R.O.H.S.A.

R
Remotely Operated Human Search And
Rescue Robot
1

SUBMITTED BY:-
GIBIN VINCENT
JISHNU J
P AKSHAYKUMAR

S7 EEE B
 CONTENTS
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 Introduction
 Components
 Connection diagram
 Working
 Advantages
 Disadvantages
 Future scope
 Conclusion
 References
 INTRODUCTION
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 A unique passive Infrared sensor is used in our design that

emits infrared rays to detect humans.
 As a human body emits thermal radiation it will be
received and manipulated by the PIR.
 Once a human target is located the system has to give an
alert.
 The main design of the robot consists of a 'Human
Detection Module' carried by a mobile robot.
 The robot will be also equipped with a camera to transmit
live video, of the disaster location.
 An infrared LED lighting is used to show the robot’s
surrounding under low or no light conditions.
 COMPONENTS
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 PIR Sensor

 Chassis
 Carrier
 Wireless video camera
 Battery
 Power LED
 PIR SENSOR
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 Has two slots that are sensitive to IR.

 When the sensor is idle, both slots detect
the same amount of IR.
 When a warm body passes by, it first
intercepts one half of the PIR sensor, which
causes a positive differential change
between the two halves.
 When the warm body leaves the sensing
area, the sensor generates a negative
differential change.
 These change pulses are what is detected.
 AVR ATMEGA328 MCU
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 The ATmega328 is a single-chip microcontroller

created by Atmel in the mega AVR family
 It supports the data up to eight (8) bits.
 It is commonly used in many projects and
autonomous systems where a simple, low-powered,
low-cost micro-controller is needed.
 The most common implementation of this chip is on
the popular Arduino development platform, namely
the Arduino Uno and Arduino Nano models.
 CHASSIS
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 A chassis is a base – the

physical frame or structure
of an automobile, airplane
or other multi-component
device
 It consist of actuators,
control unit.
 Actuators consists of 2 DC
motors
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 The control unit consists of a remote transmitter unit

consisting of microcontroller, encoder, transmitter
module.
 The receiver unit embedded on the circuit consists of
a decoder, receiver module.
 Ai-Thinker Sx1278 RF wireless Transceiver based on
LoRa Module RA-02 Breakout broad is used for
transmitter – receiver section.
 CARRIER
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 An autonomous robot can get stuck somewhere in

the debris because of the lack of manualcontrol.
 A wired control robot is not practical
 Wireless remote control will have a shorter distance
under collapsed building but manual control of the
robot is valuable
 A tracked wheel platform is selected because wheels
are not practical to operate in such disaster areas
 WIRELESS VIDEO CAMERA
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 It consists of a transmitter unit.

 It captures images and transmits these images
through transmitter in form of digital signals, which
are received by the receiver unit connected to a TV or
computer.
 Ehomful WiFi Mini Wireless Camera with 1080p,
Auto night vision monochrome convert is used here.
 A night vision camera can receive illumination either
by amplifying the visible light using image
intensifiers
BATTERY
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CONNECTION DIAGRAM
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 WORKING
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 Signal LED is driven with PWM created from the

digital output pin of Arduino.
 Proper resistors are added to the circuit to limit the
current to protect Arduino pins.
 A power led is added to the system for providing
extra lighting
 A proper 7805 voltage regulator circuit is added
 The PIR sensor is safely powered by Arduino 5V and
GND pins.
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 ADVANTAGES
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 Easy to use
 Simplified version of a rescue robot
 Cheapest budget
 Detection of human is easy
 Visual contact helps to visualize the situation
 Useful in a situation with risk of collapses and
hazardous environment
 DISADVANTAGES
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 Not water proof at all

 Range of control is fixed. So may be inappropriate in
some situations
 Damage of any components like sensor or arduino
can take to total failure of ROHSAR
 FUTURE SCOPE
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 This vehicle may be improved by using high range

sensors (Laser, ultrasound or powerful thermal
cameras), GPS, and motors of high capacity.
 Long distance telecommunication protocols will be
also proposed in any future version of this robot.
 CONCLUSION
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 A unique passive Infrared sensor is used in our

design that emits infrared rays to detect humans. As
a human body emits thermal radiation it will be
received and manipulated by the PIR (Passive
infrared).
 The robot will be also equipped with a camera to
transmit live video, of the disaster location, to the
rescue team so that false alerts may be omitted and a
visual contact with the victim would be executed and
night vision is also available.
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 ROHSAR can be carried to any place in the world

and can be assembled in some few hours for fast
search and rescue operations.
 The design is simple with the cheapest budget.
 REFERENCES
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1. Detecting Direction of Movement Using Pyroelectric

Infrared Sensors by Jaeseok Yun, Member, IEEE, and
Min-Hwan Song.
2. Target Detection and Classification Using Seismic
and PIR Sensors-Xin Jin, Student Member, IEEE,
Soumalya Sarkar, Asok Ray, Fellow, IEEE, Shalabh
Gupta.
3. Human infrared signal recognition using single PIR
detector-Linhong Wang Chongqing College of
Electrical Engineering Chongqing, China.
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4. Infrared Sensors Microcontroller Interface System

for Mobile Robots-Matijevics, Polytech Eng. Coll. of
Subotica.
5. Sensor based obstacle avoidance and mapping for
fast mobile robots-Gourley, C. Dept. of Electr.
&Comput. Eng., Tennessee Univ., Knoxville, TN, USA
6. Obstacle Avoiding Robot – A Promising One-
Rakesh Chandra Kumar , Md. Saddam Khan , Dinesh
Kumar ,Rajesh Birua
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