1. Staircase Climber Project submitted by: Shraddha Joshi Soham Mohidekar
Shelton D’souza
Under the guidance of:
Prof. K. T. Talele
Electronics Engineering Department
Sardar Patel Institute of Technology
Andheri (W), Mumbai

2. Organization of the presentation
Concept
Block diagram
Description of various components used in the project
Description of our prototype
How our machine is different from others used in the same field
Application areas of the machine
References

3. Concept
Machine helpful for carrying a aged or physically challenged person up and down the staircase.
Seat adjusted automatically according to slope of the staircase.
Completely automatic.
Project, a prototype of an actual staircase climber

4. Path tracking and obstacle detection
Servomotor
Seat
adjustment
Block Diagram
ATMEGA 8535
Power source
Motors
Accelerometer
Path tracking and obstacle detection

5. ATMEGA 8535 8 bit RISC microcontroller 8-bit Timer/Counters
Has four PWM channels
Conversion of analog to digital values.

6. ATMEGA 8535 board

7. Accelerometer MMA 7361 accelerometer which is a analog accelerometer
Can sense movements on 3 axes, that is X, Y and Z
Output for 0 to 90 degree tilt on X axis is from 1.5 volts to 2.5 volts

8. Accelerometer (MMA 7361)

9. Servo motor High torque of 16 kg/cm and powered by 6 V battery
OCR values of 15 to 35 corresponds to ON time pulse width of 1-2 ms
Shaft of the motor attached to the seat

10. Servo motor used in the vehicle (NRS 995)

11. Servomotor for future applications (BSM R-series)

12. 3.5 rpm motors
Skid steering mechanism with four 3.5 rpm motors, two on each side
Motors driven by a relay circuit
Rotation of motors is as per the tracked path

13. Relay circuit Four relays for driving the four 3.5 rpm motors
SL 100 npn transistor used as the switching element
Inputs to the relay circuit come from the Microcontroller

14. Obstacle detector Infrared obstacle detector
Can sense obstacles within a range of 60 cms
Output of obstacle detector goes to the microcontroller

15. Path tracking circuit
Consists of three IR transmitter -receiver pairs (TCRT 5000)
Comparator LM-341 used
Output of each of the IR pairs goes to one of the terminals of the comparator

16. Path tracking logic
Whenever the sensor detects the white line it gives a low output.
000-invalid state
001- Move right (left pair of wheels will be activated)
010- Move straight (both pair of wheels will go forward)
011- Move right (left pair of wheels will be activated)
100- Move left (right pair of wheels will be activated)
101-invalid state
110- Move left (right pair of wheels will be activated)
111- Move straight (both pair of wheels will go forward)

17. Path tracking sensor (TCRT 5000)

18. Real Time Vehicle

25. Prototype
Seat
Optical
sensor
Relay
Circuit
ATMEGA
8535
3.5 RPM
motors

27. How is the machine different from others used in the same field
Automatic and comfortable seat adjustment irrespective of the slope of staircase.
Automatic movement of vehicle
Path tracking facility is provided (useful in industries)
Obstacle detection

28. No risk factor
Person to push the wheelchair is not required

29. Applications Buildings which do not have elevators. Industries.
Railway Bridges.
Places which are at high altitudes (Pilgrim places)

30. References
Design and Implementation of Stair-Climbing Robot for Rescue Applications- Basil Hamed, International Journal of Computer and Electrical Engineering, Vol. 3, No. 3, June 2011
Climbing and descending Vehicle- U.S. Patent document, ,12/1988
Autonomous Stair Climbing for Tracked Vehicles, DOI: / , Anastasios I. Mourikis, Nikolas Trawny, Stergios I. Roumeliotis, Daniel M. Helmick and Larry Matthies, The International Journal of Robotics Research 2007; 26; 737
Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh