The document describes a proposed system for an autonomous robotic vehicle that can help detect live humans during earthquake rescue operations. It uses a passive infrared (PIR) sensor to detect the thermal radiation emitted by live human bodies. The robot is controlled by a microcontroller and uses motors, wireless communication, and other hardware components to maneuver autonomously in earthquake areas. It aims to help identify survivors faster than conventional manual search methods, in order to save more lives through timely detection and rescue. The system is intended to make rescue operations safer and more effective during earthquake disasters.

1. Vol 02, Issue 01, June 2013 International Journal of Business Intelligents
http://iirpublications.com ISSN: 2278-2400
Integrated Intelligent Research (IIR) 83
Live Human Detecting Robot for Earthquake Rescue Operation
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.
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

2. Vol 02, Issue 01, June 2013 International Journal of Business Intelligents
http://iirpublications.com ISSN: 2278-2400
Integrated Intelligent Research (IIR) 84
BLOCK DIAGRAM FOR PROPOSED
SYSTEM
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
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
Microcont
roller
Motor
Zigbee
Transcei
ver
Zigbee
Transceiv
er
Voltage
Conversio
n Ckt
PC
Interfacin
g
Robot Module
Control Room Module
Motor
Drive
PC
Alarm
PIR Sensor
Wireless
camera
transmitt
er
Wirelesc
am.recei
ver

3. Vol 02, Issue 01, June 2013 International Journal of Business Intelligents
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Integrated Intelligent Research (IIR) 85
-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.
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
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

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Integrated Intelligent Research (IIR) 86
PCINTERFACE
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