This document describes a system for controlling a wheelchair using eye motion detection. A camera is used to track the user's eye movement and send control signals to the wheelchair based on whether the user is looking left, right, or forward. An ultrasonic sensor is also included for obstacle detection to stop the wheelchair if an obstruction is sensed.

1. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 03 | Mar 2020 www.irjet.net p-ISSN: 2395-0072
© 2020, IRJET | Impact Factor value: 7.34 | ISO 9001:2008 Certified Journal | Page 5003
WHEELCHAIR CONTROL USING EYE-MOTION
Prof.Hanumantappa H1, Ms. Sowmya S2
1 Assistant Professor, Dept. of Computer Science Engineering, Atria Institute of Technology, Karnataka, India
2UG Student, Dept. of Computer Science Engineering, Atria Institute of Technology, Karnataka, India
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Abstract - The main reason for Eye-motion based
wheelchair is to help people who are paralyzed and unable to
move from one place to another. This device will allow
crippling person to manipulate the wheelchair without a
normal people. In this tool controlling of wheelchair is based
on Eye movement. The digital camera is used to seize the
photo of any character of the Eye (both cleared out or right)
and tracks the location of eye scholar with the utilize of
picture planning tactics. Coincide to the location of the eye, so
that the wheelchair moves accordingly i.e., cleared out, right,
and in advance. The main extension of this, for the safety
motive, the ultrasonic sensor is set up so that the wheelchair
can capture the obstruction and usually give up the
wheelchair motion.
Key Words: Raspberry pi 2, UVC Camera, ZIGBEE,
Ultrasonic Sensor, ARM 7 LPC 2103
1. INTRODUCTION
The large kind of human beings who are paralyzed and
consequently relying on others due to the fact of misfortune
of self mobility is creating with the population. The
development of the wheelchair for paralyzed customers is
especially later establishing with the traditional manually
powered wheelchairs and progressing to electric
wheelchairs. Conventional wheelchair make use of has a
tendency to attention first-class on manual employ which
assumes consumers despite the fact that successful to make
use of their hands which prohibits those incapable to
accumulate this. Diseases or injuries injuringthedemanding
framework moreover as frequently as viable in view that
human beings lose their functionality to transport their
voluntary muscle. Because deliberate muscle is the
maximum actuator empowering people to go their frame,
loss of motion might also moreover motive a character no
longer float into their loco engine organ together with arm
and others. Loss of movement can be shut by, global, or take
after special designs. Most paralysis are regular, be that as it
may want to there are other shapes at the aspect of
intermittent lack of movement (because of hereditary
maladies), because of unique wonderful additives.
1.1 HAND GESTURE
In this paper, they applied the acceleration statistics to
apprehend the hand gestures and after that trade, the
gesture statistics which demonstrates wonderful
movement instructionsintothewheelchair,cleanactions.
It as a trial method to realize the now not uncommon
interaction for the increased professional and disabled
with the wheelchair through the hand gestures.
1.2 ACCELEROMETER AND VOICE CONTROLLED
This paintings depicts a wheelchair for bodily impaired
humans & superior it utilising a voice acknowledgment
unit and MEMS movement sensor. A man or woman-
based voice acknowledgment tool had been coordinated
into the wheelchair. In this manner, they had acquired a
wheelchair which might also be driven using each
Movement and voice commands.
2. BLOCK DIAGRAM
The Wheelchair is subordinate framework used bymeans of
aged and bodily disable individuals. Here impartingtheplan
utilization fashions of definitely free Eye manipulate electric
powered wheelchair. As consistent with necessity of the
inabilities numerous shape ofcomputerizedframeworks are
on hand in exhibit which consist of voice manage or joystick
control device. Here theEye manipulateframework presents
the freedom to shape their lifestyles clean and larger really
helpful .Conjointly they spare the fantastic sum of electricity
or outdoor man strength. Camera captured the graphic in
actual time and examination the photograph as enter to set
the directions for interface the engine purpose pressure IC
through sending the instructions to GPIO pins. The engine
driver circuit is applied to raise out the severa operation
which includes left, proper, forward and halt.TheRaspberry
pi board is utilized to elevate out the manipulate of the
universal framework operation. Advanced Picture coping
with chiefly based yield flag sent to the Raspberry pi board.
The Raspberry pi acquired the information and look at it.
Raspberry pi supply the manipulate flag to engine using
circuit primarily based completely at the location of eye
scholar. This will select to function operation on engine like
run the engine in clock voice path, anticlock voice heading
and halt the engine. In a Wheelchair man or lady engine are
on every wheel. The Ultrasonic sensorisinadditioninstalled
on the wheelchair for area of any inactive or portable
deterrent. In case sensor receives the impediment
extraordinarily near to the wheel chair, it will show to the

2. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 03 | Mar 2020 www.irjet.net p-ISSN: 2395-0072
© 2020, IRJET | Impact Factor value: 7.34 | ISO 9001:2008 Certified Journal | Page 5004
raspberry pi and raspberry sends the flag to engine using
circuit to halt the engine.
Fig.1 Block Diagram of a Novel wheel chair
movement control system.
The range one digicam module will start to seize the pics.
Presently, the maximum goal is to emergeasconsciousofthe
interest scholar and represent its middle focuses. There's a
few graphic getting equipped operation finished in
frameworks, which include difficult to apprehend Image,
colour transformation, thresholding, filtering, issue vicinity,
and Hough seriously change is applied. For circle vicinity,
Hough transform approach is applied. By utilising the USB
webcam authorized to seize the photos on raspberry. And
Image Processing based absolutely surelyall OpenCVlibrary
are set up in raspberry pi reminiscence. There it'll prepare
and operating without any coping with postpone.
3. FLOW CHART
Fig.2 Flowchart
4. RESULTS
The machine received the resulted about facts chiefly based
totally completely on the Eye student signal ship to the
engine using circuit for the action of the Wheelchair. There
the framework utilized the ultrasonic sensor for deterrent
discovery. And efficientlydiplomatheseparationsthearange
of wheelchair and deterrents. When the object is recognized
enormously near to earlier than the Wheel chair.
5. CONCLUSIONS
The thinking of the eye-controlled wheelchairisnotas ithad
been spoken to the non-obligatory assets however greater
imperative to help bodily crippled people to create their
existence independent. The aim of implementing an
impartial eye-controlled wheelchair to cognizance at the
capabilities of automated Image processing. There are a
couple of actual-time set up constants measured like a
computing device that takes a exceptional deal time
(4second) to execute the laptop for managing the video in
Realtime Environment. Hence the tool performs the
Wheelchair movement operation with a few put off time.It’s
very hard to tune the Eye pupil in dim slight places, so the
device works culminate on herbal mild and in a room slight
UVC
Camera
Raspberry
Pi 2
ZIGBEE
Transmitter
Power
Supply
ZIGBEE
Receiver
Motor
1
Motor 2
ARM 7 LPC
2103
Motor Driver
L293D
Ultrasonic
Sensor
Fig.b. Receiver
LCD
Start
Eye ball
detection
Switc
hO
N
Check eye
movement
Loo
kforwa
rd
Loo
krigh
t
Loo
klef
t
Move
forward
Go
right
Go
left
Obstacl
edetecte
d
Sto
p
N
O
YE
S
YE
S
N
OFig. a. Transmitter

3. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 03 | Mar 2020 www.irjet.net p-ISSN: 2395-0072
© 2020, IRJET | Impact Factor value: 7.34 | ISO 9001:2008 Certified Journal | Page 5005
with fluorescent mercury vapor lighting fixtures,thatismoo
in infrared.
REFERENCES
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Journal of IEEE Intelligent System, 22,2, 33-41, [2007].
[2] Matt Bailey, ET. Al, “Development of Vision Based
Navigation for a Robotic Wheelchair”, in Proceedings of
2007 IEEE tenth International conference on
rehabilitation robotics. [3] Shafi. M, Chung. P. W. H:”A
Hybrid Method for Eyes Detection in Facial Images”,
International JournalofElectrical,Computer,andSystems
Engineering, 231-236, [2009].