Birla Vishvakarma Mahavidyalaya
(An Autonomous Institution)
Electronics Engineering
Department
Project Title: Automatic Voice Controlled Wheelchair Using Arduino UNO and
Bluetooth Module
Team members: Juhi Pamnani, Krinal Prajapati & Vidhi Joshi
ID No: 22EL078, 22EL069 & 22EL058
Batch: C04
A.Y. 2023-2024
Teaching Faculty: Prof. Parul .H. Panchal
Subject Coordinator: Prof. D .L .Vala
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A.Y. – 2022-2023
Birla Vishvakarma Mahavidyalaya (Engineering College)
An Autonomous Institution, Vallabh Vidyanagar
Electronics Engineering Department
VISION:-
“Produce globally employable innovative engineers with core values”
Mission:-
Re-engineering curricula to meet global employment requirements.
Promote innovative practices at all levels.
Imbibe core values.
Reform policies, systems and processes at all levels.
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CERTIFICATE
This is to Certify that JUHI PAMNANI, KRINAL PRAJAPATI & VIDHI
JOSHI of 2nd Year (4th Semester), ID NO. 22EL078 , 22EL069 & 22EL058 has
Completed their Term Work In The Subject MINI PROJECT (2EL31)
Satisfactorily in The Department Of Electronics Engineering In The Academic
Year 2023-24.
Teaching Faculty Subject Coordinator
Prof. Parul .H. Panchal Prof. D .L. Vala
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ACKNOWLEDGMENT
To everyone who helped make this project report a success, Iwould like to
extend my sincere gratitude.
First and foremost, I would want to express my sincere gratitude to Prof. Parul
.H. Panchal, who has been my projectsupervisor, for all of their help and
guidance throughout the project.
I also want to express my gratitude to my teammates, for theircommitment,
diligence, and spirit of cooperation.
I am appreciative of Prof. D.L.Vala for his insightful criticismand
recommendations, which have improved the report's content.
I would like to express my gratitude to Birla Vishwakarma Mahavidhalaya for
their assistance and collaboration, as well asfor the facilities and resources they
supplied, all of which were crucial to the project's successful completion.
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ABSTRACT
The needs of many individuals with disabilities can be satisfied with traditional
manual or powered wheelchairs, a segment of the disabled community finds it
difficult or impossible to use wheelchairs. There is an extensive research on
computer- controlled chairs where sensors and intelligent control algorithms has
been used to minimize the level of human intervention. This project describes a
wheelchair for physically disabled people. Our goal is to design and develop a
system thatallows the user to vocally interact with the wheelchair at different
levels of the control and sensing. A dependent-user recognition using a Bluetooth
control device, which is voice integrated with wheelchair. A wheelchair can be
driven using simple voice command, which is the basic forward and backward
instruction with the possibility of avoiding obstacles. Our project Automatic
wheelchair basically works on the principle of an Arduino microcontroller
processes the voice command from the speech recognition module and controls
the motor movement of the wheelchair. Bluetooth module was also used to do
away with messy wiring and an optional joystick command was also incorporated
into the prototype design. The success rate of the wheelchair to recognize the
voice commandsin English, Chinese and Malay was high. The overall cost of the
prototype was kept low to make it affordable.
We are trying to build a controlled wheelchair; the system will understand and
obeys natural language motion commands such as “Take a right.” Various
technologies are used for developingsuch a system.
The tools and equipment needed are Arduino UNO microcontroller Motor drive
to provide Electrical supply to themotors, Motors with wheels, Lithium battery
for the power supply, Bluetooth Module along with its App, Arduino IDE 2
programming.
Keywords— vocally interact, Bluetooth module, simple voicecommand,
Arduino App.
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LIST OF FIGURES
Figure 1 BLOCK DIAGRAM......................................... Error! Bookmark not defined.
Figure 2 CIRCUIT DIAGRAM OF AUTOMATIC WHEELCHAIR .......................... 10
Figure 3 PIN DIAGRAM OF ARUDINO ...................................................................... 11
Figure 4 ORIGINAL LOOK OF WHEELCHAIR ......................................................... 14
Figure 5 ORGINAL UPPER LOOK OF WHEELCHAIR ............................................. 15
Figure 6 ORGINAL SIDE LOOK OF WHEELCHAIR................................................. 15
Figure 7 WORKING WHEELCHAIR ........................................................................... 15
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TABLE OF CONTENTS
TITLE AND COVER PAGE ........................................................................................................................................ 1
ACKNOWLEDGMENT ........................................................................................................................................... 1
ABSTRACT............................................................................................................................................................ 2
1 INTRODUCTION .............................................................................................................................................. 5
1.1 PROBLEM SUMMARY............................................................................................................................... 5
1.2 AIM AND OBJECTIVE ................................................................................................................................ 5
1.3 COMPONENTS USED................................................................................................................................ 6
1.4 BLOCK DIAGRAM ..................................................................................................................................... 6
2 DESIGN ............................................................................................................................................................ 9
2.1 WORKING ................................................................................................................................................. 9
2.2 PIN DIAGRAM OF ARDUNIO UNO............................................................................................................ 11
3 IMPLEMENTATION
3.1 ACTUAL IMPLEMENTATION ............................................................................................................ 12
Overview of the Architecture .................................................................................................................... 12
Development Environment Setup ............................................................................................................. 12
Code Implementation ................................................................................................................................ 12
Integration of Components........................................................................................................................ 14
3.2 RESULTS ............................................................................................................................................... 14
Performance Metrics ................................................................................................................................. 14
Success Criteria ......................................................................................................................................... 14
3.3 SNAPSHOTS .......................................................................................................................................... 14
GUI Screenshots ....................................................................................................................................... 14
3.5 TESTING AND VERTIFICATION ....................................................................................................... 16
List of Test Cases ...................................................................................................................................... 16
Manual Testing Procedures ....................................................................................................................... 16
Validation against Requirements .............................................................................................................. 16
4 SUMMARY ...................................................................................................................................................... 17
4.1 ADVANTAGES AND FUTURE SCOPE ....................................................................................................... 17
4.2 CONCLUSION ......................................................................................................................................... 18
REFRENCES ........................................................................................................................................................ 19
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1 INTRODUCTION
This project is related to controlling a wheel chair by means of human
voice. The objective of this project is to facilitate the movement of
people who are disabled or handicapped. Speech recognition
technology is used to move the wheel chair. The result of this project is
show that this can be used for future research work and publicinterest.
1.1 PROBLEM SUMMARY
What is the exact problem we are trying to solve?
Speech signals are the most important means of communication in human beings.
Almost every conversation to interact is done by means of voice signals. Sounds
and various speech signals can be converted into electrical form using a
microphone.
Physical disability can occur due to multiple reasons like injuries from
accident, age related & health problems.
Wheelchair is used to provide a mode of transportation for such disabled people
with impairments in hands and legs. People with such issues like paralytic people
find it difficult to operate the wheelchair manually or using a remote assembly.
For such people the project is designed to work on voice based commands so that
the paralytic or disabled person can give direction commands by just speaking
into the microphone given. The overall cost of the prototype was kept low to
make itaffordable.
1.2 AIM AND OBJECTIVE
The aim of this Voice Controlled wheel chair is makes iteasy for physically
disabled person who cannot control their movements of hands and Legs. It also
assist and support paraplegics
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1.3 COMPONENTS USED
Arduino Uno Board
Arduino Cable
Motor Driver Module (L293D)
Motors – 2
Centre Wheel
Wheels - 2
Bluetooth module (HC-05)
Lithium battery
Jumper wires (both male and female)
Android App – Arduino BlueControl (Google Playstore)
1.4 BLOCK DIAGRAM
Figure 1 BLOCK DIAGRAM
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1.5 DISCRIPTION OF THE COMPONENTS USED
Arduino Uno Board:- The Arduino Uno is a microcontroller
board based on the ATmega328
(datasheet). It has 14 digital input/output pins (of which 6 can be used as
PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB
connection, a power jack, an ICSP header, and a reset button. It is used to fed
thedesired code into the system.
Motor Driver Module (L293D):- The L293D is designed to provide
bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V.
Both devices are designed to drive inductive loads such as relays, solenoids,
DC and bipolar stepping motors, as well as other high-current/high- voltage
loads in positive-supply applications.
Bluetooth module (HC-05):- The HC-05 is a class 2 Bluetooth module
designed for transparent wireless serial communication. It is pre-configured
as a slave Bluetooth device. Once it is paired to a master Bluetooth device
suchas PC, smart phones and tablet, its operation becomestransparent to the
user.
Motors:- The word "motor" refers to any power unit that generates motion.
An electric motor is a device used to convert electrical energy into
mechanical energy.
Lithium battery:- A lithium-ion battery is a type of rechargeable battery
that is charged and discharged bylithium ions moving between the negative
(anode) andpositive (cathode) electrodes.
Centre Wheel:- Centre wheel is one of the three moving parts in the gear
train of a mechanical watch. It is located at the beginning of the gear train
between the barrel and the third wheel. The center wheel is usually located in
the centerof the movement and makes one revolution in 60 minutes.
Jumper wires:- A Jump wire (also known as jumper, jumper wire, DuPont
wire) 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.
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Android App – Arduino BlueControl :- ArduinoBlue is an easy to use
iOS/Android application that allows Arduino control over Bluetooth. This
app can be used to control your Arduino by sliders, buttons, and a joystick.
Custom sliders and buttons can be used to interface with electronics
components such as actuators and sensors connected to the Arduino.
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2 DESIGN
2.1 WORKING
Firstly, identify these components. Secondly we have to cut thefoam paper and
glue them together and make a prototype of thewheelchair. Then, attach the
motor shield to the Arduino boardand glue it to the prototype. Then, connect the
motors to the motor driver shield. To do this, use the circuit diagram below.
Then we will upload the Arduino Code through the cable intothe Arduino
board.
Then, remove the two forward slashes in front of the “Bluetooth control” function.
OK, now download and install the app.
After, run this application and click the setting button. Then, click the “voice
commands configuration ” button and include the commands one by one.
This project involves voice recognition module which will recognize the voice of
the user and process the command of the user and send it to the Arduino. The user
has to save the differentvoice commands in voice recognition module before use it
to control the direction of the wheelchair. Arduino is a microcontroller based
board which accepts data. The Arduino board based on the Atmega328
microcontroller processes the data and determines which motor will be activated.
User can alsochange the direction of the wheel chair.
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2.2 CIRCUIT DIAGRAM
Figure 2 CIRCUIT DIAGRAM OF AUTOMATIC WHEELCHAIR
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2.3 PIN DIAGRAM OF ARDUNIO UNO
Figure 3 PIN DIAGRAM OF ARUDINO
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3 IMPLEMENTATION
Creating a voice-controlled wheelchair using Arduino involves several key components
and steps. Below is a structured implementation plan, including the necessary hardware,
software, and testing procedures.
3.1 ACTUAL IMPLEMENTATION
Overview of the Architecture
Microcontroller: Arduino Uno
Voice Recognition Module: Elechouse Voice Recognition Module V3
Motor Driver: L298N Motor
DC Motors: High torque DC motors for wheelchair movement
Power Supply: lithium battery
Chassis: Wheelchair frame
Development Environment Setup
Arduino IDE: Install and set up the Arduino Integrated Development
Environment (IDE)
Code Implementation
#include <AFMotor.h>
#define Echo A0
#define Trig A1
#define Speed 115
char command;
AF_DCMotor leftMotor(1);
AF_DCMotor rightMotor(2);
void setup() {
Serial.begin(9600);
pinMode(Trig, OUTPUT);
pinMode(Echo, INPUT);
leftMotor.setSpeed(Speed);
rightMotor.setSpeed(Speed);
}
void loop() {
voiceControl();
}
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void voiceControl() {
if (Serial.available() > 0) {
command = Serial.read();
Serial.println(command);
switch(command) {
case '^':
moveForward();
break;
case '-':
moveBackward();
break;
case '<':
turnLeft();
break;
case '>':
turnRight();
break;
case '*':
stopMovement();
break;
default:
// Handle unexpected command
Break }
void moveForward() {
leftMotor.run(FORWARD);
rightMotor.run(FORWARD);
}
void moveBackward() {
leftMotor.run(BACKWARD);
rightMotor.run(BACKWARD);
}
void turnLeft() {
leftMotor.run(FORWARD);
rightMotor.run(RELEASE);
}
void turnRight() {
leftMotor.run(RELEASE);
rightMotor.run(FORWARD);
}
void stopMovement() {
leftMotor.run(RELEASE);
rightMotor.run(RELEASE);
}
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Integration of Components
Motor Connections: Connect the DC motors to the motor driver and then to the
Arduino.
Voice Module Connections: Connect the voice recognition module to the
designated RX and TX pins of the Arduino.
Power Supply: Ensure all components receive the correct voltage from the
battery pack.
3.2 RESULTS
Performance Metrics
Response Time: The time taken for the wheelchair to respond to voice
commands is very less.
Accuracy: The accuracy of the voice recognition module in quite environment is
high as compare to noise environment.
Success Criteria
The wheelchair responds accurately and promptly to voice commands.
The system can handle continuous operation without failure.
3.3 SNAPSHOTS
GUI Screenshots
Figure 4 ORIGINAL LOOK OF WHEELCHAIR
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Figure 5 ORGINAL UPPER LOOK OF WHEELCHAIR
Figure 6 ORGINAL SIDE LOOK OF WHEELCHAIR
Figure 7 WORKING WHEELCHAIR
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3.5 TESTING AND VERTIFICATION
List of Test Cases
Test for each command: Go, left, right, stop.
Test in various environmental conditions: quiet room, noisy environment.
Manual Testing Procedures
Physically test the wheelchair in a controlled environment to ensure it responds
correctly to voice commands.
Bluetooth Communication
Establish Bluetooth communication between the Arduino Uno and a smartphone
or any other Bluetooth-enabled device.
Develop a simple mobile application or use an existing one to send voice
commands from the smartphone to the Arduino Uno via Bluetooth.
Validation against Requirements
Ensure the system meets all predefined requirements and specifications.
By following this structured approach, you can ensure a comprehensive and well-
documented implementation of a voice-controlled wheelchair using Arduino.
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4 SUMMARY
4.1 ADVANTAGES AND FUTURE SCOPE
Speech recognition is a technology that people can control the system with their
speech. Instead of typing on the keyboard or operating the buttons for the system,
using speech to control system is more convenient. It can also reduce the cost of
the industry production at the same time. Robotic wheelchairs haveenhanced the
manual wheelchairs by introducing locomotion controls. These devices can ease
the lives of many disabled people, particularly those with severe impairments by
increasing their range of mobility.
Services are available to interact with these 'smart objects' overthe Internet, query
and change their state and any information associated with them, taking into
account security and privacy issues. Smart wheel chair can be part of internet of
things and help the patients in their profession and other household work like bill
payment etc.
Patients home and environment can be automated using the raspberry pi to
extend the comfort of the patients. E.g. Doors could be controlled from the
wheelchair Lighting controls canbe mounted on the wheelchair.
With the advancement in the technology, the light weightedsolar panels can be
installed on the wheelchair which will charge the different batteries being used
on the wheelchair.
The smartness of the wheelchair can be enhanced by adding aprovision to climb
up the steps keeping the weight of the wheelchair and condition of the patient
in mind.
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4.2 CONCLUSION
This concludes that the this project elaborates the design andconstruction of
Smart Electronic Wheelchair with the help of Bluetooth Module. The circuit
works properly to move
as the command given by the user. After designing the circuit that
enables physically disabled to control their wheel using an android
application in their
smartphones and it has also been tested and validated. Thisproposed system
contributes to the self-dependency of differently abled and older people. It is cost
effective and waymore cheap then original ones. Also as we saw that the future
scope of the circuit is also very high and it will boom theeconomy of the
world.
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REFRENCES
https://srituhobby.com/how-to-make-a-multi-function-
arduino-robot/
https://www.ijeat.org/wp-
content/uploads/papers/v2i6/F2003082613.pdf
https://iopscience.iop.org/article/10.1088/1742-
6596/1432/1/012064
http://synopsis.nevemtech.com/index.aspx?Id=N516
https://www.youtube.com/watch?feature=shared&v=b52P
zHelyf0
https://docs.arduino.cc/hardware/uno-rev3/
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