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WIRELESS CONTROL OF POWERED WHEELCHAIR WITH TONGUE MOTION USING TONGUE DRIVE ASSISTIVE TECHNOLOGY

By D. Naga Bramhendra 10091D5504 M.Tech(E.S)

Under the Guidance of Mr. K. Mallikarjuna Associate prof., ECE, RGMCET

Abstract: Tongue drive system(TDS) is a tongue operated wireless assistive technology. Control commands were generated by tongue motion which uses a small permanent magnet.

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Wireless Control of Powered Wheelchairs with Tongue Your Sub Points Drive Assistive Technology Motion Using Tongue
1. Transmitter Section
Regulated power supply

Magnet

Hall effect sensor Modules

RF Transmitter

Selection Switch Crystal Oscillator Reset

ARM-7 LPC2148 Micro controller

RF Encoder

LED indicators

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Receiver section:
Wireless Control of Powered Wheelchairs with Tongue Motion Using Tongue Drive Assistive Technology 2.Receiver at devices Regulated power supply

RF Receiver

Relay driver

Relay

RF Decoder Crystal Oscillator Reset

Micro controller

TRIAC driver

TRIAC

LED indicators

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INSIGHTS

Hall effect sensor Wheel chair control

Hall Effect sensors for sensing position, motion, magnetic fields fluid flow, power, or pressure

Controlling direction of wheelchair by administrating DC motor with l293d RF communication (433MHz) HT12D, HT12E

W/L comm ARM7 What's next

ARM7 TECHNICAL features

Programming ARM7

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Specific components you may need

L293D - Motor driver Drive a pair of DC motors/Geared Motors Motor supply voltage can go up to 24Volts Maximum of only 600mA current/channel Enough to drive small DC geared motors

Remember to add 0.22uF capacitors across both the motors to reduce the effect of noise on the circuitry
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Wired / Wireless Remote control Wireless remote control complexes the circuitry But you can get rid of that long wired tail dangling out of your remote control robot Easiest solution would be to hack those cheap wireless toy cars, take their electronic guts out and use them in your robot For more flexibility, you can build a custom remote control system

Use RF Tx/Rx modules and encoder/decoder ICs

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Hall effect sensor magnetic field:

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Unipolar slide on mode

Unipolar head-on mode

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Bipolar slide mode

Bipolar ring magnet

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ARM7 PROCESSOR MODES

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PROGRAM STATUS REGISTER

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ARM AND THUMB INSTRUCTIONS

A Presentation

ARM & THUMB code densities

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Transmission code:
#include <LPC21xx.H> #include "lcd_lpc2.h" #define IODIR_INPUT_DIR 0x00000000 #define IODIR_OUTPUT_DIR 0xFF000000 int main() { lcd_init1(); lcd_init1(); lcd_init1(); IODIR0 = IODIR0 | IODIR_INPUT_DIR; IODIR1 = IODIR1 | IODIR_OUTPUT_DIR; message(0x80,"WHEEL CHAIR"); while(1) { if((IOPIN0 & 0x00008000)==0) { message(0xc0,"SW1"); IOCLR1=0xF0000000; IOSET1=IOSET1 | 0x80000000; delay(100); }

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if((IOPIN0 & 0x00010000)==0) { message(0xc0,"SW2"); IOCLR1=0xF0000000; IOSET1=IOSET1 | 0x40000000; delay(100);

}
if((IOPIN0 & 0x00020000)==0) { message(0xc0,"SW3"); IOCLR1=0xF0000000; IOSET1=IOSET1 | 0x20000000; delay(100); } if((IOPIN0 & 0x000040000)==0) { message(0xc0,"SW4"); IOCLR1=0xF0000000; IOSET1=IOSET1 | 0x10000000; delay(100); } } }

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Reception code:
#include <LPC21xx.H> #include "lcd_lpc2.h" #define IODIR_INPUT_DIR 0x00000000 #define IODIR_OUTPUT_DIR 0xFF000000 int main() { lcd_init1(); lcd_init1(); lcd_init1(); IODIR0 = IODIR0 | IODIR_INPUT_DIR; IODIR1 = IODIR1 | IODIR_OUTPUT_DIR; message(0x80," RECEIVER SIDE"); while(1) { if((IOPIN0 & 0x00008000)==0x00008000) { message(0xc0,"FORWORD "); IOCLR1=0xF0000000; IOSET1=IOSET1 | 0xA0000000; delay(100); }

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if((IOPIN0 & 0x00010000)==0x00010000) { message(0xc0,"LEFT "); IOCLR1=0xF0000000; IOSET1=IOSET1 | 0x80000000; delay(100); } if((IOPIN0 & 0x00020000)==0x00020000) { message(0xc0,"RIGHT "); IOCLR1=0xF0000000; IOSET1=IOSET1 | 0x40000000; delay(100); } if((IOPIN0 & 0x00040000)==0x00040000) { message(0xc0," STOP "); IOCLR1=0xF0000000; IOSET1=IOSET1 | 0xf0000000; delay(100); } } }

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Limitations Good only in close proximity Must have a reference point Magnetic field must be present Must be calibrated

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 Problems encountered

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THANK YOU

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