Patent Search and Analysis Report (PSAR)

Reports

Submitted as a part of the

PROJECT REPORT

“Step Climbing Smart Wheelchair For Physically

Challenged People”
Submitted by

Gediya Ajay J. (171023109012)

Bagada Ketan M. (171023109001)
Mansuriya Parth G. (171023109028)
Vinzuda Ashish R. (171023109054)
In partial fulfillment for the award of
The degree of

BACHELOR OF ENGINEERING
In
Electrical Engineering Department
OM Engineering College, Junagadh

Gujarat Technological University

Ahmedabad
 OM Engineering College,

Junagadh

DECLARATION

We hereby declare that the PSAR Reports, submitted along with the Project Report for the project
entitled“Step Climbing Smart Wheelchair For Physically Challenged People” submitted in partial
fulfillment for the degree of Bachelor of Engineering in Electrical Engineering to Gujarat
Technological University, Ahmedabad, is a bonafide record of the project work carried out at OM
Engineering College under the supervision of Mr. Mehul M. Baraiya and that no part of any of
these PSAR reports has been directly copied from any students’ reports or taken from any other
source, without providing due reference.

Name of the students Sign of Students

Gediya Ajay J.
Bagada Ketan M.
Mansuriya Parth G.
Vinzuda Ashish R.

December 2019
 Acknowledgement

First, we would like to thank our college OM ENGINEERING COLLEGE,

JUNAGADH for giving us the opportunity to develop this project.
We want to thank a number of people at our institute for helping us to solve the
queries of subject related and finding the solution of various critical problems that we
face during developing this site.
We want to thank Prof. N. D. Joshi (HOD, OEC Junagadh) and Prof. M.M.
Baraiya (Faculty guide) for encouraging us to develop this project.
We want to thank many of our faculties at our college for taking keen interest in
this project, helping us to solve many queries, suggesting guidelines, feedbacks and
suggestions to shape this project better.
 LIST OF FIGURE
FIGURE NO. NAME OF FIGURE PAGE NO.
1 Block diagram
2 Circuit simulation
3 Circuit diagram
4 PMDC Motor
5 Motor driver circuit(L298N)
6 Arduino
7 Pin diagram
8 Joystick module
9 Linear Actuator
10 Rear wheel
11 Caster wheel
12 Battery
13 Battery charger
14 Track belt
15 Pulley with grooved
 Abstract

We are observing that the lamb, handicapped or physically disabled peoples are
facing many problems about walking; majorly problem is to climb the stairs. In solution
to this problem, we are proposing the solution for these kinds of people and to help them
in their daily life. We will be developing an electrically powered Step Climbing Smart
Wheelchair, which will be driven on flat roads, surface, and climb the stairs as well.
There will be two modes, first is SCM (Step Climbing Mode) and second is SDM
(Surface Driving Mode). Motors will drive the system and Joy Stick can control it. So
it can be easily handled by any kind of physically disabled people, used in versatile
manner and they can solely operate the wheelchair. It will help physically challenged
people to have a confident, independent and joyful life and making their life much easier
will make us proud.
 CHAPTER: 1
Introduction

We are developing a prototype model of an electrically powered “Step Climbing

Smart Wheel chair”, which will be driven on flat roads and surface, and climb the stairs
as well. There will be two modes, first is SCM (Step Climbing Mode) and second is
SDM (Surface Driving Mode).
DC motors will drive the system and the Joy Stick can control it. So it can be
easily handled by any kind of physically disabled people, used in versatile manner and
they can solely operate the wheelchair.
It will help physically challenged people to have a confident, independent and
joyful life and making their life much easier will make us proud.
 CHAPTER:2
Literature Review

Research Paper Name Author Name Published By Summary

“Eye Movement Based G.Gautam,G.Sumanth, International Journal Of  Bio-Potential Based

Electronic heel Chair Karthikeyan k c, Scientific & Technology Method
For Physically S.Sundar, Research IJSTR,  Voice Based
Challenged Persons’’ D.venkataraman February – 2014 Methods
 Motion Based

“Wireless Gesture Rajesh Kannan International conference  Bluetooth based

Controlled Wheelchair Megalingam, Sarath on Advanced Computing controlling.
” Srekanth, Govardhan and Communication  Hand and finger
A, Chinta Ravi Teja, Systems IEEE, January – based controlling
Akhil Raj 2017 (gesture control).

“Stair-Climbing Wheel R.K. Brown, U.S.patent March-1965  Star Wheel Method

Chair” J.G.Beneke

“Stability Analysis Of Jianjan yuan IEEE research institute  The eight leg wheel
Wheelchair Robot of robotic, sanghai Jiao with electric
Based On Human In tong university china, actuator.
The Loop Control February – 2009  Step edge detecting
Theory” using distance
sensor(ultrasonic
 sensor).

2.1 BLOCK DIAGRAM:-

2.2 Circuit diagram:-

Fig: Circuit diagram

 In our project, we have a using Arduino Uno R3, two PMDC motors, motor
controller L298N, Joy Stick electric actuators and 12v battery.
 Joy Stick connected to microcontroller Atmega 238 with 5 volts and ground.
 VRx connects to A0 and VRy connected to pin of A1 micro controller The
 L289N motor controller has 4 output pins (2, 3, 13, 14) connected to the motor-1
and motor-2.
 The pin of the motor controller is connected to a 12 volt battery on Vs4.

 The pins attached to the microcontroller are shown below:-

 The pin number 8 of the motor controller is connected to the ground.

 The pin of motor controller number 5 (IN1) is connected to pin number 4 of the
microcontroller.
 The pin of the motor controller's number 7 (IN2) is connected to the pin number
5 (PWM) of the microcontroller.
 The pin of the motor controller's number 10 (IN3) is connected to the pin number
6 (PWM) of the microcontroller.
 The pin of L298N's 12 (IN4) number is connected to pin number 7 of the
microcontroller.
 The pin of L298N's 6 (ENA) is connected to the pin number 9 (PWM) of the
microcontroller.
 The pin of L298N's 11 (ENB) is connected to the pin number 10 (PWM) of the
microcontroller.
 Description of circuit simulation:-

Fig: circuit simulation

 We have generated program using Compiler software to create a circuit and load
it into a microcontroller.
 There are 2 resistors in our circuit. First register is to move the chair left and
right. The second register is to move the chair forward and Reverse. When the
 push button is pushed, the First Register will start working and send the signal to
Ad0, then it will generate the signal based on microcontroller programming to
turn the motor-1 ON and put it in the forward-condition and the motor-2 OFF so
that it can move on the direction.

2.3 Working principle:-

 This Step Climbing Wheelchair is mainly divided into two Modes as shown in
the Figure…

• The First one is SCM (Step Climbing Mode)

• Second is SDM (Surface Driving Mode)
• Here we used the Electric motor to drive it easily and so it can be user
friendly and controlled by Joy Stick Controller.

 Linear Electric Actuator will be very helpful here because it will give support to
the wheelchair as well as keep it Stable during step climbing mode.
2.4 Problems we are solving and Gains we are Creating:-

2.4.1 WE ARE SOLVING

 Stair climbing is not possible.

 It does not work properly on Hilly Areas.

 It required someone to drive it.

 Physically damaged people control it properly.

 Cannot use for longer distance movement.

2.4.2 WE ARE CREATING

 To provide Step Climbing in any Situation.

 By using Joystick Controller, the person can easily control this wheel chair by
single hand.

 This wheel chair is driven by Electric motor so no need of extra person to drive
it.

 Easily Operated by the Elder and Disabled persons independently.

 We are using Belt wheel method to provide Grip between belt and Steps.
 CHAPTER:-3
CONSTRUCTION

3.1 List of Components:-

 PMDC motor
 Motor Driver Circuit
 Arduino UNO
 Joy stick module
 Linear actuator
 Rear Wheel
 Caster Wheel
 Battery
 Battery Charger
 Track Belt
3.2 BASIC DETAIL OF WHEEL CHAIR PARTS
3.2.1 PMDC Motor:-

 In our project we are used PMDC Geared Motor (Permanent Magnetic DC

Motor).
 It is operated on 12V DC also Low Speed and Large Torque Motor has stable and
reliable performance.
 In the Construction of PMDC motor the field poles of the motor are made of
Permanent Magnet. The working principle of PMDC motor is just similar to the
general working principle of DC motor.
 That is when a carrying conductor comes inside a magnetic field, a mechanical
 force will be experienced by the conductor and the direction of this force is
governed by Fleming’s left hand rule
 As in a permanent magnet DC motor, the armature is placed inside the magnetic
field of permanent magnet and the armature rotates in the direction of the
generated force.
 Each conductor of the armature experiences a force and the compilation of those
forces produces a torque, which tends to rotate the armature

3.2.2 Motor Driver Circuit:-

Fig:Motor Driver Circuit

 The L298N is a dual H-Bridge motor driver which allows speed and direction
control of two DC motors at the same time.
 If the motor supply voltage is up to 12V we can enable the 5V regulator and the
 5V pin can be used as output, for example for powering our Arduino board.
 Using the L298N if straight forward. If you want the left motor to rotate in one
direction, apply a high pulse to IN1 and a low pulse to IN2. To reverse the
direction, reverse the pulses to IN1 and IN2. The same applies to the
right motor.
 The device can be used to drive one or two DC motors, a PMDC motor, or other
loads. A simple PWM interface allows easy interfacing to controller circuit

3.2.3 Arduino:-

Fig: Arduino

 Arduino consists of both a physical programmable circuit board and piece of

software that runs of your computer, used to write and upload computer code to
a physical board.
 Arduino does not need a separate piece of hardware in order to load new code
on to the board you can simply use USB cable.
3.2.4 Different sections of Arduino:-
1) Reset Button
 This will restart any code that is loaded to the Arduino board. 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 (1) on the board.
Second, you can connect an external reset button to the Arduino pin labeled
RESET.
2) AREF
 Stands for “Analog Reference” and is used to set an external reference voltage.
 Alternatively, you can connect the external reference voltage to the AREF pin
through a 5K resistor, allowing you to switch between external and internal
reference voltages. Note that the resistor will alter the voltage that gets used as
the reference because there is an internal 32K resistor on the AREF pin.
3) Ground Pin
 There are several GND pins on the Arduino, any of which can be used to
ground your circuit.
4) Digital Input/output
 Pins 0-13 can be used for digital input or output. On all these pins you can
attach the tools used in the output.
5) PWM
 The pins marked with the (~) symbol can simulate analog output. PWM, is a
technique for getting analog results with digital means. Digital control is used to
create a square wave, a signal switched between on and off. This on-off pattern
can simulate voltages in between full on (5 Volts) and off (0 Volts) by changing
the portion of the time the signal spends on versus the time that the signal
spends off. The duration of "on time" is called the pulse width
6) USB Connection
 “USB" is used to connect Arduino circuit to Arduino software and to upload the
program written in Arduino Controller IC.

7) TX/RX
 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.
8) ATmega328p Microcontroller
 This is the brains and is where the programs are stored.
9) Power LED Indicator
 This LED lights up anytime the board is plugged in a power source. 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.
10) 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.
11) DC Power Barrel Jack
 Arduino boards can be powered directly from the AC mains power supply by
connecting it to the Barrel Jack (11).
12) 3.3V Pin
 This pin supplies 3.3 volts of power to our projects
13) 5V Pin
 This pin supplies 5 volts of power to our projects
14) Ground Pins
 There are a few ground pins on the Arduino and they all work the same
15) Analog Pins
 These pins can read the signal from an analog sensor and convert it to digital.
The Arduino UNO board has five 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.
16) Crystal Oscillator
 The crystal oscillator helps Arduino in dealing with time issues. 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

3.2.5 Programming of Arduino:-

 Once Arduino IDE is installed on the computer, connect the board with computer
using USB cable.
 Now open the Arduino IDE and choose the correct board by selecting
Tools>Boards>Arduino/Genuine Uno, and choose the correct Port by selecting
Tools>Port.
 Arduino Uno is programmed using Arduino programming language based on
Wiring. To get it started with Arduino Uno board and blink the built-in LED, load
the example code by selecting Files>Examples>Basics>Blink.
 . Once the example code is loaded into your IDE, click on the ‘upload’ button
given on the top bar.
 Once the upload is finished, you should see the Arduino’s built-in LED blinking.

3.2.6 Joy Stick Module:-

 Fig: Joy Stick Module

 A joystick is an input device consisting of a stick that pivots on a base and

reports its angle or direction to the device it is controlling.
 Joysticks are often used to control video games, and usually have one or more
push-buttons whose state can also be read by the computer.
 How to connect with Arduino
 Connect the VCC on the joystick module with the 5V pin on the Arduino.
 Connect the GND pin on the joystick module with the GND on the Arduino.
 Connect the VRx pin on the joystick module with the A0 on the Arduino.
 Connect the VRy pin on the joystick module with the A1 on the Arduino.

3.2.7 Linear Actuator:-

 Fig: Linear Actuator

 Linear actuator operated on 24 volt or 2 volt DC.

 A linear actuator is a mechanical device that converts energy (power from air,
electricity or liquid) to create motion in a straight line; contrasted with circular
motion of a conventional electric motor.
 It can also be used to apply force.
 Types of motion include: blocking, lifting, clamping, descending, pushing or
pulling

3.2.8 Rear Wheel:-

 Fig: Rear Wheel

 With the help of Rear wheel the wheelchair can move Forward, Reverse, Left
and Right.
 These two wheels can lift all the weight of the wheelchair.
 Wheels are connected with the motors and so with the help of this motor the
Wheels are driven.
 The large wheel provide stability and it follow the small wheels when the chair
moves forward.

3.2.9 Caster wheel:-

 Fig: Caster wheel

 Casters wheels are connected to the front of wheelchair itself with caster
housings.
 These two small wheels at the front of the wheelchair can Move in every
possible direction.
 A wheel is a round object, usually with a centre hole for a spindle.
 Castors wheels are mostly made of rubber, nylon, iron, cast iron, pneumatic,
semi-pneumatic.

3.2.10 Battery:-
 Fig: Battery

 Battery is a device that convert chemical energy to electrical energy.

 Battery gives 12 volt dc supply.
 Batteries are a collection of one or more cells whose chemical reactions create a
flow of electrons in a circuit.
 Batteries which are thrown away after use are known as Primary batteries.
Batteries which can be recharged are called Secondary batteries.

3.2.11 Battery Charger:-

 Fig: Battery Charger

 A battery charger or recharger is a device used to put energy into rechargeable

battery by forcing an electric current through it.
 The charging protocol depends on the size and type of the battery being charged.
 Battery charger required few hours to charge the battery.

3.2.12 Track Belt:-

 Fig: Track Belt
 We used Rubbered Caterpillar Belt.
 With the help of Caterpillar belt wheelchair will climb the stairs.
 It can maintain grip with Stair to perform stable Operation in step climbing
mode.
 Also it can climb any size of Stair.
 It can move on any type of stair and cannot slip on any type of slop.
3.3 Future work:-

 In the future, we will make a modal of step climbing smart wheelchair.

 And also, we will add electric actuator to keep the chair stable during the step
climbing mode.
 Battery level indication is best feature to know about the battery life.
 Magnetic Break will give a more efficient and accurate results to this
Wheelchair so we used this break instead of Mechanical Break.
3.4 Advantages:-
 High Torque
 Speed control is possible
 Easy to operate
 High stability in step climbing
 Eco friendly

3.5 Disadvantages:-
 Initial cost is high
 Complicated design

3.6 Application:-

3.7 Conclusion:-
 In the comparison between Manual Wheelchair and Power wheelchair the STEP
CLIMBING SMART WHEELCHAIR is the best among this above mentioned
chair therefore it is proved to be most helpful to the Handicapped/Disabled
Peoples.

 By using this wheelchair the disabled person can handle by using only one hand.
So with the use of 'track belt and wheel mechanism' it can maintain the grip with
stair and no need to worry about chair of being out of control and also with the
use of linear actuator we can stable the chair.

 Hence the stairs are at different angles thereby it will not fall down or there will
not be any problem to climb any kind of stairs.