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Visual based sensor cart follower for wheelchair by using microcontroller

Visual based sensor cart follower for wheelchair by using microcontroller / Mohamad Faiz Ahmad Johari
Pengguna kerusi roda mungkin menghadapi masa sukar untuk membawa barang-barang mereka ketika dalam perjalanan. Pengguna kerusi roda perlu menggunakan kedua-dua tangan mereka untuk mengemudi kerusi roda mereka dengan lancar. Pedati pengikut berasaskan pengesan visual diperkenalkan untuk kegunaan pengguna kerusi roda. Ia akan mengesan dan mengikuti kerusi roda tanpa apa-apa sambungan fizikal atau lampiran untuk kerusi roda. Satu kaedah pengesanan warna berdasarkan corak warna digunakan untuk menyelesaikan tugas ini. Pengesan berasaskan penglihatan kamera, CMUcam5TM digunakan untuk memenuhi kaedah pengesanan warna ini. Fabrikasi akhir pedati pengikut tanpa wayar dilengkapi dengan pengawal mikro, pengesan jarak, pengesan ultrasonik, pengesan penglihatan, servo motor, pemandu motor dan motor yang dipandu. Bidang sudut pandangan CMUcam5TM adalah dari 83.97o hingga 88.84o dengan jarak 10cm ke 50cm. Sudut luas motor servo ditetapkan dari 60o ke 1200. Sudut luas ini adalah penting untuk mengemudi pedati itu. Penggunaan pengesan jarak dan pengesan ultrasonik akan menjaga kereta itu untuk mengekalkan pada jarak tertentu. Resolusi pengesan jarak ialah 1.56cm manakala pengesan ultrasonik ialah 2.54cm. Kereta itu akan kekal pegun jika jarak dengan halangan berada dalam 10cm ke 20cm. Ia akan bergerak ke hadapan jika jarak lebih daripada 20cm dan ke belakang jika kurang daripada 10cm. Pedati pengikut berasaskan pengesan visual boleh membantu pengguna kerusi roda untuk bergerak dengan mudah sambil membawa bagasi mereka. _______________________________________________________________________________________________________ A wheelchair user might facing their difficult time to carry their luggage when travelling. The wheelchair user need to use both of their hands in order to navigate their wheelchair smoothly. A visual based sensor cart follower is introduced for the usage of the wheelchair user. It will tracked and follow the wheelchair without having any physical connection or attachment to the wheelchair. A color tracking method based on predefine color pattern is used to accomplish this task of following. A vision based sensor camera, CMUcam5TM was used to fulfil this color tracking method. The final fabricated cart equipped with a microcontroller, distance sensor, ultrasonic sensor, vision sensor, servo motor, motor driver, and a driven motor. The cart will only move if there are predefined color pattern detected by the CMUcam5TM. Servo angle is used to navigate the cart to turn right or left. The distance and ultrasonic sensors used to neglect the cart from collide with upcoming obstacle . The motor driver used to control the movement of the driven motor. The field of view angle of CMUcam5TM is from 83.97o to 88.84o with distance of 10cm to 50cm. The wide angle of the servo motor is set from 60o to 120o. This wide angle is important in order to steer the cart. The usage of distance and ultrasonic sensors will keep the cart to maintain at certain distance. The resolution of distance sensor is 1.56cm meanwhile ultrasonic range finder is 2.54cm. The cart will stay stationary if the distance with obstacle is within 10cm to 20cm. It will move forward if the distance is more than 20cm and backward if less than 10cm. This visual based sensor cart follower can help the wheelchair user to travel easily while carrying their luggage.
Contributor(s):
Mohamad Faiz Ahmad Johari - Author
Primary Item Type:
Final Year Project
Identifiers:
Accession Number : 875005811
Language:
English
Subject Keywords:
wheelchair; luggage; travelling
First presented to the public:
6/1/2015
Original Publication Date:
3/7/2019
Previously Published By:
Universiti Sains Malaysia
Place Of Publication:
School of Electrical & Electronic Engineering
Citation:
Extents:
Number of Pages - 96
License Grantor / Date Granted:
  / ( View License )
Date Deposited
2019-03-07 13:01:58.522
Submitter:
Mohd Jasnizam Mohd Salleh

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