project describes how to control a wheelchair using mobile through
Bluetooth communication, some features about Bluetooth technology, components of the mobile and robot. We
present a review of wheelchair controlled by mobile phone via moving the wheelchair upward, backward, left
and right side by the android application such as Arduino, Bluetooth. Bluetooth has changed how people use
digital device at home or office, and has transferred traditional wired digital devices into wireless devices. Here
we are using Bluetooth communication, interface microcontroller and android application. We are using Arduino
software to interface the Bluetooth module with microcontroller. According to commands received from android
the robot motion can be controlled. We derived simple solutions to provide a framework for building wheelchair
with very low cost but with high computation and sensing capabilities provided by the smart phone that is used
as a control device.
8
1.2 Introduction
This paper represents android application based Bluetooth controlled robotic car. Here main motto of
our project is to control the car with android application. Here we use mainly Arduino UNO
(ATMEGA 328P), Bluetooth module (HC-05). We interface the Bluetooth module with the system so
that we can easily control the system by smart phone application. This project is more necessary to the
modern society in context of spying and surveillance. The project aims in designing a Robot that can
be operated using Android mobile phone. The controlling of the Robot is done wirelessly through
Android smart phone using the Bluetooth feature present in it. Here in the project the Android smart
phone is used as a remote control for operating the Robot. The controlling device of the whole system
is a Microcontroller. Bluetooth module, DC motors are interfaced to the Microcontroller. The data
received by the Bluetooth module from Android smart phone is fed as input to the controller. The
controller acts accordingly on the DC motors of the Robot. In achieving the task the controller is
loaded with a program written using Embedded ‘C’ language. Related reference articles implementing
wireless control of robots have been studied as mentioned. Still there exists a requirement of a cost-
effective automation system, which will be easy to implement. An example of such a cost effective
project has been proposed here.
A robot is an electromechanical machine that is controlled by computer program to perform

various operations. Industrial robots have designed to reduce human effort and time to improve
productivity and to reduce manufacturing cost. Today human-machine interaction is moving away
from mouse and pen and becoming much more pervasive and much more compatible with the physical
world. Android app can control the robot motion from a long distance using Bluetooth communication
to interface controller and android. Microcontroller ATMEGA328P-PU can be interfaced to the
Bluetooth module though UART protocol and code is written in embedded C language. As per the
commands received from android app the robot motion can be controlled. The output motion of a
robotic vehicle is accurate and repeatable. Pick and Place robots can be reprogrammable and tool can
be interchanged to provide for multiple applications. The purpose of this work is to design and
implement an Android Controlled Bluetooth Robot which is used for Surveillance, home automation,
wheelchairs, military and hostages Rescue applications.
9
Today in market there are many wheelchairs available in the market but they are not embedded with smart
systems if they are available then the cost is ranging from 3 lacs to 4 lacs and this price is not affordable for a
common man. As the Honorable Prime Minster of India Shri Narendra Modi has started a campaign Shashakt
Bharat Abhiyaan for the help of Physically Handicapped persons. As an engineer it becomes our moral
responsibility to give something back to the society, so for helping the physically disabled and supporting our
nation in the Shashakt Bharat Abhiyaan we came up with an idea of developing a smart wheelchair for physically
disabled persons that can give the maximum features at the minimum and affordable price to be used by the
common man and can move on his own by the use of this smart wheelchair being independent on anyone. This
wheelchair can be guided according to the choice of the user i.e. by the use of IR Remote, Bluetooth or Gyroscope
Sensor. The best technology we are providing is the Gyroscope sensor by which the motion can be provided by
moving our hand or palm in very small area. This is most reliable and précised sensor for providing motion to the
chair. So if a person who’s minor part of the body is working he or she can use it with the least efforts and
maximum precision and speed control. This device is loaded with many additional features which make it smart.
There are features like Automatic Braking, Patient’s body temperature Monitoring System, Room Automation
System, Battery Power Indicator, Touchpad Based Control, Bluetooth Control, and IR remote based control.
10
Proposed System:
Keeping up all the advantages and disadvantages of the present system in mind we are hereby
proposing a new advanced smart wheelchair for the physically disabled persons who are not
financially sound for purchasing a power or smart wheelchair as the cost is very high. So we designed
a wheelchair which is much more efficient, much smarter, more maneuverable, having précised
control for motion, on chair room automation system, control using Bluetooth, IR Receiver and
Touchpad. As we are providing many options for a better motion, the type of drive is selected by the
user depending upon the choice and requirement of the user. The system proposed is totally controlled
by a microcontroller Arduino MEGA 2560. It is the main and the biggest chip that can be seen in the
system. This controller is controlling the motion part and light indication part of the system i.e. the
motion by Bluetooth, IR, and touchpad or by gyroscopic sensor. The light indication of the chair is
also controlled by Arduino MEGA 2560.
Circuit Diagram
11
Arduino Board
Block Diagram
12
1.3 Scope
Proposed method is controlling of the wheelchair by the thought process. In this technology person can control
the motion of the same by just thinking. This vehicle can be modeled in such a way that it can be easily turned
into a semi sleeper mode in order to make the patient feel more comfortable and thereby reducing the continuous
one mode sitting problem. Other already invented methods in wheelchair can also be incorporated with this. Like
step climbing wheelchair and inter communication between devices-which is just an upcoming project trying to
be implemented on road vehicles. The communication aid with these wheelchairs will help the deaf and dumb to
communicate with each other’s too. These all are the (much more can be thought of) proposed for the Future
scopes of smart wheelchairs.
Physically Challenged people: Physically disabled people can use it as per their purpose. People who are
able to use their hand can use android phone to control the wheelchair, in further enhancement wheelchair
with voice recognition or head movement can be develop for people suffering from paralysis.
Patients in Hospitals: Patients in hospital requires one person to look after their but with this wheelchair
one can go at his own by simply controlling the wheelchair with his/her android phone.
Old age Home: People at old age home can use the Bluetooth control wheelchair as per their requirement.
13
2. Literature Survey
14
Introduction: now we look into the development that has been made in technology related to health sector.
Design of different types of wheelchairs has been proposed for the disabled person to provide some degree of
independence in their movement. Manual, hand, voice recognition, head movement and eye ball movement-
controlled wheelchairs have been developed yet for the patients.
2.1 Stages of Paralysis:
Reasons of Paralysis are:
1 Accidents: an unfortunate incident that happens unexpectedly and unintentionally, typically result in
in damage or injury.
2 Injuries on spinal cord: A spinal cord injury (SCI) is damage to the spinal cord that causes temporary
or permanent changes in its function. Symptoms may include loss of muscle function, sensation, or
autonomic function in the parts of the body served by the spinal cord below the level of the injury.
3 Strokes: A stroke is a sudden interruption in the blood supply of the brain.
2.2 Types of Paralysis:
Monoplegia: Monoplegia is paralysis of a single area of the body, most typically one limb. People with
monoplegia typically retain control over the rest of their body, but cannot move or feel sensations in the affected
limb. Though cerebral palsy is the leading cause of monoplegia, a number of other injuries and ailments can lead
to this form of partial paralysis, including:
 Strokes
 Tumors
 Nerve damage due to injuries or diseases
 Nerve impingement
 Motor neuron damage
15
 Brain injuries
 Impacted or severed nerves at the affected location
Monoplegia is sometimes a temporary condition, and is especially common in the aftermath of a stroke or brain
injury. When the nerves affecting the paralyzed area are not fully severed, it is often possible to regain significant
function through physical therapy.
Hemiplegia: affects an arm and a leg on the same side of the body, and as with monoplegia, the most
common cause is cerebral palsy. With hemiplegia, the degree of paralysis varies from person to person, and may
change over time. Hemiplegia often begins with a sensation of pins and needles, progresses to muscle weakness,
and escalates to complete paralysis. However, many people with hemiplegia find that their degree of functioning
varies from day to day, and depending on their overall health, activity level, and other factors.
Hemiplegia should not be confused with hemiparesis, which refers to weakness on one side of the
body. Nevertheless, hemiparesis is often a precursor to hemiplegia, particularly for people with neurological
issues.
Hemiplegia is sometimes temporary, and the overall prognosis depends on treatment, including early
interventions such as physical and occupational therapy.
Paraplegia: refers to paralysis below the waist, and usually affects both legs, the hips, and other functions, such as
sexuality and elimination. Though stereotypes of paraplegia hold that people with this condition cannot walk, move their
legs, or feel anything below the waist, the reality of paraplegia varies from person to person—and sometimes, from day to
day.
Thus paraplegia refers to substantial impairment in functioning and movement, not necessarily a permanent and total
paralysis. Rarely, people with paraplegia spontaneously recover. This may be due to brain or spinal cord functions that are
not yet understood, such as regeneration of neurons. More typically, paraplegics are able to regain some functioning with
physical therapy, which works to retrain the brain and spinal cord to work around limitations while strengthening muscles
and nerve connections.
Spinal cord injuries are the most common cause of paraplegia. These injuries impede the brain's ability to send and receive
signals below the site of the injury. Some other causes include:
 Spinal cord infections
16
 Spinal cord lesions
 Brain tumors
 Brain infections
 Rarely, nerve damage at the hips or waist; this more typically causes some variety of monoplegia or hemiplegia.
 Brain or spinal cord oxygen deprivation due to choking, surgical accidents, violence, and similar causes.
 Stroke
 Congenital malformations in the brain or spinal cord
Quadriplegia: which is often referred to as tetraplegia, is paralysis below the neck. All four limbs, as well as
the torso, are typically affected. As with paraplegia, though, the degree of disability and loss of function may vary
from person to person, and even from moment to moment. Likewise, some quadriplegics spontaneously regain
some or all functioning, while others slowly retrain their brains and bodies through dedicated physical therapy
and exercise.
Occasionally, quadriplegia is a temporary condition due to brain injuries, stroke, or temporary compression of
spinal cord nerves. Some spinal cord injury survivors temporarily suffer from quadriplegia immediately after the
injury, then experience a less systematic form of paralysis as swelling goes down, the nerves become less
compressed, or surgery reverses some damage.
As with paraplegia, spinal cord injuries are the leading cause of quadriplegia. The most common causes of spinal
cord injuries include automobile accidents, acts of violence, falls, and sporting injuries, especially injuries due
to contact sports such as football. Traumatic brain injuries can also cause this form of paralysis. Other sources of
quadriplegia include:
 Acquired brain injuries due to infections, stroke, and other disease-related processes.
 Loss of oxygen to the brain and spinal cord due to choking, anesthesia-related accidents, anaphylactic
shock, and some other causes.
 Spinal and brain lesions
 Spinal and brain tumors
 Spinal and brain infections
 Catastrophic nerve damage throughout the body
 Congenital abnormalities
17
 Early brain injuries, especially pre-birth or during-birth injuries that lead to cerebral palsy, which can
produce a range of symptoms, including varying degrees of paralysis
 Allergic reactions to drugs
 Drug or alcohol overdoses
2.3 History:
Concerning human disability following wheelchairs has been developed
 Manual wheelchairs
 Electronic wheelchairs
 Hand gesture-controlled wheelchairs
2.3.1 Manual Wheelchair:
The cheapest of all wheelchairs available for those patients, who are unable to move their lower limb or
cannot walk properly without any assistance or support. These types of wheelchairs are used by patients having
lowest or first degree of paralysis.
Manual Wheelchair
2.3.2 Electronic Wheelchair:
These types of wheelchair are made for those patients who are unable to move wheelchair manually.
These electronic wheelchairs are driven by motors and are powered by batteries.
18
In Electric power wheelchairs are cost-effective chairs designed for quadriplegic patients who cannot
use joystick. It is a wireless system controlled by neck movement of person. This Proposed chair can be operated
in almost all kinds of environments as these components are less sensitive to environmental variations.
Electric Wheelchair
2.3.3 Hand Gesture Controlled Wheelchair:
This type of wheelchair is driven by the direction guided by the motion of the sensor attached on the
hand. Accelerometer is used to detect the orientation of the hand and corresponding signals are sent to the
controller to drive the motors in the desired direction.
In This paper is to develop a wheel chair control which is useful to the physically disabled person with
his hand movement or his hand gesture recognition using Acceleration technology. However, even these
significant advances haven’t been able to help quadriplegics navigate wheelchair unassisted. It is wheelchair
which can be controlled by simple hand gestures. It employs a sensor which controls the wheelchair hand gestures
made by the user and interprets the motion intended by user and moves accordingly.
Hand gesture control wheelchair
19
2.4 Conclusion
In this chapter, we have familiarized ourselves with different types of paralysis. We have also looked at
some of the existing technologies used in Wheelchair and their history. Bluetooth control wheelchair seems to be
taking the next step to becoming widely adopted, and the Arduino neatly fits into this world by providing those
who want to customize control of their wheelchair with an easy and cheap tool for achieving it, and by also
expanding what can be done with Arduino technology currently out in market place.
20
3. Requirement Gathering
21
Introduction: Arduino is an open-source electronics platform based on easy-to-use hardware and

software. Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a Twitter message -
and turn it into an output - activating a motor, turning on an LED, publishing something online. You can tell your
board what to do by sending a set of instructions to the microcontroller on the board. To do so you use the Arduino
programming language (based on Wiring), and the Arduino Software (IDE), based on Processing.
Over the years Arduino has been the brain of thousands of projects, from everyday objects to complex scientific
instruments. A worldwide community of makers - students, hobbyists, artists, programmers, and professionals -
has gathered around this open-source platform, their contributions have added up to an incredible amount
of accessible knowledge that can be of great help to novices and experts alike.
Arduino was born at the Ivrea Interaction Design Institute as an easy tool for fast prototyping, aimed at students
without a background in electronics and programming. As soon as it reached a wider community, the Arduino
board started changing to adapt to new needs and challenges, differentiating its offer from simple 8-bit boards to
products for IoT applications, wearable, 3D printing, and embedded environments. All Arduino boards are
completely open-source, empowering users to build them independently and eventually adapt them to their
particular needs. The software, too, is open-source, and it is growing through the contributions of users
worldwide.
3.1 Software Requirement
Arduino software is used to put the instruction of whole functions of this system to the microcontroller.
Here we use programming language ‘Embedded C’ for coding. The program for executing this project has been
written in C language. The program is burnt in the microcontroller using burner software. The program is stored
in the EEPROM of the microcontroller, which is present in the Arduino board. By this software we put the data
and instruction for forward, backward, left, right operation of this system. In android application when we press
a button, a corresponding signal is sent through the Bluetooth to Bluetooth module (HC-05) which is connected
with the Arduino board. When signal data arrives the Arduino the pin which corresponds to the particular input
is set to high. Now that pin gives the output to the motor driver section. Motor driver switches accordingly the
data bit, if the data bit is low then the corresponding pin of the motor driver doesn’t work else high bit then the
22
corresponding pin of the motor driver is on. We have used Arduino IDE version 1.8.1 for writing program for
Arduino. There are two steps of the programming. First set up section where we define all the variables. Second
loop part where the program runs continuously.
Arduino IDE
We have installed a smartphone application which is available on google play store. Bluetooth RC control is
the name of the application. The smart phone is the transmitter of this circuit. It sends the data to microcontroller
through Bluetooth module. It also helps to send the instruction of forward, backward, left, and right to the
microcontroller. Actually, the smart phone is used as a remote of this system. Here we the Bluetooth RC
Controller application as the operating remote of this system. The advantage of this project is that the application
software designed for android phones is kept simple but attractive with all necessary built-in functions. The
novelty lies in the simplicity of the design and functioning. Below image is the application we used.
23
3.2 Hardware Requirement

For the Hardware we required an Arduino UNO, motor driver L293d, Bluetooth module HC-05, 4 x DC
motor, Chassis, Jumper wire, 12v Battery, Switch, Jumper wires, Glue gun, 2 x screw. In our project we have
used the above Hardware mentioned.
Arduino UNO: The Arduino Uno R3 is a microcontroller board based on a removable, dual-inline-package
(DIP) ATmega328 AVR microcontroller. It has 20 digital input/output pins (of which 6 can be used as PWM
outputs and 6 can be used as analog inputs). Programs can be loaded on to it from the easy-to-use Arduino
computer program. The Arduino has an extensive support community, which makes it a very easy way to get
started working with embedded electronics. The R3 is the third, and latest, revision of the Arduino Uno.
Power USB
24
Arduino board can be powered by using the USB cable from your computer. All you need to do is connect the
USB cable to the USB connection.
Power (Barrel Jack)
Arduino boards can be powered directly from the AC mains power supply by connecting it to the Barrel Jack.
Voltage Regulator
The function of the voltage regulator is to control the voltage given to the Arduino board and stabilize the DC
voltages used by the processor and other elements.
Crystal Oscillator
The crystal oscillator helps Arduino in dealing with time issues. How does Arduino calculate time? The answer
is, by using the crystal oscillator. The number printed on top of the Arduino crystal is 16.000H9H. It tells us that
the frequency is 16,000,000 Hertz or 16 MHz.
Arduino Reset
You can reset your Arduino board, i.e., start your program from the beginning. You can reset the UNO board in
two ways. First, by using the reset button (17) on the board. Second, you can connect an external reset button to
the Arduino pin labelled RESET (5).
Pins (3.3, 5, GND, Vin)
 3.3V (6) − Supply 3.3 output volt
 5V (7) − Supply 5 output volt
 Most of the components used with Arduino board works fine with 3.3 volt and 5 volt.
 GND (8)(Ground) − There are several GND pins on the Arduino, any of which can be used to ground
your circuit.
 Vin (9) − This pin also can be used to power the Arduino board from an external power source, like AC
mains power supply.
Analog pins
The Arduino UNO board has six analog input pins A0 through A5. These pins can read the signal from an
analog sensor like the humidity sensor or temperature sensor and convert it into a digital value that can be
read by the microprocessor.
25
Main microcontroller
Each Arduino board has its own microcontroller (11). You can assume it as the brain of your board. The main
IC (integrated circuit) on the Arduino is slightly different from board to board. The microcontrollers are
usually of the ATMEL Company. You must know what IC your board has before loading up a new program
from the Arduino IDE. This information is available on the top of the IC. For more details about the IC
construction and functions, you can refer to the data sheet.
ICSP pin
Mostly, ICSP (12) is an AVR, a tiny programming header for the Arduino consisting of MOSI, MISO, SCK,
RESET, VCC, and GND. It is often referred to as an SPI (Serial Peripheral Interface), which could be
considered as an "expansion" of the output. Actually, you are slaving the output device to the master of the
SPI bus.
Power LED indicator
This LED should light up when you plug your Arduino into a power source to indicate that your board is
powered up correctly. If this light does not turn on, then there is something wrong with the connection.
TX and RX LEDs
On your board, you will find two labels: TX (transmit) and RX (receive). They appear in two places on the
Arduino UNO board. First, at the digital pins 0 and 1, to indicate the pins responsible for serial
communication. Second, the TX and RX led (13). The TX led flashes with different speed while sending the
serial data. The speed of flashing depends on the baud rate used by the board. RX flashes during the receiving
process.
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.
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.
26
Motor Driver (L293d): L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers
act as current amplifiers since they take a low-current control signal and provide a higher-current signal. This
higher current signal is used to drive the motors.
L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be
driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be
controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic
01 and 10 will rotate it in clockwise and anticlockwise directions, respectively.Enable pins 1 and 9 (corresponding
to the two motors) must be high for motors to start operating. When an enable input is high, the associated driver
gets enabled. As a result, the outputs become active and work in phase with their inputs. Similarly, when the
enable input is low, that driver is disabled, and their outputs are off and in the high-impedance state.
Pin
Function Name
No
1 Enable pin for Motor 1; active high Enable 1,2
2 Input 1 for Motor 1 Input 1
3 Output 1 for Motor 1 Output 1
4 Ground (0V) Ground
8 Supply voltage for Motors; 9-12V (up to 36V) Vcc 2
9 Enable pin for Motor 2; active high Enable 3,4
27
15 Input2 for Motor 1 Input 4
16 Supply voltage; 5V (up to 36V) Vcc 1
28
Bluetooth Module (L293d): The Bluetooth module will act as an interface between Smartphone and
microcontroller. We will be using HC-05 Bluetooth module for the system, which can be used as either receiver
or transmitter. Generally our transmitter will be smart-phone and receiver will be Bluetooth module . Bluetooth
module will give the commands given by smart-phone to the microcontroller.
Bluetooth Module HC -05
DC Motor: A DC motor is any of a class of rotary electrical machines that converts direct current electrical
energy into mechanical energy. The most common types rely on the forces produced by magnetic fields. 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 motor 200 rpm
DC motors were the first form of motor widely used, as they could be powered from existing direct-current
lighting power distribution systems. A DC motor's speed can be controlled over a wide range, using either a
variable supply voltage or by changing the strength of current in its field windings. Small DC motors are used in
tools, toys, and appliances. The universal motor can operate on direct current but is a lightweight brushed motor
used for portable power tools and appliances. Larger DC motors are currently used in propulsion of electric
vehicles, elevator and hoists, and in drives for steel rolling mills. The advent of power electronics has made
replacement of DC motors with AC motors possible in many applications.
29
Jumper wires: A jump wire (also known as jumper wire, or jumper) 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.
Jumper Wires
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.
Chassis: Chassis is the main support structure of the vehicle which is also known as ‘Frame’. It bears all the
stresses on the vehicle in both static and dynamic conditions. In a vehicle, it is analogous to the skeleton in living
organisms. The origin of the word Chassis lies in the French language. Every vehicle whether it is a two-wheeler
or a car or a truck has a chassis-frame. However, its form obviously varies with the vehicle type.
Chassis
The Chassis has the following functions.
1. Supports or bears the load of the vehicle body
2. Provide the space and mounting location for various aggregates of vehicle
3. Supports the weight of various systems of the vehicle such as engine, transmission etc.
4. Supports a load of passengers as well as the luggage
5. Withstands the stresses arising due to bad road conditions
6. Withstands stresses during braking and acceleration of the vehicle
30
Battery (12 v): A 12V battery means that the voltage that is supplied under nominal load is 12V, that's
it. Different batteries can have different maximal current and thus different maximal Power. ... A battery also
has ever a capacity given by mAh which is how much current for how much time it can provides.
Battery
We also used some minor components such as screw to fix the wheelchair to the chassis. We also use glue
gun to properly install the major hardware components such as Arduino board, battery, switch, Bluetooth
module.
Chair: The chair was custom build by our team as it is assembled on the vehicle.
Chair
31
4. System Model
32
4.1 Implementation and Description

The working principle is kept as simple as possible. The working principle of the circuit has been elaborated
with the help of a block diagram, of the system interconnection as shown. A DC power supply is required to run
the system. The DC power supple feeds the Microcontroller and the Bluetooth module. The Bluetooth module
receives the signal sent from an android smart-phone, where the application software coded in C language is
installed. The microcontroller, thereby, sends instructions, which when executed, helps in functioning of the
motor driver. The movement and functioning of the motor can be controlled by using the android based
application software. Hardware of this project consists of Arduino UNO, Bluetooth module and a motor driver
IC. The Bluetooth module is connected with the Arduino UNO board for the connection with the user. Through
the Bluetooth module for monitoring and controlling the particular motor reaches the board and process
accordingly and the output of the Arduino goes to the motor driver IC and it controls the particular motor. Our
proposed project consists of the following three sections:
a) Input section
b) Microcontroller section
c) Output section
In our android application base Bluetooth controlled robotic car, the user interacts with the system with a
smart phone. In this method user must be present within in range (< 15 meters) to control the system. In future
33
we would try to extend the range using Internet of Things (IoT). When user sends any data to the Arduino board
then the corresponding pin of Arduino goes to high state and switches the motor driver ic in the on mode. The
corresponding motor moves as per the input data. Here in this project the user (android application) is the input
section. This device is connected with the Arduino board (microcontroller section) by the means wirelessly i.e.
Bluetooth module. The system can now be connected with the motors (output section) to be controlled via wireless
connectivity.
Here is the simple steps to upload code into the Arduino UNO:
1. Type the code in Arduino IDE

2. Compile the code.
3. Make it error free.
4. Select the port.
5. Upload the code in the Arduino UNO.
1. Connect your Arduino using the USB cable.
The square end of the USB cable connects to your Arduino and the flat end connects to a USB port on your
computer.
2. Choose Tools→Board→Arduino Uno to find your board in the Arduino menu.
You can also find all boards through this menu, such as the Arduino MEGA 2560 and Arduino Leonardo.
3. Choose the correct serial port for your board.
You find a list of all the available serial ports by choosing Tools→Serial Port→ comX or
/dev/tty.usbmodemXXXXX. X marks a sequentially or randomly assigned number. In Windows, if you have just
connected your Arduino, the COM port will normally be the highest number, such as com 3 or com 15.
34
Many devices can be listed on the COM port list, and if you plug in multiple Arduinos, each one will be assigned
a new number. On Mac OS X, the /dev/tty.usbmodem number will be randomly assigned and can vary in length,
such as /dev/tty.usbmodem1421 or /dev/tty.usbmodem262471. Unless you have another Arduino connected, it
should be the only one visible.
4. Click the Upload button.
This is the button that points to the right in the Arduino environment. You can also use the keyboard shortcut
Ctrl+U for Windows or Cmd+U for Mac OS X.
35
Here at first we construct the circuit as shown. Then through the data cable we insert the commands in the
microcontroller ATMEGA 328P. These commands help the microcontroller to interface with the Bluetooth
module HC05 and also with the motor driver IC L293D. Here the Bluetooth module act as a receiver which
receives the instruction from the smart phone (remote or transmitter). Then the microcontroller decides the
operation for the instruction which is coming from the smart phone. The functions of the given instructions are
operated by the microcontroller. The instructions are sent by the smart phone. We can easily control the
movements of the dc motor. The Bluetooth module can operate below the 10 m range, which we would try to
extend in future. Here we are using four 12 V, 200 R.P.M DC motors and a 12 V DC battery as main power
supply of this system. Until we send any instruction to the microcontroller the motors remain stop. When any
input is given then the motors moves as per the preloaded functions in the microcontroller. Figure 8 shows the
snapshot of the whole Bluetooth Based Smart Phone Control Robot Project.
1. First make sure your HC-06 Bluetooth module is paired with your mobile. The default password for pairing
is “1234” or “0000”. Check the manual of Bluetooth module.
2. Click on “SELECT DEVICE” icon to select paired Bluetooth module.
3. When press “up arrow” it sends the data “A” to Bluetooth module connected with the circuit. When
microcontroller detects “A” the robot/robot car moves FORWORD.
4. When press “DOWN ARROW” it sends the data “B” to Bluetooth module connected with the circuit. When
microcontroller detects “B” the robot/robot car moves REVERSE.
5. When press “LEFT ARROW” it sends the data “C” to Bluetooth module connected with the circuit. When
microcontroller defects “C” the robot/robot car turns LEFT.
36
6. When press “RIGHT ARROW” it sends the data “D” to Bluetooth module connected with the circuit. When
microcontroller defects “D” the robot/robot car turns RIGHT.
7. When press “STOP” button which is in the center of remote it sends the data “E” to the Bluetooth module
connected with the circuit. When microcontroller defects “E” the robot/robot car gets stopped.
8. Click on “DISCONNECT” icon to disconnect paired Bluetooth module.
The Android application controlled robot communicates via Bluetooth to the Bluetooth module present on the
robot. While pressing each button on the application, corresponding commands are sent via Bluetooth to the robot.
The commands that are sent are in the form of ASCII. The Arduino on the robot then checks the command
received with its previously defined commands and controls the servo motors depending on the command
received to cause it to move forward, backward, left, right or to stop. Thus allowing us to create an Android
controlled robot.
Setup the hardware connections with the Arduino and the servo motors. The continuous rotation servo motors are
those kinds of servo motors that cannot be controlled or set at a particular angle, unlike normal servos. Servos
have three wires coming from them: Red- Power, Black -Ground, White/Yellow- PWM /PPM Signal. The left
servo motor (white/yellow wire) is hooked up to Arduino digital pin 9 and the right servo motor (white/yellow
wire) Arduino digital pin 10. The black wires of both the motors are connected to Arduino GND and the Red
wires to the positive terminal of the battery holder. Connect the RX pin of the Bluetooth module to TX pin (digital
pin 1) on the Arduino and the TX pin on the module to the RX pin on the Arduino (pin 0). Connect Vcc and Gnd
of the module to the Arduino. Connect the negative terminal of the battery holder to Arduino GND.
37
4.2 Data Flow Diagram:
A smart phone Android operated robot. Now here is a simple to control your robot/robo car using Bluetooth
module HC-05 and l293d microcontroller with your android Smartphone device. The controlling devices of the
whole system are a microcontroller. Bluetooth module, DC motors are interfaced to the microcontroller. The data
receive by the Bluetooth module from android smart phone is fed as input to the controller. The controller acts
accordingly on the DC motor of the robot. The robot in the project can be made to move in all the four directions
using the android phone. The direction of the robot is indicators using LED indicators of the Robot system. In
achieving the task the controller is loaded with program written using Embedded ‘C’ Languages. Android smart
phone controller Bluetooth robot using microcontroller is shown in figure.
38
4.3 Sequence Diagram
39
4.3 Snapshots and other images
Image 1
Image 2
40
Image 3
Image 4
41
5. Coding
42
Code for Project: We have wrote the code in Arduino IDE in the code we have given commands to
control the Wheelchair. The commands are Forward, Backward, Right, and Left. In this code we have written
a command that when rotating wheelchair it should use minimum space.
Given below is the code for wheelchair:
43
44
6. Testing
45
Test scenarios for testing the Bluetooth control wheelchair:
Sr Test objectives Pre steps input Expected Actual statu

. case_i requisite result result s
no d s
1 TC_1 To check Connect 1.keep the Forward Should Moved Pass
if Bluetoot wheelchai comman move forward
wheelchai h with r on floor d forward
r is android 2. give
moving forward
forward command
or not
2 TC_2 To check Connect 1. keep Backwar Should Moved Pass
if Bluetoot the d move backwar
wheelchai h with wheelchai comman backwar d
r is android r on floor d d
moving 2. give
backward backward
or not command
3 TC_3 To check Connect 1. keep Right Should Moved Pass
if Bluetoot wheelchai comman move right
wheelchai h with r on d right
r is android surface
moving 2. give
right right
command
4 TC_4 To check Connect 1.keep Left Should Moved Pass
if Bluetoot wheelchai comman move left left
wheelchai h with r on d
r is android surface
moving 2. give left
left command
46
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.
47
7. System Analysis
48
System Analysis: Android controlled Arduino robot car make use of an Android mobile phone for robotic
control with the help of HC-05 Bluetooth technology. This is a simple robotics projects using Arduino
microcontroller. This project is a Bluetooth controlled robot. For this the android mobile user has to install an
application on her/his mobile. This android application could be downloaded in the android market.
Then user needs to turn on the bluetooth in the mobile. The wireless communication techniques used to
control the robot is Bluetooth technology. User can use various commands like move forward, reverse, stop move
left, and move right. These commands are sent from the Android mobile to the bluetooth receiver which is
interfaced with the Arduino robot.
Android based robot has a HC-05 Bluetooth receiver unit which receives the commands and give it to the
microcontroller circuit to control the motors. The microcontroller then transmits the signal to the motor driver
IC’s to operate the motors.
Planning before any activity is very much important. And if it is planned nicely, then success is
guaranteed. Project Management System has six major modules of Admin, Manage Application, Test
Management, Process Management, Manage Comment, Reports. We analyzed the overall complexity of each of
these modules and it was found that the project will required approximately 6 months completing, so we planned
accordingly. We decided to follow the SDLC i.e. Software Development Life Cycle while planning various phases
of our project.
This method consists of following activities:
1. Determination of system requirements
2. System Analysis
3. Design of system
4. Development of software
5. System Testing
6. Implementation and Evaluation We have planned our project into following ways: 1. during first month of our
project, we have study the various problems. 2. During second month of our project, we have start to Analysis of
problem. 3. During third and fourth month, we have start Designing and implementation of our project.
49
8. Cost Analysis
50
Cost of Materials
Sr no Components quantity rate value

1 Arduino UNO 1 545 545
2 Bluetooth 1 500 500
module
3 Moto driver 1 818 818
l293d
4 DC motor 4 215 860
5 Wheels 4 187.5 750
6 Chassis 1 450 450
7 Battery 1 1580 1580
8 Adapter 1 110 110
9 Jumper wires 40 pieces 322 322
10 Chair 1 350 350
Total 5077.5 6285
51
9. Conclusion
52
Conclusion
This is indeed a cost-effective and efficient project. The novelty lies in the fact that it is a cost-effective project
with a simple and easy to use interface compared to existing ones. Also the Bluetooth RC Controller application
is more user friendly. The robot is small in size so it can be used in spying purpose. With few additions and
modifications, this robot can be used in army for detecting and disposing hidden land mines. The robot can be
used for surveillance. In future we can interface sensors to this robot so that it can monitor some parameters and
we can improve the efficiency using Internet of Things (IoT) technology. We can also add wireless camera, in
order to incorporate other security features. Health monitor. A health monitoring system should be introduced in
the wheelchair such that it can measure basic information about health, such as temperature, blood pressure and
pulse etc. Upper and lower ranges should be defined and immediate emergency indication should be provided to
the care taker on crossing these ranges.
53
10. References
54
Reference
[1] Manuel Mazo, Francisco J. Rodríguez, José L. Lázaro, Jesús Ureña, Juan C. García, Enrique Santiso, Pedro
Revenga, J. Jesús García, Wheelchair for physically disabled people with voice, ultrasonic and infrared sensor
control
[2] Gunda Gautam, Gunda Sumanth, Karthikeyan K C, Shyam Sundar, D.Venkataraman , “Eye Movement Based
Electronic Wheel Chair For Physically Challenged Persons”.
[3 ] Prof. Vishal V. Pande, Nikita S.Ubale, Darshana P. Masurkar, Nikita R. Ingole, Pragati P,” Hand Gesture
Based Wheelchair Movement Control for Disabled Person Using MEMS”.
[4]Mohammed Asgar, Mirza Badra, Khan Irshad and Shaikh Aftab, “Automated Innovative Wheelchair.”
Xiaoluet.al. "Robot control design based on smartphone." Control and Decision Conference (CCDC), 2013
25thChinese. IEEE, 2013.
[5] Yeon-Gyunkim et.al. "Smartphone-controlled user calling system for a mobile robot."Robotics (ISR), 2013
44th International Symposium on. IEEE, 2013.
[6] Rouanet, Pierre, et.al. "The impact of human– robot interfaces on the learning of visual objects." Robotics,
IEEE Transactions on 29.2 (2013): 525-541.
[7] Tatiana Alexenko et.al. "Android-based speech processing for eldercare robotics." Proceedings of the
companionpublication of the 2013 international conference on intelligent user interfaces companion. ACM, 2013.
[8] M. Young, The Technical Writer’s Handbook. Mill Valley, CA: University Science, 1989.
[9] https://developer.android.com/training/basics/firstapp/index.ht ml
[10] Arpit Sharma, ReeteshVerma, Saurabh Gupta and Sukhdeep Kaur Bhatia, “Android Phone Controlled Robot
Using Bluetooth”, International Journal of Electronic and Electrical Engineering. Volume 7, Number 5 (2014),
pp. 443-448
[11] A. Sharma, J. Mondal, C. Pandey, R. Kumar and A. Bhattacharya, “IoT Based Home Automation System”;
Advances in Applied Science; Volume 2017; Article ID 100005, pp. 01-06; Feb. 2017
55
56

Black Book 2019

Uploaded by

Copyright:

Available Formats

Black Book 2019

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Black Book 2019

Uploaded by

Copyright:

Available Formats

Bluetooth Control Wheelchair 2018-2019

Bluetooth Control Wheelchair

SHUBHAM SAWANT (1927)

Under the Guidance of

DEPARTMENT OF COMPUTER TECHNOLOGY

2.1 Stages of Paralysis

3.1 Software Requirement

4.1 Implementation and Description

A robot is an electromechanical machine that is controlled by computer program to perform

2.1 Stages of Paralysis:

Reasons of Paralysis are:

2.2 Types of Paralysis:

 Spinal cord infections

Concerning human disability following wheelchairs has been developed

2.3.1 Manual Wheelchair:

2.3.2 Electronic Wheelchair:

2.3.3 Hand Gesture Controlled Wheelchair:

Hand gesture control wheelchair

Introduction: Arduino is an open-source electronics platform based on easy-to-use hardware and

3.1 Software Requirement

3.2 Hardware Requirement

Power (Barrel Jack)

Pins (3.3, 5, GND, Vin)

 3.3V (6) − Supply 3.3 output volt

 5V (7) − Supply 5 output volt

Power LED indicator

Bluetooth Module HC -05

DC motor 200 rpm

4.1 Implementation and Description

1. Type the code in Arduino IDE

1. Connect your Arduino using the USB cable.

2. Choose Tools→Board→Arduino Uno to find your board in the Arduino menu.

3. Choose the correct serial port for your board.

4. Click the Upload button.

2. Click on “SELECT DEVICE” icon to select paired Bluetooth module.

8. Click on “DISCONNECT” icon to disconnect paired Bluetooth module.

4.2 Data Flow Diagram:

4.3 Sequence Diagram

4.3 Snapshots and other images

Given below is the code for wheelchair:

Sr Test objectives Pre steps input Expected Actual statu

This method consists of following activities:

1. Determination of system requirements

Sr no Components quantity rate value

You might also like