Safety Monitoring System for Manual Wheelchairs

To monitor user safety, a sensor cluster collects and graphs data of obstacles in the blind spot, wheelchair speed, and degrees of tilt.

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Safety Monitoring System for Manual Wheelchairs

Things used in this project

Hardware components

Argon
Particle Argon
×3
Breadboard (generic)
Breadboard (generic)
×1
Elegoo Avoidance Sensor
×1
Elegoo Tilt Sensor
×1
Inertial Measurement Unit (IMU) (6 deg of freedom)
Inertial Measurement Unit (IMU) (6 deg of freedom)
×1
Jumper wires (generic)
Jumper wires (generic)
×1
5 mm LED: Yellow
5 mm LED: Yellow
×1

Software apps and online services

Particle Build Web IDE
Particle Build Web IDE
ThingSpeak API
ThingSpeak API

Hand tools and fabrication machines

Tape, Velcro® Stick On Tape/Strip
Tape, Velcro® Stick On Tape/Strip
3D Printer (generic)
3D Printer (generic)

Story

Read more

Custom parts and enclosures

Breadboard and Argon Box

Breadboard and Argon Lid

Schematics

IOT Wiring Diagram

Code

Argon 1 Data Collection/Graphing and Comms

C/C++
// This #include statement was automatically added by the Particle IDE.
#include <ThingSpeak.h>
#include <Particle.h>

TCPClient client;
unsigned int myChannelNumber = 1358740; //ThingSpeak info
const char * myWriteAPIKey = "Y0D0V28Q7URAHLPY"; // ThingSpeak info

int ObjectYes = 1;
int ObjectNo = 0;
int SpeedYes = 1;
int SpeedNo = 0;
int TiltYes = 1;
int TiltNo = 0;

void setup() {
 
Serial.begin(9600);    
    
Particle.publish("PowerOn", PRIVATE);
Particle.publish("CheckConnection", PRIVATE);
    
Particle.subscribe("ObjectY", WC1OY, MY_DEVICES);
Particle.subscribe("ObjectN", WC2ON, MY_DEVICES);
Particle.subscribe("SpeedY", WC3SY, MY_DEVICES);
Particle.subscribe("SpeedN", WC4SN, MY_DEVICES);
Particle.subscribe("TiltY", WC5TY, MY_DEVICES);
Particle.subscribe("TiltN", WC6TN, MY_DEVICES);

ThingSpeak.begin(client);

}

void loop() {

Particle.subscribe("ObjectY", WC1OY, MY_DEVICES);
Particle.subscribe("ObjectN", WC2ON, MY_DEVICES);
Particle.subscribe("SpeedY", WC3SY, MY_DEVICES);
Particle.subscribe("SpeedN", WC4SN, MY_DEVICES);
Particle.subscribe("TiltY", WC5TY, MY_DEVICES);
Particle.subscribe("TiltN", WC6TN, MY_DEVICES);
delay(500); // buffer for data collection

}

void WC1OY(const char *event, const char *data) {
ThingSpeak.setField(1, ObjectYes); // writing data for graphing
ThingSpeak.writeFields(myChannelNumber, 1, myWriteAPIKey);
delay(16000);
} 
void WC2ON(const char *event, const char *data) {
ThingSpeak.setField(1, ObjectNo); // writing data for graphing
ThingSpeak.writeFields(myChannelNumber, 0, myWriteAPIKey);
delay(16000);    
} 
void WC3SY(const char *event, const char *data) {
ThingSpeak.setField(2, SpeedYes);
ThingSpeak.writeFields(myChannelNumber, 1, myWriteAPIKey);
delay(16000);    
} 

void WC4SN(const char *event, const char *data) {
ThingSpeak.setField(2, SpeedNo);
ThingSpeak.writeFields(myChannelNumber, 0, myWriteAPIKey);
delay(16000);    
} 

void WC5TY(const char *event, const char *data) {
ThingSpeak.setField(3, TiltYes);
ThingSpeak.writeFields(myChannelNumber, 1, myWriteAPIKey);
delay(16000);    
} 

void WC6TN(const char *event, const char *data) {
ThingSpeak.setField(3, TiltNo);
ThingSpeak.writeFields(myChannelNumber, 0, myWriteAPIKey);
delay(16000);    
} 

Argon 2 Avoidance Sensor w/ Enabling

C/C++
int Detection = D6; // avoidance sensor
int Enable = D7; // on / off pin for avoidance sensor
int Obj = HIGH; // no obstable
int NoObj = LOW; // obstacle
int val;

void setup() {

pinMode(Detection, INPUT);
pinMode(Enable, OUTPUT);
digitalWrite(Enable, LOW);

Particle.subscribe("PowerOn", start, MY_DEVICES);

Serial.begin(9600);

}

void loop() {
    
val = digitalRead(Detection);

if (val == Obj) { // no obstacle
    
delay(50); // buffer time
Particle.publish("ObjectN", PRIVATE);
delay(50); // Time for sensor to rest
    
}

if (val == NoObj) {

delay(50); // buffer time
Particle.publish("ObjectY", PRIVATE);
delay(50); // Time for sensor to rest    
    
}


}

void start(const char *event, const char *data) {
    digitalWrite(Enable, HIGH);
    
}

Argon 3 Accelerometer and Tilt Sensor w/ Comms Check LED

C/C++
// This #include statement was automatically added by the Particle IDE.
#include <MPU6050.h>

#include <Wire.h> // accelerometer library

#define MPU 0x68 // accelerometer stuff
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

int Tilt = D2; // Tilt pin
int LED = D3; // connection indication
int val; // tilt variable
int VcX; // velocity
int VcY; // velocity
int VcZ; // velocity

int DeltaTime;
int OldTime = 0;
int NewTime = 60000;


 
void setup() {
Serial.begin(9600);
    
Particle.subscribe("CheckConnection", test, MY_DEVICES);

pinMode(Tilt, INPUT);
pinMode(LED, OUTPUT);
digitalWrite(LED, LOW);

Wire.begin(); // accelerometer setup
Wire.beginTransmission(MPU);
Wire.write(0x6B); 
Wire.write(0);    
Wire.endTransmission(true);

DeltaTime = NewTime - OldTime; // one minute interval as I believe data is sent every 60 seconds
}

void loop() {

  Wire.beginTransmission(MPU);
  Wire.write(0x3B);  
  Wire.endTransmission(false);
  Wire.requestFrom(MPU,12,true);  
  AcX=Wire.read()<<8|Wire.read();    
  AcY=Wire.read()<<8|Wire.read();  
  AcZ=Wire.read()<<8|Wire.read();  
  GyX=Wire.read()<<8|Wire.read();  
  GyY=Wire.read()<<8|Wire.read();  
  GyZ=Wire.read()<<8|Wire.read(); 
  delay(500);
  
    VcX = AcX*(DeltaTime/1000);
    VcY = AcY*(DeltaTime/1000);
    VcZ = AcZ*(DeltaTime/1000);

if (VcX > 2) {
 Particle.publish("SpeedY", PRIVATE);
}

if (VcY > 2) {
 Particle.publish("SpeedY", PRIVATE);
}

if (VcZ > 2) {
 Particle.publish("SpeedY", PRIVATE);
}

if (VcX < 2) {
Particle.publish("SpeedN", PRIVATE);
    
}

if (VcY < 2) {
Particle.publish("SpeedN", PRIVATE);
    
}

if (VcZ < 2) {
Particle.publish("SpeedN", PRIVATE);
    
}

 val = digitalRead(Tilt);
    if (val == HIGH) // tilt sensor is tilted extremely aka wheelchair is knocked over
  {
    Particle.publish("TiltY", PRIVATE);
  }
  if (val == LOW)
  {
    Particle.publish("TiltN", PRIVATE);
  }

}

void test(const char *event, const char *data) {
    digitalWrite(LED, HIGH);
    delay(500);
    digitalWrite(LED, LOW);
    delay(500);
}

Credits

Carson Lafferty

Carson Lafferty

1 project • 1 follower
Michael Herterich

Michael Herterich

1 project • 1 follower
Obyda Marzouk

Obyda Marzouk

0 projects • 0 followers

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