Vol 02, Issue 01, June 2013 http://iirpublications.

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International Journal of Business Intelligents ISSN: 2278-2400

Live Human Detecting Robot for Earthquake Rescue Operation

Mr. S.P Vijayaragavan Assistant Professor Electrical &Electronics Engineering Bharath university vijayaragavansp@gmail.com Hardeep Pal Sharma,Guna sekar.C.H, S.Adithya Kumar B.Tech Electrical &Electronics Engineering Bharath University adhithsri_aathi@yahoo.co.in

ABSTRACT Natural calamities do occur and they are unstoppable. But humans are becoming increasingly aware in the concept of intelligent rescue operations in such calamities so that precious life and material can be saved though calamities cannot be stopped. Still there are lots of disasters that occur all of a sudden and Earthquake is one such thing. Earthquakes produce a devastating effect and they see no difference between human and material. Hence a lot of times humans are buried among the debris and it become impossible to detect them. A timely rescue can only save the people who are buried and wounded. Detection by rescue workers becomes time consuming and due to the vast area that gets affected it becomes more difficult. So the project proposes an autonomous robotic vehicle that moves in the earthquake prone area and helps in identifying the alive people and rescue operations. INTRODUCTION A unique Passive Infrared sensor is used in the project which emits infrared rays to detect humans. As live human body emits thermal radiation it is received and manipulated by the PIR sensor to detect humans. Once the people are located it immediately gives audio alert visual alerts to the authorities so that help can reach the live person so fast. This PIR sensor is placed on a moving all direction robot that can maneuver in the earthquake prone areas. The robot is driven on a geared dc motor for increased torque and low speed and stepper motor for increased turning accuracy hence the precise control of position is monitored. The robot consists of a three wheel geared drive with DC motors attached to perform forward and reverse movement. EXISTING SYSTEM: Earthquakes produce a devastating effect and they see no difference between human and material lot of times humans are buried among the debris and it become impossible to detect them Detection by rescue workers becomes time consuming and due to the vast area that gets affected it becomes more difficult. PROPOSED SYSTEM: The project proposes an autonomous robotic vehicle that moves in the earthquake prone area and helps in identifying the live people and rescue operations. Hence precious life can be saved by timely detection in natural calamities even without the help of large number of rescue operators. HARDWARE COMPONENTS: 1. Embedded Microcontroller PIC (18LF45K22 I/P) / ARM 2. Zigbee Transmitter and Receivers / RF Transceivers 3. PIR Sensor 4. Motor 5. Motor drive 6. Alarm 7. PC Interfacing SOFTWARE TOOLS: 1. MPLAB IDE For controller programming 2. Or CAD For circuit design 3. Eagle For PCB design 4. Visual Studio for PC interface programming.

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Vol 02, Issue 01, June 2013 http://iirpublications.com

International Journal of Business Intelligents ISSN: 2278-2400 BLOCK DIAGRAM FOR PROPOSED SYSTEM

Robot Module PIR Sensor Wireless camera transmitt er

Zigbee Transcei ver

Microcont roller

Motor Drive

Motor

Alarm Control Room Module PC Interfacin g Voltage Conversio n Ckt Zigbee Transceiv er Wirelesc am.recei ver

PC

MICROCONTROLLER PIC16F877A is the microcontroller used in the project. Signals from PIR sensors are given to the microcontroller and this microcontroller will digitize the signal and send it to the zigbee.The controller has peripheral features like inbuilt ADC, required to get the signals from the various sensors. Beside this the microcontroller that is used in this project has some additional advantages. It has Maximum clock frequency is 20MHz and hence faster than 8051.it is Based on RISC and Harvard architecture and hence even more faster. Embedded C is used for programming the microcontroller. This microcontroller Instruction execution speed of 200ns.it is CMOS FLASH-based 8-bit microcontroller. it has Microchip's powerful PIC architecture. it has 14K Flash program memory and 368 Bytes of RAM .it is based on Only 35 instructions and has Inbuilt high speed high resolution ADC.also features like USART, SPI, I2C communication capabilities are present. PIR SENSOR As live human body emits thermal radiation it is received and manipulated by the PIR sensor to detect humans. PIR sensors are passive infra red sensors. They detect change in the heat and this can be used to detect movement of people. It has digital output and can be directly given to Integrated Intelligent Research (IIR)

the digital pins and no ADC is needed. It operates at 5V DC The PIR (Passive Infra-Red) Sensor is a pyroelectric device that detects motion by measuring changes in the infrared (heat) levels emitted by surrounding objects. This motion can be detected by checking for a sudden change in the surrounding IR patterns. When motion is detected the PIR sensor outputs a high signal on its output pin. This logic signal can be read by a microcontroller or used to drive a transistor to switch a higher current load. Detection range up to 20 feet away. Some additional advantages of using PIR sensor are -Single bit output -Jumper selects single or continuous trigger output -Mode, 3-pin SIP header ready for breadboard or through whole Project, -Small size makes it easy to conceal -Compatible with BASIC Stamp, Propeller, and many other microcontrollers ZIGBEE TRANSCEIVER -it is used to send and receive data between robot and the control unit. Zigbee is a digital wireless communication protocol. It is a very low power communication technology. Zigbee is a very versatile communication technology that can be used for many applications like 84

Vol 02, Issue 01, June 2013 http://iirpublications.com

International Journal of Business Intelligents ISSN: 2278-2400 between ordinary digital devices and a computer. ADVANTAGES 1. This System is an effective and a safe system to ensure that there are no humans left behind in a rescue operation. 2. The System is safe even for the user because of the use of robotics and no manual work 3. The system uses Zigbee and this makes the system both accurate and reliable. DISADVANTAGES 1. Battery backup for camera is weak which can be overcome by using a solar panel. 2. The initial cost may be high if very high range sensors are being used in commercial usage. 3. VISUAL BASIC Visual basic has been used to create an on screen application to control the robot, Visual Basic uses graphical, forms based approach to application and development. The typical way to write a program in Visual Basic is to create a form, drag and drop controls onto the form, set properties for the form and its controls, adds application specific code to handle events. It sounds simple, but we can write very powerful applications in this manner. CONCLUSION AND FUTURE WORK Hence many lifes can be saved by using this autonomous vehicle during an earthquake disaster in a short duration which becomes time consuming and unaffected if done manually. This vehicle can be improved by using high range sensors and high capacity motors. Some more sensors like mobile phone detector, metal detector etc. can be implemented to make this vehicle more effective. HARDWARE ROBOT

-Industrial Automation -Home Automation -Sensor Networks -AD Hoc Networks -Wireless control XBee and XBee-PRO Modules were engineered to meet ZigBee/IEEE 802.15.4 standards and support the unique needs of lowcost, low-power wireless sensor networks. The modules require minimal power and provide reliable delivery of critical data between devices. The modules operate within the ISM 2.4 GHz frequency band and are pin-for-pin compatible with each other. MOTOR AND MOTOR DRIVE motor denotes the robot which can move over earthquake prone areas. Motor drive is the interfacing circuit between microcontroller and robot. The project uses DC motor.DC motors have polarity and direction of rotation depends on direction of current. But a DC motor cannot be interfaced to the microcontroller directly because it requires much higher voltage and current. Motor drive is used for this. It is built using an npn transistor BC547. It acts as an interfacing device to supply required power to the motor. VOLTAGE CONVERSION CIRCUIT The operating voltage of zigbee transceiver and PC are different hence we need a voltage conversion circuit. PC Interface circuit is needed whenever an external hardware project is to be connected to a computer. This circuit is required to connect to the serial port of a computer. The serial port of the computer is also called the RS232 port, because it is based on the RS232 standard RS232 is a serial communication standard that uses voltages (+12V/-12V) different from conventional digital circuits(0V/5V).Hence a PC interface circuit is needed to do voltage conversions

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Vol 02, Issue 01, June 2013 http://iirpublications.com PCINTERFACE

International Journal of Business Intelligents ISSN: 2278-2400 SENSOR DETECTION MOVEMENT AND ROBOT

REFERENCES 1.Chou Wusheng. Wang Tianmiao, You Song, "Sensor-based autonomous Control for telerobotic system", Proceedings of the 4th World Congress On Intelligent Control and Automation, 2002, vol.3, pp. 2430 - 2434. 2.Miyama, S.; Imai, M.; Anzai, Y.; "Rescue robot under disaster Situation: position acquisition with Omni-directional Intelligent Robots and Systems, 2003.(IROS 2003), 27-31 Oct. 2003, vol.3, pp. 3132 - 3137. 3.Yin Chao, Wang Hongxia, "Developed Dijkstra shortest path search Algorithm and simulation", International Conference on Computer Design and Applications (ICCDA), 2010, 25-27 June 2010, voU , pp.1106-119. 4.Hwan II Kang, 8yunghee Lee, Kabil Kim, "Path Planning Algorithm Using the Particle Swarm Optimization and the Improved Dijkstra Algorithm", Pacific-Asia Workshop on Computational Intelligence and Industrial Application, 200S. PACllA 'OS, 19-20 Dec. 200S, vol.2,pp. I 002-1004. 5.Zhang Fuhao, Liu Jiping, "An Algorithm of Shortest Path Based on Dijkstra for Huge Data", 6th International Conference on Fuzzy Systems And Knowledge Discovery, 2009. FSKD '09, 14-16 Aug. 2009, vol.4,Pp.244-247. 6.Amerongen, J. van, "Ship Steering", Theme: Control Systems, Robotics And Automation, edited by Unbehauen, H.D. , in Encyclopedia of Life Support Systems, (EOLSS), Developed under the Auspices of the UNESCO, EOLSS Publishers, Oxford, UK, 2003 7.Donoso-Aguirre, F. et al. "Mobile robot localization using the Hausdorff Distance",

VIDEO FOOTAGE

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Vol 02, Issue 01, June 2013 http://iirpublications.com ROBOTiCA, Cambridge University Press, vol. 26, pp. 129-141,200S. 8.Mata et al. "Object learning and detection using evolutionary Deformable models for mobile robot navigation", ROBOTlCA,Cambridge University Press, vol. 26, pp. 99-107, 200S. 9.Wang, H., Wang, D., Tian, L., Tang, C. and Zhao, Y. "An automatic Tracking system for marine navigation", IEEE, pp. ISO-IS3, 2001. 10. Dhariwal, A. and Sukhatme, S.G. "Experiments in robotic boat Localization", Proc. int'l Can! on intelligent Robotsand Systems, IEEE,Pp.1702-170S, 2007

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