Live Human Detecting Robot for Earthquake Rescue Operation

Integrated Intelligent Research(IIR) International Journal of Business Intelligent
Volume: 01 Issue: 02 December 2012,Pages No.52-54
ISSN: 2278-2400
52
Live Human Detecting Robot for Earthquake
Rescue Operation
Mr. S.P Vijayaragavan ,Hardeep Pal Sharma,Guna sekar.C.H, S.Adithya Kumar
Assistant Professor,Electrical &Electronics Engineering,Bharath university
Electrical &Electronics Engineering,Bharath University
vijayaragavansp@gmail.com,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.
I. 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.
II. 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.
III. 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.
IV. 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
V. 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.
VI. 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.
VII. 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 the digital pins and
no ADC is needed. It operates at 5V DCThe PIR (Passive
Infra-Red) Sensor is a pyroelectric device that detects motion
by measuring changes in the infrared (heat) levels emitted by
surrounding objects.

ISSN: 2278-2400
53
BLOCK DIAGRAM FOR PROPOSED SYSTEM
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
VIII. 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
-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 low-cost, 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.
IX. 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.
X. 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 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.
XI. 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.
XII. 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

ISSN: 2278-2400
54
detector, metal detector etc. can be implemented to make this
vehicle more effective.
HARDWARE
ROBOT PCINTERFACE
REFERENCES
[1] Chou Wusheng. Wang Tianmiao, You Song, "Sensor-based
autonomous Control for telerobotic system", Proceedings of the 4th
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[2] Miyama, S.; Imai, M.; Anzai, Y.; "Rescue robot under disaster
Situation: position acquisition with Omni-directional
VIDEO FOOTAGE
SENSOR DETECTION AND ROBOT MOVEMENT
[3] Intelligent Robots and Systems, 2003.(IROS 2003), 27-31 Oct. 2003,
vol.3, pp. 3132 - 3137.
[4] 3.Yin Chao, Wang Hongxia, "Developed Dijkstra shortest path search
Algorithm and simulation", International Conference on Computer
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[5] 4.Hwan II Kang, 8yunghee Lee, Kabil Kim, "Path Planning Algorithm
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[7] 6.Amerongen, J. van, "Ship Steering", Theme: Control Systems,
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[8] 7.Donoso-Aguirre, F. et al. "Mobile robot localization using the
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