WORKING PRINCIPLE

Human detection module of the robot is mainly a PIR sensor controlled by an PIC
microprocessor. When a human is present within the range of the sensor it creates a detection
signal (a digital pin goes high) which is processed by pic and a red signal LED is lit on to
indicate the detection. The PIR sensor can detect motion and keep signaling (retriggering) but it
will stop when motion stops. This is why we have a camera onboard the robot. The human
detection module also has infrared lighting. The purpose of these LEDs is to provide lighting in
low or no light conditions for the camera.

The PIR sensor is monitored by microcontroller and the program is written and uploaded
to Pic16f877a. Whenever a human detection occurs, the red led lights up and can be seen by the
team in order to pay attention to the live video provided by the camera. If the PIR sensor
generates false alerts, this will also be monitored by the video and considered by the operation
team. So the camera is so important. The team will move the robot in the vicinity, stop it and
carry on a PIR search. The video will also show human casualty presence in the disaster area.
Non-moving, severely hurt casualties will also be seen.

The camera is placed in a pod at the center of the robot with a wide angle view. It will see
the surrounding totally and send the live video to the research team. Completed robot is compact
to fit any disaster area. It can operate virtually in any place. It can climb over small obstacles and
can fit into small holes in which no human rescue team member can get into. The turret where
the camera is mounted can rotate to see the surrounding. So the complete robot should not need
to be rotated totally.
 The robot is carried to the disaster area and mounted. The batteries must be charged
totally before the operation. The camera must be synchronized with a robot model oThen the
robot is powered on and the operator manually drives the robot inside the disaster area. The robot
is then moved to the vicinity to search for casualties. To enable human detection the robot is
stopped and checked for any human detection looking at the red led. If the LED is ON that
means a human casualty is around. PIR sensor can detect humans. Then the robot is manually
driven to that area to look closer. If the lighting conditions are poor, the power led is enabled for
extra lighting. The operator rotates the turret and the camera to see the surrounding details.

The thermal radiation emitted by a human body will be received and manipulated by the
PIR sensor in order to achieve a human detection. PIR sensors are passive infrared sensors. They
detect a change in the heat and this can be used to detect movement of people. It has digital
output and can be directly given to the digital pins, therefore 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.