8/12/2019 Robot for Rescue http://slidepdf.com/reader/full/robot-for-rescue 1/47 Dept. of ECE 1 AWH Engg. Calicut CHAPTER 1 INTRODUCTION A robot is a machine and is designed to execute one or more task repeatedly, with speed and precision. An important aspect of robotic security system is surveillance of specified area. Interesting application can be seen in robot scanning area to find explosive devices. Asset and location protection system using robot allow hands-free operation via pre- operational programming to response external stimuli. Over the long haul, it is easy to see that security robot can provide significant cost saving, while they may never replace a human security professional. Others may need to approach an armed barricaded suspect or enemy combatant. These works mainly focus on target perception and identification and robot localization. It is very essential to have a robot during disaster condition like Earthquake or bomb blast, where we have to identify live human beings as quickly as possible to save life. In this situation, human rescuers must make quick decision under stress, and try to get victims to safety often at their own risk. In our project, dynamic section will be detect the alive human presence and location information and also status of environment, then send the information to the static section as quickly as possible. All of those tasks are performed mostly by human and trained dogs, often in very dangerous and risky situation. But they can enter into gaps and move through small holes, that is impossible for humans and even trained dogs and also we have to ensure the safety of rescuers life. That is why we have mostly depends on the rescue robot. This system consists of two sensors, GPS module, RF Communication in dynamic section. Here PIR sensor is helps to determine the presence of alive humans and so temperature sensor will give the status of dynamic area. And a wireless camera is provided here gives the live view of target area. The movement is provided by DC gear motors. The whole section is controlled by AVR microcontroller. Which should interacted with the static section by RF Communication. Static section will give proper direction to AVR through laptops. It can work in automatic mode also while following the previous command.
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INTRODUCTIONA robot is a machine and is designed to execute one or more task repeatedly, with
speed and precision. An important aspect of robotic security system is surveillance of
specified area. Interesting application can be seen in robot scanning area to find explosive
devices. Asset and location protection system using robot allow hands-free operation via pre-
operational programming to response external stimuli. Over the long haul, it is easy to see
that security robot can provide significant cost saving, while they may never replace a human
security professional. Others may need to approach an armed barricaded suspect or enemy
combatant. These works mainly focus on target perception and identification and robot
localization. It is very essential to have a robot during disaster condition like Earthquake or
bomb blast, where we have to identify live human beings as quickly as possible to save life.
In this situation, human rescuers must make quick decision under stress, and try to get
victims to safety often at their own risk.
In our project, dynamic section will be detect the alive human presence and location
information and also status of environment, then send the information to the static section asquickly as possible. All of those tasks are performed mostly by human and trained dogs, often
in very dangerous and risky situation. But they can enter into gaps and move through small
holes, that is impossible for humans and even trained dogs and also we have to ensure the
safety of rescuers life. That is why we have mostly depends on the rescue robot.
This system consists of two sensors, GPS module, RF Communication in dynamic
section. Here PIR sensor is helps to determine the presence of alive humans and so
temperature sensor will give the status of dynamic area. And a wireless camera is provided
here gives the live view of target area. The movement is provided by DC gear motors. The
whole section is controlled by AVR microcontroller. Which should interacted with the static
section by RF Communication. Static section will give proper direction to AVR through
laptops. It can work in automatic mode also while following the previous command.
Here we used bridge rectifier for converting AC to DC voltage. It consists of four diodes
connected in the form of bridge. It provides more power than other rectifiers.
Filter:
It is used to smoothens rectified DC output. Mainly there are three filters such as capacitor,
RC and LC and CLC. We used capacitor filter for smoothens and 2.1percentage ripples
remaining its output.
Voltage regulator:
Here 78xx series regulator is provided. Which regulate voltage.
2.1.2 AVR micro controller:
The AVR (Advanced Virtual Risc), is a modified Harward Architecture 8-bit RISC,
single chip microcontroller which was developed by Atmel in 1996. The microcontroller
ATMEGA8535 is used in this project. It is the brain of the project and it controls the entire
working of this project. The microcontroller has various optional modules. Interrupt module,
USART module, timer module, are some of the most commonly used modules
2.1.3 PIR sensor:
A passive infrared sensor (PIR sensor) is an electronic sensor that measures infrared
(IR) light radiating from objects in its field of view. It consists of PIR sensor, Motiondetection IC, and a Fresnel Lenz. Which detect the presence of human.
All objects emit heat energy in the form of radiation. Usually this radiation is
invisible to the human eye because it radiates at infrared wavelengths, but it can be detected
by electronic devices designed for such a purpose. Each object have its own radiation range,
the human body emit infrared radiation in the range between 8µm - 20 µm.
Temperature sensor provides the information about the temperature of that placecontinuously. LM35 sensor is used as temperature sensor in this project. It provided three pin
for input, ground, output respectively.
2.1.5 Camera:
Wireless webcam used for this project. It allows live view of that area. It has a small
lens in the front, which captures light by using light detectors known as charge-coupleddevices (CCDs). The CCD is able to convert the picture into a digital format, which consists
of a string of zeros and ones that your computer can understand. The webcam captures the
image and is able to transfer it to control section.
2.1.6 RF communication:
Here Zigbee is used as RF Communication for wireless transmission and reception.
RF waves use Zigbee and Bluetooth communication for communication purpose. We use
Zigbee in this project, because it has low cost, low power wireless mesh networking. The low
cost allows the technology to be widely deployed in wireless control and monitoring
application, the low power allows longer life with smaller batteries, and the mesh networking
provides high reliability and larger range.
Zigbee can activate within 15msec or less the latency can be very low and the device
can be very responsive- partially compared with Bluetooth, the wake-up delay is very less.
2.1.7 MAX232:
Since RS232 is not compatible with today’s microprocessors and microcontrollers we
need a line-driver to convert the RS232’s signals to TTL voltage levels that will be
acceptable to the today’s microprocessor pins. One example of such a converter is MAX232
L293D is a driver IC, which used to drive the motors, as well as other high-current/high-voltage loads in positive-supply applications and at a time it can control two
motors. All inputs are TTL compatible
2.1.9 Motors:
Motors helps rover to move towards left, right, up and down movements.
The movement can be controlled as:
• Forward- 4 motors rotate clockwise
• Backward- 4 motors rotate anticlockwise
• Right- left side motors only rotate
• Left- right side motors only rotate
2.1.10 GPS module:
The Global Positioning System (GPS) is used here for obtaining the location and time
information in all weather, anywhere on or near the Earth, where there is an unobstructed
line of sight to four or more GPS satellites. It program provides critical capabilities to
military, civil and commercial users around the world.
2.1.11 Status area:
Status area provide here for checking the status and working of all area through
LEDs. Here we have 4 LEDs, to check area of supply, microcontroller, PIR and data
This section mainly consists of a PC and a zigbee. The PC processes the informationand does corresponding control movements. A zigbee should be connected with the system to
facilitate the wireless communication. And a MAX 232 is used here to serial interface
between PC and zigbee. Max 232 converts RS232 voltage levels to TTL voltage levels and
TTL voltage to RS232. It provides 2-channel RS232C ports and 2- channel TTL ports. This
module has direct interaction with the zigbee only. With the help of C#.NET we can control
The AVR (Advanced Virtual Risc), is a modified HarwardArchitecture 8-bit RISC, single chip microcontroller which was developed by Atmel in 1996.
The AVR was one of the first microcontroller families to use on-chip flash memory for
program storage, as opposed to one time programmable ROM, EPROM, or EEPROM used
by other microcontrollers at the time. The main part of the human interface device is the
microcontroller. Here we use ATMEGA 8535 microcontroller.
4.2.1 ATMEGA8535:
The AT mega8535 is a low power CMOS 8- bit microcontroller based on the AVR
enhanced RISC architecture. By executing instructions in a single clock cycle, the AT mega
8535 achieves throughputs approaching 1MIPS per MHz.
The AVR core combines a rich instruction set with 32 general purpose working
registers. All 32 registers are directly connected to the Arithmetic Logic Unit (ALU),
allowing two independent registers to be accessed in one single instruction executed in one
clock cycle. The resulting architecture is more code efficient while achieving through puts up
to ten times faster than conventional CISC microcontrollers.
The ATmega8535 provides the following features: 8K bytes of In-System
Programmable Flash with Read-While-Write capabilities, 512 bytes EEPROM, 512 bytes
SRAM, 32general purpose I/O lines, 32 general purpose working registers, three flexible
Timer/Counters with compare modes, internal and external interrupts, a serial programmable
USART, a byte oriented Two-wire Serial Interface, an 8-channel, 10-bit ADC with optional
differential input stage with programmable gain in TQFP package, a programmableWatchdog Timer with Internal Oscillator, an SPI serial port, and six software selectable
power saving modes. The Idle mode stops the CPU while allowing the S-RAM,
Timer/Counters, SPI port, and interrupt system to continue functioning.
The Power-down mode saves the register contents but freezes the Oscillator, disabling
all other chip functions until the next interrupt or Hardware Reset. In Power-save mode, the
asynchronous timer continues to run, allowing the user to maintain a timer base while the rest
of the device is sleeping. The ADC Noise Reduction mode stops the CPU and all I/O
modules except asynchronous timer and ADC, to minimize switching noise during ADC
conversions. In Standby mode, the crystal/resonator Oscillator is running while the rest of the
device is sleeping. This allows very fast start-up combined with low-power consumption.
In Extended Standby mode, both the main Oscillator and the asynchronous timer
continue to run. The device is manufactured using Atmel’s high density nonvolatile memory
technology. The On-chip ISP Flash allows the program memory to be reprogrammed In-
System through an SPI serial interface, by a conventional nonvolatile memory programmer,
or by an On-chip Boot program running on the AVR core. The boot program can use any
interface to download the application program in the Application Flash memory. Software in
the Boot Flash section will continue to run while the Application Flash section is updated, providing true Read-While-Write operation. By combining an 8-bit RISC CPU with In-
System Self-Programmable Flash on a monolithic chip, the Atmel ATmega8535 is a
powerful microcontroller that provides a highly flexible and cost effective solution to many
The ALU supports arithmetic and logic operations between registers or between a
constant and a register. Single register operations can also be executed in the ALU.
After an arithmetic operation, the Status Register is updated to reflect information
about the result of the operation.
Program flow is provided by conditional and unconditional jump and call instructions,able to directly address the whole address space. Most AVR instructions have a single 16-bit
word format. Every program memory address contains a 16- or 32-bit instruction. Program
Flash memory space is divided in two sections, the Boot Program section and the Application
Program section. Both sections have dedicated Lock bits for write and read/write protection.
The SPM instruction that writes into the Application Flash memory section must reside in the
Boot Program section. During interrupts and subroutine calls, the return address Program
Counter (PC) is stored on the Stack. The Stack is effectively allocated in the general data
SRAM, and consequently the Stack size is only limited by the total SRAM size and the usage
The USART Receiver is enabled by writing the Receive Enable (RXEN) bit inthe UCSRB Register to one. When the Receiver is enabled, the normal pin operation of the
RxD pin is overridden by the USART and given the function as the Receiver’s serial input.
The baud rate, mode of operation and frame format must be set up once before any serial
reception can be done. If synchronous operation is used, the clock on the XCK pin will be
used as a transfer clock.
USART Initialization:
The USART has to be initialized before any communication can take
place. The initialization process normally consists of setting the baud rate, setting frame
format and enabling the Transmitter or the Receiver depending on the usage. For interrupt
driven USART operation, the Global Interrupt Flag should be cleared (and interrupts globally
disabled) when doing the initialization. Before doing a re-initialization with a changed baud
rate or frame format, be sure that there are no ongoing transmissions during the period the
registers are changed. The TXC Flag can be used to check that the Transmitter has completed
all transfers and the RXC Flag can be used to check that there are no unread data in the
receive buffer. Note that the TXC Flag must be cleared before each transmission (before
UDR is written) if it is used for this purpose.
Data Transmission – The USART Transmitter
The USART Transmitter is enabled by setting the Transmit Enable (TXEN)
bit in the UCSRB Register. When the Transmitter is enabled, the normal port operation of the
TxD pin is overridden by the USART and given the function as the Transmitter’s serial
output. The baud rate, mode of operation and frame format must be set up once before doing
any transmissions. If synchronous operation is used, the clock on the XCK pin will be
The LM35 series are precision integrated-circuit temperature sensors, with an output
voltage linearly proportional to the Centigrade temperature. Thus the LM35 has an advantage
over linear temperature sensors calibrated in ° Kelvin, as the user is not required to subtract a
large constant voltage from the output to obtain convenient Centigrade scaling. The LM35
does not require any external calibration or trimming to provide typical accuracies of ±¼°C at
room temperature and ±¾°C over a full −55°C to +150°C temperature range. Low cost is
assured by trimming and calibration at the wafer level. The low output impedance, linear
output, and precise inherent calibration of the LM35 make interfacing to readout or controlcircuitry especially easy. The device is used with single power supplies, or with plus and
minus supplies. As the LM35 draws only 60 μA from the supply, it has very low self-heating
of less than 0.1°C in still air. The LM35 is rated to operate over a −55°C to +150°C
temperature range, while the LM35C is rated for a −40°C to +110°C range (−10° with
improved accuracy).
Fig 4.10: PIN diagram of temperature sensor
The LM35 series is available packaged in hermetic TO transistor packages, while the
LM35C, LM35CA, and LM35D are also available in the plastic TO-92 transistor package.
The LM35D is also available in an 8-lead surface-mount small outline package and a plastic
oscillating AC current from the DC source — so they are not purely DC machines in a strict
sense.
The classic DC motor design generates an oscillating current in a wound rotor, or
armature, with a split ring commutator, and either a wound or permanent magnet stator. A
rotor consists of one or more coils of wire wound around a core on a shaft; an electrical
power source is connected to the rotor coil through the commutator and its brushes, causing
current to flow in it, producing electromagnetism.
Many of the limitations of the classic commutator DC motor are due to the need
for brushes to press against the commutator. This creates friction. At higher speeds, brushes
have increasing difficulty in maintaining contact. Brushes may bounce off the irregularities in
the commutator surface, creating sparks. (Sparks are also created inevitably by the brushes
making and breaking circuits through the rotor coils as the brushes cross the insulating gaps
between commutator sections. Depending on the commutator design, this may include the
brushes shorting together adjacent sections — and hence coil ends — momentarily while
crossing the gaps. Furthermore, the inductance of the rotor coils causes the voltage across
each to rise when its circuit is opened, increasing the sparking of the brushes.) This sparkinglimits the maximum speed of the machine, as too-rapid sparking will overheat, erode, or even
The Global Positioning System (GPS) is a space-based satellite navigation system
that provides location and time information in all weather, anywhere on or near the Earth,
where there is an unobstructed line of sight to four or more GPS satellites. It is maintained by
the United States government and is freely accessible to anyone with a GPS receiver.
The GPS program provides critical capabilities to military, civil and commercial users aroundthe world. In addition, GPS is the backbone for modernizing the global air traffic system.
This Project deals with live personal detection robot is based on 8 bit AVR
Microcontroller. For this we include PIR sensor, in addition also obtain the information
about the temperature of that place continuosly by temperature sensor and it will trace the
longitude and latitude position through GPS and will send to the destination using zigbee
communication. The movement of robot is possible in two modes. One is manual and other is
automatic. In manual mode, the robot is controlled by the computer and it is transmitted to
robot using zigbee RF communication whereas in automatic, the robot will continue the
previous command.
Power supply is provided here for supply enough energy to every part of the project.
Considering manual mode, user can control the movement of robot using .NET application
stored in computer. This application can converts the command into characters and send to
AVR in the dynamic part through zigbee communication. That is the command like left,right, forward and backward is converted into characters and transmitted. In dynamic section
the AVR rotates the motor according to the given command using two dual motor driver
L293D IC. The L293D IC is used to provide enough power supply to the gear motor. The
movement of gear motor can be controlled as:
• Forward- 4 motors rotate clockwise
• Backward- 4 motors rotate anticlockwise
• Right- left side motors only rotate
• Left- right side motors only rotate
While moving, if there is any presence if humans the PIR produce a high voltage at
output and sends to AVR. A buzzer is also connected to PIR, which starts sounding by
obtaining sufficient voltage from driver unit. The camera connected to the robot not only
helps the movement of robot but also verifies the detected object is human or not. A
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