Smart House for the Differently-Abled

Differently abled people often desire to perform everyday activities all by themselves. This project is aimed at helping them navigate and control few appliances from the comfort of sitting in a wheel chair. Toggle switches are also placed on the wheel chair which gives them the control of light, door and fan in a home. The navigation is accomplished using a joystick. The communication between the Wheel chair and the house is done using Bluetooth which gets connected automatically as soon as it is powered up.

This project is divided into two major sections:

1. The Wheel Chair (model)

2. The House

Step 1: The Wheel Chair: Components Required

1. Intel Galileo Gen 1 Board x 1
2. USB cable x 1
3. Power cord x 1
4. Joystick x 1
5. Toggle Switch x 4
6. 3V DC BO Motor 300RPM x 2
7. Motor Driver Board (L293D IC Based) x 1
8. HC-05 Bluetooth Module (Master Mode) x 1
9. Caster Wheel x 1
10. Wheels x 2
11. 9V Battery Pack (6 AA Cells) x 1
12. Single Core Wire (2 Colours, 1mtr each) x 2
13. 470Ω Resistor x 3
14. Breadboard x 1
15. Male Header Pins x 5
16. Printed Circuit Board (PCB) x 1
17. Connecting Wires (Male to Female) x 20
18. Connecting Wires (Male to Male) x 20

Note: Mi-Bot kit can be purchased from ebay:

http://www.ebay.in/itm/MiBOT-Arduino-Robotic-Kit-w...

Step 2: Construction of Mi-Bot

A detailed instructable on the construction of Mi-Bot is available on:

https://www.instructables.com/id/Construction-Manu...

Step 3: Circuit Connections of Mi-Bot

Motor Driver:

A motor driver is a module that helps in the operation of certain motors at variable speeds by providing a separate power source other than that from the microcontroller. This protects the microcontroller/ microprocessor from the current surges initiated by the motor. This module consists of a common 3 Male headers which corresponds to +9V/+12V, GND and +5V. The +9V or +12V supply is used to power the motor. +5V is used to operate the L293D IC. This motor driver module can handle a maximum of 2 motors. For each motor, 2 pins are used to receive signals from the microcontroller/microprocessor and 2 pins are used to connect the DC motor.

Few precautions:

• Always ensure and re-check the wiring (against circuit design), before powering up the board.

Circuit Connections:

1. Connect the two terminals of the left Motor to the Left Screw Header pins of the Motor Driver Board.
2. Repeat the same for the Right Motor also.
3. Connect M1.A to Digital Pin 3 using Male to Female Connecting Wire.
4. Connect M1.B to Digital Pin 5 using Male to Female Connecting Wire.
5. Connect M2.A to Digital Pin 6 using Male to Female Connecting Wire.
6. Connect M2.B to Digital Pin 9 using Male to Female Connecting Wire.
7. Take one Male to Female connecting wire and connect the Female side of the wire to +5V terminal of the Motor Driver Board.
8. Connect the other terminal to the breadboard as shown in the circuit.
9. Take one Male to Male connecting wire and connect one end to 5V Pin on the Intel Galileo and the other terminal on the breadboard where the wire was connected in the last step.
10. Take one Male to Female connecting wire and connect the Female side of the wire to GND terminal of the Motor Driver Board.
11. Connect the other terminal to the breadboard as shown in the circuit.
12. Take one Male to Male connecting wire and connect one end to GND Pin on the Intel Galileo and the other terminal on the breadboard where the wire was connected in the last step.
13. Now take the 9V (6AA Cells) Battery pack and connect its Positive terminal to the +12V terminal of the motor Driver.
14. Connect the negative terminal of the 9V battery to the breadboard where GND is connected.

Step 4: Interfacing Joystick With Intel Galileo

Joystick:

• Contains 2 potentiometers and a push button.
• One pin is used for position in X-direction.
• One pin is used for position in Y-direction.
• One pin is used for knowing the digital Status of push button.

Circuit Connections:

1. Connect a male to female wire from the GND pin of the Joystick to the breadboard where the GND pin of Intel Galileo is connected.
2. Connect a male to female wire from the VCC pin of the Joystick to the breadboard where the VCC pin of Intel Galileo is connected.
3. Connect a male to female wire from the VRx pin of the Joystick to Analog pin A1 of Intel Galileo is connected.
4. Connect a male to female wire from the VRy pin of the Joystick to Analog pin A0 of Intel Galileo is connected.

Step 5: Interfacing Switch With Intel Galileo

Toggle Switch:

The toggle switch simply closes or opens a circuit. When the switch is turned off, the connection is broken and when the switch is turned on, the circuit connection is complete.

Circuit Connections:

1. Solder two single core wires on both the terminals of all the Switches.
2. Connect one of the terminal of all the switches to the GND of Intel Galileo with the help of breadboard.
3. Connect the other terminal of the switch to any point on the breadboard individually.
4. Take one Male to Male wire and connect one end to Digital Pin 10 of Intel Galileo.
5. Connect the other terminal to the breadboard where the terminal of switch is connected.
6. Repeat the same for other two Switches also and connect the other terminals to Digital Pin 11 and 12 of Intel Galileo respectively.
7. Take one 470Ω resistor and connect its one terminal to the 2nd terminal of the switch which is connected to Digital Pin 10 of Intel Galileo.
8. Connect the other terminal of the resistor anywhere on the breadboard.
9. Repeat the same for other two Switches also.
10. Make sure the free terminal of the all the resistors are in the same column.
11. Take one male to male connecting wire and connect its one terminal to the 5V power pin of Intel Galileo.
12. Connect its other end to the 2nd terminal of the resistors.

Circuit Explanation:

• When the Switch is off, then Digital Pin 10 is connected to 5v through a resistor which means the Digital Pin 10 is getting HIGH as Input as it is shorted to 5v.
• When the Switch is turned On, both the terminals of the switch are now shorted.
• As, one terminal of the switch is connected to GND and other directly to Digital Pin 10, when both the terminals are shorted, the Digital Pin is shorted with GND and thus Digital Pin is getting LOW as Input.

Step 6: Interfacing Bluetooth With Intel Galileo

HC-05 Bluetooth module

It is a wireless communication module that transmits data serially. Out of the six pins that comes with general break out board, only 4 pins are used. VCC pin of HC-05 is connected to +5V while GND pin is connected to GND of the microcontroller. RX pin refers to receiver and TX pin refers to transmitter. These pins are used for communication between the bluetooth and the microcontroller.

For communication between two Bluetooth devices, they must be configured as Master and Slave. In this project, commands are being sent from the Wheel Chair and is being received by the house. Thus, the Bluetooth module connected to the House will be in Slave mode and Bluetooth Module connected to the Wheel Chair will be in Master Mode.

Circuit Connections:

1. Connect the Female end of four Male to Female wires to the VCC, GND, RX and TX pins of the HC-05.
2. Connect the GND of HC-05 on the breadboard where GND of Galileo is connected.
3. Connect the VCC of HC-05 on the breadboard where +5V of Galileo is connected.
4. Connect the RX of the HC-05 to Digital Pin 1 of Galileo Board.
5. Connect the TX of the HC-05 to Digital Pin 0 of Galileo Board.

Configure the Bluetooth as the Master Module.

To know how to configure Bluetooth as a Master and slave module , please see : https://www.instructables.com/id/Configure-HC-05-B...

Step 7: Reference Images for Construction

Step 8: Upload the Arduino Sketch

Step 9: The HOUSE: Components Required

1. Arduino UNO Board x 1
2. USB cable x 1
3. 180 Degrees Servo Motor x 1
4. 3V DC Motor x 1
5. Propeller x 1
6. LED x 1
7. HC-05 Bluetooth Module (Slave Mode) x 1
8. 470Ω Resistor x 1
9. Breadboard x 1
10. Single Core Wire (2 Colours, 1mtr each) x 2
11. Soldering Kit x 1
12. Connecting Wires (Male to Male) x 20
13. Connecting Wires (Male to Female) x 20

Step 10: Interfacing Bluetooth Module With Arduino

Circuit Connections:

1. Connect the Female end of all the Male to Female wire to the VCC, GND, RX and TX pins of the HC-05.
2. Connect the GND of HC-05 to the GND of Arduino Board via the breadboard.
3. Connect the RX of the HC-05 to Digital Pin 1 of Arduino Board.
4. Connect the TX of the HC-05 to Digital Pin 0 of Arduino Board.
5. Connect the VCC Pin of the HC- 05 to the VCC of the Arduino board via breadboard.

Step 11: Interfacing Servo Motor With Arduino

Servo Motor:

A servo motor is a rotary actuator that allows for precise control of angular position. It consists of a motor coupled to a sensor for position feedback. By varying the pulse width of the output voltage to a servo, you can move a servo to a specific position.

Circuit Connections:

Servo motor has three Terminals

1. Connect the signal wire (orange) of the Servo Motor to Digital PWM Pin 10 on the Arduino.
2. Connect the GND wire (brown) of the Servo Motor to GND of the Arduino.
3. Connect the VCC wire (red) of the Servo Motor to the 5V pin of the Arduino.
4. The connections of the Servo Motor will be done using Male to Male connecting wire.

Step 12: Interfacing LED With Arduino

LED

LED is Light emitting diode. The main function of Diode is that it allows the current to flow in one direction only.

The LED has two terminals:

1. Positive Terminal: The longer leg of the LED is positive

2. Negative Terminal: The shorter leg of the LED is negative

Circuit Connections:

1. Place one LED on the breadboard as shown in the circuit above.
2. Take one Male to Male connecting wire and connect one end of the wire to the Positive terminal of the LED.
3. Connect the other terminal of the Male to Male connecting wire to the Digital Pin 12 of the Arduino Board.
4. Take one 470Ω resistor and connect its one terminal to the negative terminal of the LED.
5. Connect the other terminal of the 470Ω resistor to the breadboard where GND is connected.

Step 13: Interfacing DC Motor With Arduino

DC motor:

This is a High rpm DC motor. These motors contain two wires which enables the motor to rotate in either in clockwise or anti - clockwise direction.

NOTE:Here, the motor is directly connected to the Arduino Board because the motor which is used here does not draw much current. It is always recommended to connect the motor via motor Driver Board (L293D IC Based) and power it up using external Power supply to prevent the board from damaging.

Circuit Connections:

1. Solder two Single Core wires on the terminals of the DC Motor.
2. Connect one terminal of the motor to Digital Pin 7 of the Arduino Board.
3. Connect the other terminal of the motor to the GND Pin.
4. Attach the Propeller to the Motor.

Step 14: Upload the Arduino Sketches

Note: Make sure you disconnect the Rx and Tx pin of the Bluetooth module while uploading sketch to Arduino because Pin 0 and Pin 1 of the Arduino Uno R3 are internally connected to the Arduino's USB serial connection.

Step 15: Reference Images for Construction