1. HUMAN RESCUE ROBOT
The world is getting smarter day by day and people want to control devices like TV, Ac, even light,
fan by their Smart phones. Just think if we use individual remote for every device it would be very
inefficient .Now a day’s Android smart phone is a buzzword and many things can be controlled by
Android through Bluetooth, WIFI or Internet connection. Today we will show how easily make a
smart phone controlled Robot. Here we use bluetooth HC-05 for communicating with AVR
microcontroller.
PURPOSE:
Our main purpose is to safe human life as much as we can. That’s why we wanted to make a robot
by which we can help human.
Here the main purposes are given below:
Human life is more important than any other thing and here we have wanted to deal with human
life. There are many places where we cannot go or this is very unsafe for us to go many critical
places, in that case we can send our robot, which we can control by Bluetooth device using Android
phone.
At the same time we need to know about the condition of the place for the best performance of our
robot and to do that we have used another application of Android phone name IP WEBCAM by
which we can directly see the view of that critical place and it’s surroundings through WIFI.
NECESSARY EQUIPMENTS
SOFTWARE PART:
I. For design: Proteus.v7.10 (ISIS)
II. For coding: Atmel studio (as6installer-6.0.1996-net)
III. Extreme Burner AVR
IV. For PCB: Ares (included in ISIS)
HARDWARE PART:
Android smart phone
BODY STRUCTURE:
I. Gear motor and wheel set
II. Servo motor (180 degree rotation)
III. Acrylic sheet
IV. Screw
V. Clamp
VI. Connecting wire
VII. Bluetooth module (HC 05)
CONTROLLER PART (PCB):
I. Micro controller ATMEGA 32
II. Motor driver L293D
III. Voltage regulator 7085

2. IV. Crystal
V. Capacitor (100 uF, 10 uF, 22 pF)
VI. LED
VII. Resistance (1k)
VIII. Green connector
IX. IC base (40 pin, 16 pin)
X. Male and female rail
SYNTHESIS:
HARDWARE PART:
We used micro controller (AVR based) to make this project. First of all we designed the schematic
diagram of the project in ISIS. Then with the help of ARES, we made a PCB design. After that we
ordered the PCB board according to our PCB design. Then we fixed the controller components in
the PCB board by soldering.
Cutting and drilling of acrylic sheet we made a chassis and attached motor, wheel with the help of
screws and clamp.
FOR ROBOTIC HAND:
We used acrylic sheet and two small pieces of hardboard for the shape of the hand.
We used two servomotors for 4-degree rotation.
SOFTWARE PART:
ISIS SCHEMATIC CAPTURE:
ARES PCB LAYOUT:

3. VARIOUS VIEW OF PCB LAYOUT:
There are three types of views of a PCB board, which are given below:
I. Top copper
II. Bottom copper
III. Top silk
TOP COPPER:
Top copper means the top view connection of the PCB board. In the PCB board generally the
connection is given through copper layout.
BOTTOM COPPER:

4. Bottom copper means the rare view connection of the PCB board. In the PCB board generally the
connection is given through copper layout. That’s why this is known as bottom copper.
TOP SILK:
Top silk means the top view of the PCB board. In the PCB board the placement of the components
are generally indicated by top silk. And this is in the upper portion of the PCB board, that’s why this
is known as top silk.
FINAL PCB LAYOUT:

5. After the combination of all these things above we got our final PCB layout.
PROGRAMING ON AVR:
This is the most important part of our project. We used C programing language. As this is AVR based
project so we used ATMEL STUDIO for coding. After the completion of our code we loaded the HEX
file on ATMEGA 32.
APPLICATION:

6. 1)Rana Plaza collapse was a structural failure that occurred on 24 April 2013 in the Savar where an
eight-story commercial building named Rana Plaza, collapsed. The search for the dead-ended on 13
May 2013 with a death toll of 1,129. Approximately 2,515 injured people were rescued from the
building alive.
From this experience we have built our robot. If such kind of incident, we have to experience again
in future, at that situation our robot can keep a great influence on it by supplying medicines, dry
foods and mineral water to that critical place with the help of its robotic hand. The advantage of our
robot is its small size and there we attached a camera to know about the condition of the
surroundings live and at the same time we can give various command to the victim people through
this android phone camera. In this way we save many lives by doing the best usage of our Human
Rescue Robot.
2)Our robot can be used in Military sector. If we find any bomb like Grenade or cocktail, we see our
bomb experts handle this kind of bomb with their hand using gloves. But this is too risky for their
lives. Our robot is BLUETOOTH controlled and it can be controlled from 15 meter away. So by using
its robotic hand we can handle the bomb at a distance. At the same time we can see the bomb from
15 meter away and our bomb experts can take a decision of the type of bomb from a distant place
without any risk.
4)It can be used as a load carrier robot.
5)Using its ADC pin on the controller board can use it as a line follower robot.
FUTURE PLAN:
In future we will use an Oxygen sensor that can measure in our robot, which can give the
measurement of the percentage of Oxygen at any critical place. From that measurement we will get
the probability that how long a human will survive in that critical condition.
We want to make this robot commercial so that the mass people can get the opportunity to use this
robot.
OBSTACLE WE HAVE FACED:
1)While we prepared the circuit and uploaded the hex file in the Atmega32, the bluetooth was not
working. Then we observed that we mistakenly connected TX pin of Bluetooth device with TX pin of
Atmega32. So we connect TX pin of Bluetooth device with Rx pin of Atmega32 and Rx Pin of
Bluetooth device with TX pin of Atmega32.
2)Servo was not working. We initiated PWM of 16-bit timer1 two channels OC1A and OC1B
correctly but one big mistake we committed was we did not set PD5 (OC1A channel) and PD4
(OC1B) in output mode.
3)Bluetooth was connected perfectly but after sending first command the Application hanged and
no button was working and connection was lost. Finally we understood Android mobile application
sending data continuously but the Microcontroller serial Buffer (FIFO buffer) cannot receiving data
simultaneously as well as buffer cannot make room for the upcoming byte. As a result the
connections lost and application hang. So what we did in the coding section, we simply flushed the
UART Serial buffer after receiving one byte of data and problem solved.

7. Sometimes we observed that the bluetooth device was not connecting and android Application
gave us the error message “Error 507, unable to connect...” we restarted the Circuit and Mobile So
problem solved. One can use another bluetooth application available at play store. Though its User
Interface was not satisfactory but it was working smoothly while my application was gave me error
messages few times.
4)In the case of servomotor first we used one 7805 for the whole PCB. But one 7805 did not pass a
huge amount of current and consequently the PCB burned. Then we used three 7805 for two
servomotors and one pair of gear motor individually. And problem was solved.
Improvements:
1)More facilities can be added to the android application Like Auto connect, button value change,
Disconnect button etc.
2)Motor speed can be controlled using PWM
3)AVR Microcontroller operation speed can be increased up to 16 MHz changing Fuse bit.